File content as of revision 0:98d2bcd7ae29:

#include "mbed.h"
#include "fct.h"
#include "Pixy.h"
#include "PixyLink.h"

#define V_max 25
#define V_recherche 25
#define K 0.1
DigitalOut cs(p13);
DigitalIn bp(p14);
Serial pc (USBTX,USBRX);



int main()
{
    bp.mode(PullUp);
    MotG.period(PERIOD);
    MotD.period(PERIOD);
    Vitmoteur(0.0,0.0);
    Pixy pixy= Pixy(p28,p27);
    pixy.setSerialOutput(&pc);
    int j=0;
    uint16_t blocks;
    float taille,errorX;
    pc.printf("alive");
    

    while(1) {
        init();// recupere valeurs capteurs ligne blanche
        pc.printf("capt1= %d capt2= %d\n\r",captL1,captL3);
        wait(0.5);
        if(captL1==0 && captL3==0)
        {
            Vitmoteur(20,20);
            }
        else{
            Vitmoteur(-20,-20);
            wait(5);
            }
            
}
}
//printf("ok");

//MotD.pulsewidth(0.5*PERIOD);
//MotG.pulsewidth(0.5*PERIOD);
//MotD.pulsewidth(0.00005);

    /* blocks=pixy.getBlocks();
     if(blocks) {
         taille = pixy.blocks[j].width*pixy.blocks[j].height;
         errorX=(160-pixy.blocks[j].x);
         Vitmoteur(V_max-K*errorX,V_max+K*errorX);
         //pc.printf("ok");
         //Vitmoteur(1,-1);
     } else {
         //pc.printf("beug");
         Vitmoteur(0.0,0.0);
     }

     if(errorX>V_max) {
         errorX=V_max;
     }
     if(errorX<-V_max) {
         errorX=-V_max;
     }
     Vitmoteur(V_max-K*errorX,V_max+K*errorX);

    }*/