Diff: fct.cpp

Revision:

12:6151eb503170

Parent:

10:1a69a6f659bd

Child:

13:4fdd8ad91c69

--- a/fct.cpp	Thu Jun 01 08:18:04 2017 +0000
+++ b/fct.cpp	Thu Jun 01 09:30:37 2017 +0000
@@ -1,6 +1,15 @@
 #include "mbed.h"
 #include "fct.h"
 #include "CMPS03.h"
+void rotation_sharp()
+{
+    sensMG.write(0);
+    sensMD.write(1);
+    cmdD=30;
+    cmdG=30;
+    MD.pulsewidth(vitesse(cmdD));
+    MG.pulsewidth(vitesse(cmdG));
+}
 void en_avant()
 {
     sensMG.write(0);
@@ -12,10 +21,10 @@
 }
 void contournement()
 {
-    sensMG.write(1);
+    sensMG.write(0);
     sensMD.write(0);
-    cmdD=30;
-    cmdG=30;
+    cmdD=35;
+    cmdG=15;
     MD.pulsewidth(vitesse(cmdD));
     MG.pulsewidth(vitesse(cmdG));
 
@@ -23,9 +32,9 @@
 void rotation_horaire()
 {
     sensMG.write(0);
-    sensMD.write(1);
-    cmdD=30;
-    cmdG=30;
+    sensMD.write(0);
+    cmdD=15;
+    cmdG=35;
     MD.pulsewidth(vitesse(cmdD));
     MG.pulsewidth(vitesse(cmdG));
 }