Diff: main.cpp

Revision:

8:72d684a69957

Parent:

7:64bfecbb3000

--- a/main.cpp	Wed May 31 12:17:59 2017 +0000
+++ b/main.cpp	Wed May 31 12:22:01 2017 +0000
@@ -11,20 +11,9 @@
     while(1) {
         // printf("etat=%d US1=%.0f US2=%.0f US3=%.0f erreur=%.0f AN1=%.0f AN2=%.0f cmdD=%.0f cmdG=%.0f\n\r",etat,US1,US2,US3,(US2-US1),AN1,AN2,cmdD,cmdG);
         //wait(0.05);
-        //printf("set=%.1f CAP=%.1f\n\r",bearing_set,bearing);
-        //wait(0.1);
-
-        bearing=boussole.readBearing()/10.0;
-        t3.reset();
-        t3.start();
         ledsetat.write(etat);
         switch(etat) {
             case 0 :
-                if(t3.read()>4) {
-                    etat=1;
-                    t3.reset();
-                    stop();
-                }
                 if((AN2>10 && AN2<20) || US3<13) {
                     etat=1;
                     stop();
@@ -45,10 +34,6 @@
                     t2.reset();
                     stop();
                 }
-                if(bearing>(bearing-90.0)) {
-                    etat=0;
-                    stop();
-                }
                 break;
             case 2 :
                 if((AN2>10 && AN2<20) || US3<13) {