tuan din engku syasya syazwani
/
CACHAN_D_DAY_2
ROBOTIC COMPETITION PARIS 2017
Fork of _test_suivi_mur by
Diff: main.cpp
- Revision:
- 11:cb477f6ec781
- Parent:
- 10:1a69a6f659bd
- Child:
- 12:6151eb503170
diff -r 1a69a6f659bd -r cb477f6ec781 main.cpp --- a/main.cpp Thu Jun 01 07:54:55 2017 +0000 +++ b/main.cpp Thu Jun 01 08:18:04 2017 +0000 @@ -6,6 +6,8 @@ int main() { + + jack.mode(PullUp); int etat=0; init(); t3.reset(); @@ -13,32 +15,34 @@ 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("etat=%d set=%.1f CAP=%.1f jack=%d\n\r",etat,bearing_set,bearing,jack.read()); + //printf("etat=%d set=%.1f CAP=%.1f\n\r",etat,bearing_set,bearing); //wait(0.1); - + bearing=boussole.readBearing()/10.0; ledsetat.write(etat); - + if(bearing<bearing_set+10.0 && bearing>bearing_set-10.0) { - t3.start(); - }else { + t3.start(); + } else { t3.stop(); } - + switch(etat) { - case 0 : if(jack.read()==1) etat=1; break; - - case 1 : + case 0 : + if(jack.read()==0) etat=1; + break; + case 1 : + if(jack.read()!=0) etat=0; if((AN2>10 && AN2<20) || US3<13) { - etat=1; + etat=2; stop(); } if(US2>100 && US1<40) { - etat=2; + etat=3; stop(); } - if(t3.read()>10) { - etat=3; + if(t3.read()>t_set) { + etat=4; bearing_set=bearing_set+25.0; t3.reset(); t3.stop(); @@ -46,44 +50,49 @@ } break; case 2 : + if(jack.read()!=0) etat=0; if(US2>100 && US1<40) { - etat=2; + etat=3; stop(); } if(AN2>30) { - etat=0; + etat=1; t2.start(); t2.reset(); stop(); } break; case 3 : + if(jack.read()!=0) etat=0; if((AN2>10 && AN2<20) || US3<13) { - etat=1; + etat=2; stop(); } if(US1>100 && US2<10) { - etat=0; + etat=1; stop(); } break; case 4 : + if(jack.read()!=0) etat=0; if(bearing>bearing_set) { - etat=4; + etat=5; t3.reset(); stop(); } break; case 5 : + if(jack.read()!=0) etat=0; if((AN2>10 && AN2<22) || US3<22) { - etat=1; + etat=2; + t_set=8; stop(); } break; } switch(etat) { - case 0 : + case 0 : stop(); break; case 1 :