Commit 25c7cc5b authored by Mestari Yousra's avatar Mestari Yousra
Browse files

ajout de avancer, pivoter et etat PLS

parent 8167aac3

main.c

+29 −2
Original line number Diff line number Diff line
@@ -16,6 +16,8 @@ 
#include "AX12.h"

#include "AXS1.h"



#include <math.h>



/* Private typedef -----------------------------------------------------------*/

/* Private define ------------------------------------------------------------*/

#define P_GOAL_POSITION_L		30
@@ -261,6 +263,21 @@ void getAngle(unsigned char id, unsigned int* outAngle) { 
    }

}



void avancer(int vitesse){

    setSpeed(MOTOR_up_left, vitesse);

    setSpeed(MOTOR_up_right, vitesse);

    setSpeed(MOTOR_down_left, vitesse);

    setSpeed(MOTOR_down_right, vitesse);

}

void pivoter (int rotation){

    setSpeed(MOTOR_up_left, rotation);

    setSpeed(MOTOR_up_right, - rotation);

    setSpeed(MOTOR_down_left, 0);

    setSpeed(MOTOR_down_right, 0);

}







/////////////////////////////////////////////////////

////////////////////////////// AX S1 ////////////////

/////////////////////////////////////////////////////
@@ -611,7 +628,17 @@ int main(void) 


     }

     

    while (state==PLS){

        int vitesse=500

        while (field<thresholdInfrared){

            setSpeed(MOTOR_up_left, 1023);

            setSpeed(MOTOR_up_right, vitesse);

            setSpeed(MOTOR_down_left, 1023);

            setSpeed(MOTOR_down_right, vitesse);

            mdelay(floor(M_PI/vitesse));

            vitesse=vitesse+50;

        }

        state==START



  while (1) {} ;