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Fin de trajet pour les rotations : amélioration

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This commit is contained in:
Samuel 2024-04-06 20:38:30 +02:00
parent ace9a932d2
commit 828805ef4c
2 changed files with 7 additions and 1 deletions
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3
Trajet.c
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@ -103,7 +103,8 @@ int Trajet_terminee(float abscisse){
return 1; return 1;
}*/ }*/
if(trajet_trajectoire.type != TRAJECTOIRE_BEZIER){ if(trajet_trajectoire.type != TRAJECTOIRE_BEZIER &&
trajet_trajectoire.type != TRAJECTOIRE_ROTATION){
if(abscisse >= 1 || distance_fin_trajectoire_mm < 0.1){ if(abscisse >= 1 || distance_fin_trajectoire_mm < 0.1){
return 1; return 1;
} }

5
Trajet.h
View File

@ -1,6 +1,9 @@
#include "pico/stdlib.h" #include "pico/stdlib.h"
#include "Trajectoire.h" #include "Trajectoire.h"
#ifndef TRAJET_H
#define TRAJET_H
enum etat_trajet_t{ enum etat_trajet_t{
TRAJET_EN_COURS, TRAJET_EN_COURS,
TRAJET_TERMINE TRAJET_TERMINE
@ -29,3 +32,5 @@ float Trajet_get_orientation_avance(void);
float Trajet_get_abscisse(); float Trajet_get_abscisse();
uint32_t Trajet_get_bloque(); uint32_t Trajet_get_bloque();
void Trajet_inverse(); void Trajet_inverse();
#endif