83 lines
1.7 KiB
C
83 lines
1.7 KiB
C
#include "Holonome2023.h"
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#include "Demonstration.h"
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#define TEST_TIMEOUT_US 10000000
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int Demonstration_calage();
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uint32_t temps_ms_demo = 0, temps_ms_old;
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int Demonstration_menu(void){
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static int iteration = 2;
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printf("Mode demo\n");
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printf("A - Calage dans l'angle\n");
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printf("B - Trajets unitaires\n");
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printf("C - Trajets enchaines - manuels\n");
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printf("D - Trajets enchaines - auto\n");
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printf("E - Asservissement angulaire\n");
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printf("Q - Quitter\n");
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stdio_flush();
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int rep = getchar_timeout_us(TEST_TIMEOUT_US);
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switch (rep)
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{
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case 'a':
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case 'A':
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while(Demonstration_calage());
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break;
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case 'b':
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case 'B':
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break;
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}
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return 1;
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}
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int Demonstration_init(){
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Holonome2023_init();
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temps_ms_demo = Temps_get_temps_ms();
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temps_ms_old = temps_ms_demo;
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}
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int Demonstration_calage(){
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Demonstration_init();
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enum {
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CALAGE,
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CALAGE_TERMINE
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} etat_calage = CALAGE;
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while(true){
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Holonome_cyclique();
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// Toutes les 1 ms.
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if(temps_ms_demo != Temps_get_temps_ms()){
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temps_ms_demo != Temps_get_temps_ms();
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switch (etat_calage)
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{
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case CALAGE:
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if(calage_angle(LONGER_VERS_C, RAYON_ROBOT, PETIT_RAYON_ROBOT_MM, -60 * DEGRE_EN_RADIAN) == ACTION_TERMINEE){
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etat_calage = CALAGE_TERMINE;
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}
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break;
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case CALAGE_TERMINE:
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etat_calage = CALAGE;
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Moteur_Stop();
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return 0;
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default:
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break;
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}
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}
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}
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return 0;
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}
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