Keuronde/RPiPico-Holonome2023
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This commit is contained in:
Samuel 2023-05-19 12:44:14 +02:00
parent cca330ae89
commit 0c50b051e4
2 changed files with 5 additions and 4 deletions
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4
Strategie.c
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@ -92,7 +92,7 @@ void Strategie(enum couleur_t couleur, uint32_t step_ms, uint32_t temps_ms){
Localisation_set(225., 3000 - PETIT_RAYON_ROBOT_MM, (120.+CORR_ANGLE_DEPART_DEGREE) * DEGRE_EN_RADIAN);
struct objectif_t objectif_1 = { .priorite = 10, .etat = FAIT, .cible = CERISE_BAS};
struct objectif_t objectif_2 = { .priorite = 1, .etat = A_FAIRE, .cible = CERISE_HAUT};
struct objectif_t objectif_3 = { .priorite = 2, .etat = A_FAIRE, .cible = CERISE_GAUCHE};
struct objectif_t objectif_3 = { .priorite = 2, .etat = FAIT, .cible = CERISE_GAUCHE};
struct objectif_t objectif_4 = { .priorite = 5, .etat = FAIT, .cible = CERISE_DROITE};
objectifs[0]= objectif_1;
objectifs[1]= objectif_2;
@ -102,7 +102,7 @@ void Strategie(enum couleur_t couleur, uint32_t step_ms, uint32_t temps_ms){
Localisation_set(2000 - 225., 3000 - PETIT_RAYON_ROBOT_MM, (120.+CORR_ANGLE_DEPART_DEGREE) * DEGRE_EN_RADIAN);
struct objectif_t objectif_1 = { .priorite = 10, .etat = FAIT, .cible = CERISE_BAS};
struct objectif_t objectif_2 = { .priorite = 1, .etat = A_FAIRE, .cible = CERISE_HAUT};
struct objectif_t objectif_3 = { .priorite = 2, .etat = A_FAIRE, .cible = CERISE_DROITE};
struct objectif_t objectif_3 = { .priorite = 2, .etat = FAIT, .cible = CERISE_DROITE};
struct objectif_t objectif_4 = { .priorite = 5, .etat = FAIT, .cible = CERISE_GAUCHE};
objectifs[0]= objectif_1;
objectifs[1]= objectif_2;

5
gyro_ADXRS453.c
View File

@ -64,10 +64,11 @@ int gyro_get_sensor_data(uint16_t tampon_envoi[], uint8_t tampon_reception[]){
//printf("SPI ERROR\n");
return 1;
}else{
while(1){
Monitoring_set_erreur_critique();
//while(1){
affiche_tampon_32bits(tampon_reception);
printf("Gyro Failed - SQ bits (%#3x)!= 0x4\n", Gyro_SensorData.SQ);
}
//}
//set_position_avec_gyroscope(0);
}
}