Keuronde/RPiPico-Holonome2023
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Homologation CDF 2023

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This commit is contained in:
Samuel 2023-05-17 14:11:09 +02:00
parent 6e9e77dd5d
commit a954a01912
2 changed files with 3 additions and 2 deletions
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2
Holonome2023.c
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@ -84,7 +84,7 @@ int main() {
AsserMoteur_Init();
Localisation_init();
while(mode_test());
//while(mode_test());
i2c_maitre_init();
Trajet_init();
Balise_VL53L1X_init();

3
Strategie.c
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@ -95,7 +95,7 @@ void Strategie(enum couleur_t couleur, uint32_t step_ms, uint32_t temps_ms){
Localisation_set(2000 - 775., 109., (-60.+CORR_ANGLE_DEPART_DEGREE) * DEGRE_EN_RADIAN);
struct objectif_t objectif_1 = { .priorite = 1, .etat = A_FAIRE, .cible = CERISE_BAS};
struct objectif_t objectif_2 = { .priorite = 2, .etat = A_FAIRE, .cible = CERISE_HAUT};
struct objectif_t objectif_3 = { .priorite = 3, .etat = FAIT, .cible = CERISE_DROITE};
struct objectif_t objectif_3 = { .priorite = 3, .etat = A_FAIRE, .cible = CERISE_DROITE};
struct objectif_t objectif_4 = { .priorite = 4, .etat = FAIT, .cible = CERISE_GAUCHE};
objectifs[0]= objectif_1;
objectifs[1]= objectif_2;
@ -258,6 +258,7 @@ void Strategie(enum couleur_t couleur, uint32_t step_ms, uint32_t temps_ms){
case STRATEGIE_FIN:
i2c_annexe_desactive_propulseur();
commande_vitesse_stop();
i2c_annexe_couleur_balise(0xE0, 0x0FFF);
break;
}
}