From a6b028b701a6f726289880eae3c1e9317dc99d7d Mon Sep 17 00:00:00 2001
From: Ulysse Cura <ulysse.cura@gmail.com>
Date: Sat, 1 Feb 2025 06:06:13 +0100
Subject: [PATCH] =?UTF-8?q?Ajout=20de=20la=20rotation=20dans=20la=20machin?=
 =?UTF-8?q?e=20a=20=C3=A9tat.?=
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---
 Main.ino | 26 +++++++++++++-------------
 1 file changed, 13 insertions(+), 13 deletions(-)

diff --git a/Main.ino b/Main.ino
index 83eebc7..4257e6f 100644
--- a/Main.ino
+++ b/Main.ino
@@ -6,7 +6,7 @@
 #include "IO.hpp"
 
 // Unit tests activation
-#define UNIT_TESTS
+//#define UNIT_TESTS
 
 /*
   Etapes :
@@ -136,15 +136,6 @@ void loop()
       break;
 
     case State::Turn90Blue:
-      my_IO.setDirWithAngularSpeed(90.0f);
-
-      if(my_IO.getAngle(Axes::Z) >= 88.0f)
-      {
-        actual_state = State::ForwardToSceneEdge;
-      }
-      break;
-
-    case State::Turn90Yellow:
       my_IO.setDirWithAngularSpeed(-90.0f);
 
       if(my_IO.getAngle(Axes::Z) < -88.0f)
@@ -153,10 +144,19 @@ void loop()
       }
       break;
 
-    case State::ForwardToSceneEdge:
-      my_IO.setSpeed(2048.0f);
+    case State::Turn90Yellow:
+      my_IO.setDirWithAngularSpeed(90.0f);
 
-      if(my_IO.getAngle(Axes::Y) > 1.0f)
+      if(my_IO.getAngle(Axes::Z) >= 88.0f)
+      {
+        actual_state = State::ForwardToSceneEdge;
+      }
+      break;
+
+    case State::ForwardToSceneEdge:
+      my_IO.setSpeed(1024.0f);
+
+      if(my_IO.getAngle(Axes::Y) > 2.0f)
       {
         actual_state = State::Dancing;
       }