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PAMI_Super_Star_2025
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Ajout de la rotation dans la machine a état.

This commit is contained in:
Ulysse Cura 2025-02-01 06:06:13 +01:00
parent 864f0128f1
commit a6b028b701
1 changed files with 13 additions and 13 deletions
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26
Main.ino
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@ -6,7 +6,7 @@
#include "IO.hpp" #include "IO.hpp"
// Unit tests activation // Unit tests activation
#define UNIT_TESTS //#define UNIT_TESTS
/* /*
Etapes : Etapes :
@ -136,15 +136,6 @@ void loop()
break; break;
case State::Turn90Blue: 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); my_IO.setDirWithAngularSpeed(-90.0f);
if(my_IO.getAngle(Axes::Z) < -88.0f) if(my_IO.getAngle(Axes::Z) < -88.0f)
@ -153,10 +144,19 @@ void loop()
} }
break; break;
case State::ForwardToSceneEdge: case State::Turn90Yellow:
my_IO.setSpeed(2048.0f); 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; actual_state = State::Dancing;
} }