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Couleur et gyroscope corrigés

This commit is contained in:
Ulysse Cura 2025-02-01 12:14:05 +01:00
parent 9f3f039bb0
commit c9c98375c7
2 changed files with 20 additions and 14 deletions
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9
IO.hpp
View File

@ -67,7 +67,7 @@ class IO {
pinMode(PIN_TIRETTE, INPUT_PULLUP); pinMode(PIN_TIRETTE, INPUT_PULLUP);
pinMode(PIN_BUTTON_COLOR, INPUT_PULLUP); pinMode(PIN_BUTTON_COLOR, INPUT_PULLUP);
m_code_cell->Motion_RotationRead(m_init_x, m_init_y, m_init_z); initGyroscope();
m_initMotors(); m_initMotors();
m_initServo(); m_initServo();
@ -84,6 +84,11 @@ class IO {
return nb_errors; return nb_errors;
} }
void initGyroscope()
{
m_code_cell->Motion_RotationRead(m_init_x, m_init_y, m_init_z);
}
int update() int update()
{ {
static unsigned long last_color_change_time {0}; static unsigned long last_color_change_time {0};
@ -122,7 +127,7 @@ class IO {
m_is_tirette_pulled = (digitalRead(PIN_TIRETTE) == HIGH); m_is_tirette_pulled = (digitalRead(PIN_TIRETTE) == HIGH);
m_is_color_blue = is_color_blue; m_is_color_blue = is_color_blue;
is_color_blue = (digitalRead(PIN_BUTTON_COLOR) == HIGH); is_color_blue = (digitalRead(PIN_BUTTON_COLOR) == LOW);
if(m_is_motor_control_activated) if(m_is_motor_control_activated)
{ {

25
Main.ino
View File

@ -108,9 +108,10 @@ void loop()
case State::WaitingTimer: case State::WaitingTimer:
static unsigned long initial_time = millis(); static unsigned long initial_time = millis();
//if(millis() - initial_time >= 90000) if(millis() - initial_time >= 90000)
if(millis() - initial_time >= 2000) //if(millis() - initial_time >= 2000)
{ {
my_IO.initGyroscope();
actual_state = State::ForwardToRamp; actual_state = State::ForwardToRamp;
} }
break; break;
@ -136,15 +137,6 @@ void loop()
break; break;
case State::Turn90Blue: case State::Turn90Blue:
my_IO.setDirWithAngularSpeed(-90.0f);
if(my_IO.getAngle(Axes::Z) < -80.0f)
{
actual_state = State::ForwardToSceneEdge;
}
break;
case State::Turn90Yellow:
my_IO.setDirWithAngularSpeed(90.0f); my_IO.setDirWithAngularSpeed(90.0f);
if(my_IO.getAngle(Axes::Z) >= 80.0f) if(my_IO.getAngle(Axes::Z) >= 80.0f)
@ -153,8 +145,17 @@ void loop()
} }
break; break;
case State::Turn90Yellow:
my_IO.setDirWithAngularSpeed(-90.0f);
if(my_IO.getAngle(Axes::Z) < -80.0f)
{
actual_state = State::ForwardToSceneEdge;
}
break;
case State::ForwardToSceneEdge: case State::ForwardToSceneEdge:
my_IO.setSpeed(1100.0f); my_IO.setSpeed(1200.0f);
if(my_IO.getAngle(Axes::Y) > 5.0f) if(my_IO.getAngle(Axes::Y) > 5.0f)
{ {