From cd937c5e507fc78d2e66c68108d8fd31afa6a1f8 Mon Sep 17 00:00:00 2001
From: Ulysse Cura <ulysse.cura@gmail.com>
Date: Sat, 1 Feb 2025 13:51:15 +0100
Subject: [PATCH] Normalisation des vitesses.

---
 Main.ino | 15 +++++++++------
 1 file changed, 9 insertions(+), 6 deletions(-)

diff --git a/Main.ino b/Main.ino
index 3f5e5f8..fb80311 100644
--- a/Main.ino
+++ b/Main.ino
@@ -5,6 +5,10 @@
 
 #include "IO.hpp"
 
+#define NORMAL_SPEED 2048.0f
+#define TURNING_SPEED 1500.0f
+#define ON_STAGE_SPEED 1120.0f
+ 
 // Unit tests activation
 //#define UNIT_TESTS
 
@@ -108,8 +112,8 @@ void loop()
     case State::WaitingTimer:
       static unsigned long initial_time = millis();
 
-      if(millis() - initial_time >= 90000)
-      //if(millis() - initial_time >= 2000)
+      //if(millis() - initial_time >= 90000)
+      if(millis() - initial_time >= 2000)
       {
         my_IO.initGyroscope();
         actual_state = State::ForwardToRamp;
@@ -118,7 +122,7 @@ void loop()
     
     case State::ForwardToRamp:
       my_IO.motorControlOn();
-      my_IO.setSpeed(2048.0f);
+      my_IO.setSpeed(NORMAL_SPEED);
 
       if(my_IO.getAngle(Axes::Y) < -5.0f)
       {
@@ -127,10 +131,9 @@ void loop()
       break;
 
     case State::ForwardToScene:
-      my_IO.setSpeed(2048.0f);
-
       if(my_IO.getAngle(Axes::Y) > -5.0f)
       {
+        my_IO.setSpeed(ON_STAGE_SPEED);
         actual_state = my_IO.isSelectedColorBlue() ? State::Turn90Blue : State::Turn90Yellow;
         //actual_state = State::Dancing;
       }
@@ -155,7 +158,7 @@ void loop()
       break;
 
     case State::ForwardToSceneEdge:
-      my_IO.setSpeed(1200.0f);
+      my_IO.setSpeed(ON_STAGE_SPEED);
 
       if(my_IO.getAngle(Axes::Y) > 5.0f)
       {