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PAMI_Super_Star_2025
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Normalisation des vitesses.

This commit is contained in:
Ulysse Cura 2025-02-01 13:51:15 +01:00
parent a2d0072635
commit cd937c5e50
1 changed files with 9 additions and 6 deletions
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15
Main.ino
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@ -5,6 +5,10 @@
#include "IO.hpp" #include "IO.hpp"
#define NORMAL_SPEED 2048.0f
#define TURNING_SPEED 1500.0f
#define ON_STAGE_SPEED 1120.0f
// Unit tests activation // Unit tests activation
//#define UNIT_TESTS //#define UNIT_TESTS
@ -108,8 +112,8 @@ 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(); my_IO.initGyroscope();
actual_state = State::ForwardToRamp; actual_state = State::ForwardToRamp;
@ -118,7 +122,7 @@ void loop()
case State::ForwardToRamp: case State::ForwardToRamp:
my_IO.motorControlOn(); my_IO.motorControlOn();
my_IO.setSpeed(2048.0f); my_IO.setSpeed(NORMAL_SPEED);
if(my_IO.getAngle(Axes::Y) < -5.0f) if(my_IO.getAngle(Axes::Y) < -5.0f)
{ {
@ -127,10 +131,9 @@ void loop()
break; break;
case State::ForwardToScene: case State::ForwardToScene:
my_IO.setSpeed(2048.0f);
if(my_IO.getAngle(Axes::Y) > -5.0f) 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 = my_IO.isSelectedColorBlue() ? State::Turn90Blue : State::Turn90Yellow;
//actual_state = State::Dancing; //actual_state = State::Dancing;
} }
@ -155,7 +158,7 @@ void loop()
break; break;
case State::ForwardToSceneEdge: case State::ForwardToSceneEdge:
my_IO.setSpeed(1200.0f); my_IO.setSpeed(ON_STAGE_SPEED);
if(my_IO.getAngle(Axes::Y) > 5.0f) if(my_IO.getAngle(Axes::Y) > 5.0f)
{ {