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PAMI_Super_Star_2025
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base: ulysse:05937b1738fc4536b3e07fa7ae97c10ce4eb5b4a
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ulysse:main
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compare: ulysse:a6b028b701a6f726289880eae3c1e9317dc99d7d
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ulysse:main

2 Commits
05937b1738 ... a6b028b701

Author SHA1 Message Date
Ulysse Cura a6b028b701 Ajout de la rotation dans la machine a état. 2025-02-01 06:06:13 +01:00
Ulysse Cura 864f0128f1 Afficher l'equipe lors du demarage 2025-02-01 06:04:51 +01:00
2 changed files with 16 additions and 15 deletions
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5
IO.hpp
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@ -90,8 +90,7 @@ class IO {
{ {
static unsigned long last_color_change_time {0}; static unsigned long last_color_change_time {0};
static bool has_color_changed {true}; static bool has_color_changed {true};
static bool is_color_blue {true};
bool is_color_blue = (digitalRead(PIN_BUTTON_COLOR) == HIGH);
if(m_is_color_blue != is_color_blue) if(m_is_color_blue != is_color_blue)
{ {
@ -125,6 +124,8 @@ 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);
if(m_is_motor_control_activated) if(m_is_motor_control_activated)
{ {
m_updateMotorsControl(); m_updateMotorsControl();

26
Main.ino
View File

@ -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;
} }