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PAMI_Super_Star_2025
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base: ulysse:8fec829754df2cc49bde377b0dc1c7591314c21f
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ulysse:main
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compare: ulysse:9f3f039bb0a248448555c7c1a7f1a1c9985ecc83
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ulysse:main

2 Commits
8fec829754 ... 9f3f039bb0

Author SHA1 Message Date
Ulysse Cura 9f3f039bb0 Changement de valeur pour "plus" de precision ! 2025-02-01 10:33:52 +01:00
Ulysse Cura eb704397ff Nettoyage de code 2025-02-01 10:33:32 +01:00
2 changed files with 5 additions and 7 deletions
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6
IO.hpp
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@ -39,8 +39,6 @@ class Motor {
ledcAttachChannel(m_pin, 5000, 12, m_channel); ledcAttachChannel(m_pin, 5000, 12, m_channel);
ledcWriteChannel(m_channel, 0); ledcWriteChannel(m_channel, 0);
//ledcSetup(m_channel, 5000, 12); // Channel, Frequency, Resolution
//ledcAttachPin(m_pin, m_channel); // Attach pin to channel
return 0; return 0;
} }
@ -114,9 +112,9 @@ class IO {
if(millis() - last_color_change_time > 1000 && has_color_changed) if(millis() - last_color_change_time > 1000 && has_color_changed)
{ {
m_screen.clearDisplay(); m_screen.clearDisplay();
//m_screen.drawBitmap(38, 0, Res::Imgs::riombotique, 52, 64, WHITE); m_screen.drawBitmap(38, 0, Res::Imgs::riombotique, 52, 64, WHITE);
//m_screen.drawBitmap(75, 0, Imgs::poivron_robotique, 52, 64, WHITE); //m_screen.drawBitmap(75, 0, Imgs::poivron_robotique, 52, 64, WHITE);
m_screen.drawBitmap(27, 0, Res::Imgs::diable_gaga, 75, 64, WHITE); //m_screen.drawBitmap(27, 0, Res::Imgs::diable_gaga, 75, 64, WHITE);
has_color_changed = false; has_color_changed = false;
} }

6
Main.ino
View File

@ -138,7 +138,7 @@ void loop()
case State::Turn90Blue: case State::Turn90Blue:
my_IO.setDirWithAngularSpeed(-90.0f); my_IO.setDirWithAngularSpeed(-90.0f);
if(my_IO.getAngle(Axes::Z) < -88.0f) if(my_IO.getAngle(Axes::Z) < -80.0f)
{ {
actual_state = State::ForwardToSceneEdge; actual_state = State::ForwardToSceneEdge;
} }
@ -147,14 +147,14 @@ void loop()
case State::Turn90Yellow: 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) >= 80.0f)
{ {
actual_state = State::ForwardToSceneEdge; actual_state = State::ForwardToSceneEdge;
} }
break; break;
case State::ForwardToSceneEdge: case State::ForwardToSceneEdge:
my_IO.setSpeed(1024.0f); my_IO.setSpeed(1100.0f);
if(my_IO.getAngle(Axes::Y) > 5.0f) if(my_IO.getAngle(Axes::Y) > 5.0f)
{ {