Diff: main.cpp

Revision:

4:78a9354fcee8

Parent:

3:b91371837109

Child:

6:5f7df5c74a77

--- a/main.cpp	Mon May 29 12:01:43 2017 +0000
+++ b/main.cpp	Mon May 29 16:50:40 2017 +0000
@@ -7,7 +7,7 @@
     int etat=0;
     init();
     while(1) {
-        printf("etat=%d US1=%.0f US2=%.0f US3=%.0f erreur=%.0f AN1=%.0f AN2=%.0f cmdD=%.0f cmdG=%.0f\n\r",etat,US1,US2,US3,(US2-US1),AN1,AN2,cmdD,cmdG);
+       // printf("etat=%d US1=%.0f US2=%.0f US3=%.0f erreur=%.0f AN1=%.0f AN2=%.0f cmdD=%.0f cmdG=%.0f\n\r",etat,US1,US2,US3,(US2-US1),AN1,AN2,cmdD,cmdG);
         //wait(0.05);
         ledsetat.write(etat);
         switch(etat) {
@@ -22,19 +22,24 @@
                 }
                 break;
             case 1 :
+                if(US2>100 && US1<40) {
+                    etat=2;
+                    stopMotor();
+                }
                 if(AN2>30) {
                     etat=0;
                     t2.start();
                     t2.reset();
                     stopMotor();
                 }
+
                 break;
             case 2 :
                 if((AN2>10 && AN2<20) || US3<13) {
                     etat=1;
                     stopMotor();
                 }
-                if(t2.read()>2) {
+                if(t2.read()>4) {
                     etat=0;
                 }
                 break;