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authorhaller2005-05-04 09:54:27 +0000
committerhaller2005-05-04 09:54:27 +0000
commit8a9fa69f946c53336fbf93c09d68be82dc074fb7 (patch)
tree7d6cee0f87e28a4dae3982a7efd5b5086fb7fa74
parent1eddebad686d3e290f4eea195b2cd1637ae10fb9 (diff)
Envoie des positions de départ à l'AVR
S L Automatique dans le test_motor
-rw-r--r--2005/i/robert/src/motor/motor.cc3
-rw-r--r--2005/i/robert/src/motor/test_motor.cc7
2 files changed, 9 insertions, 1 deletions
diff --git a/2005/i/robert/src/motor/motor.cc b/2005/i/robert/src/motor/motor.cc
index c640085..a9f90bf 100644
--- a/2005/i/robert/src/motor/motor.cc
+++ b/2005/i/robert/src/motor/motor.cc
@@ -38,6 +38,9 @@ Motor::Motor (const Config & config)
posX_ = 65;
posY_ = -225;
posA_ = 0;
+ asserv_.setXPos(posX_);
+ asserv_.setYPos(posY_);
+ asserv_.setAngle(posA_);
}
/// Initialise les moteurs
diff --git a/2005/i/robert/src/motor/test_motor.cc b/2005/i/robert/src/motor/test_motor.cc
index e57ff53..bc44f02 100644
--- a/2005/i/robert/src/motor/test_motor.cc
+++ b/2005/i/robert/src/motor/test_motor.cc
@@ -116,9 +116,14 @@ main (int argc, char **argv)
break;
}
motor.sync();
+ while(!motor.idle())
+ {
+ motor.wait(-1);
+ motor.sync();
+ }
break;
}
-
+
case 'w':
{
int stop, t;