mirror of
https://github.com/RobotechLille/cdf2018-principal
synced 2024-06-02 02:55:01 +02:00
60 lines
1.1 KiB
C
60 lines
1.1 KiB
C
#include <stdlib.h>
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#include <stdio.h>
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#include <time.h> // random seed
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#include <pthread.h>
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#include <unistd.h> // sleep
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#include "CA.h"
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#include "movement.h"
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#include "debug.h"
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#define TEMPSMAX 10
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void* TaskParcours(void *pdata)
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{
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(void) pdata;
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struct position pos;
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for (;;) {
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pos.x = (int) (rand()*200.0/RAND_MAX);
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pos.y = (int) (rand()*100.0/RAND_MAX);
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pos.o = (int) (rand()*360.0/RAND_MAX);
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aller(&pos);
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sleep(1);
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brake();
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sleep(2);
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}
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printf("Fin du parcours\n");
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return NULL;
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}
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int main()
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{
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printf("Démarrage...\n");
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configureCA();
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configureDebug();
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srand(time(NULL));
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/* printf("Synchronisation avec le Raspberry Pi\n"); // TODO */
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/* printf("En attente de la tirette...\n"); // TODO */
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printf("C'est parti !\n");
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pthread_t tParcours;
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pthread_create(&tParcours, NULL, TaskParcours, NULL);
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sleep(TEMPSMAX);
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printf("Fin des %d secondes\n", TEMPSMAX);
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/* pthread_cancel(tParcours); */
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stop();
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deconfigureDebug();
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deconfigureCA();
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return EXIT_SUCCESS;
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}
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