mirror of
https://github.com/RobotechLille/cdf2018-principal
synced 2024-05-17 04:26:00 +02:00
56 lines
1 KiB
C
56 lines
1 KiB
C
#include <pthread.h>
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#include <signal.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <time.h> // random seed
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#include <unistd.h> // sleep
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#include <wiringPi.h>
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#include "CF.h"
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#include "debug.h"
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#include "i2c.h"
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#include "imu.h"
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#include "movement.h"
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#include "buttons.h"
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#include "parcours.h"
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#include "position.h"
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pthread_mutex_t sRunning;
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int main()
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{
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if (wiringPiSetup() < 0) {
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fprintf(stderr, "Impossible d'initialiser WiringPi\n");
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exit(EXIT_FAILURE);
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}
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initI2C();
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srand(time(NULL));
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configureDebug();
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configureCF();
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configureIMU();
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configurePosition();
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configureMovement();
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startDebug();
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configureParcours();
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prepareParcours(false);
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startParcours();
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int toWait;
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while ((toWait = updateParcours()) >= 0) {
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if (pressedButton(toWait) != none) {
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break;
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}
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}
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stopParcours();
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deconfigureMovement();
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deconfigurePosition();
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deconfigureIMU();
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deconfigureCF();
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deconfigureDebug();
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return EXIT_SUCCESS;
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}
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