Diff: main.cpp

Revision:

40:83ce8d1072ef

Parent:

39:09c04fd42c94

Child:

41:c04c2ec37aad

--- a/main.cpp	Mon Mar 16 21:46:12 2015 +0000
+++ b/main.cpp	Tue Mar 17 14:38:54 2015 +0000
@@ -43,14 +43,14 @@
     */
     //nucleo
     
-    PwmOut pw1(PB_13);
-    DigitalOut dir1(PC_9);
-    PwmOut pw2(PB_14);
-    DigitalOut dir2(PB_8);
+    PwmOut pw1(PWM_MOT1);
+    DigitalOut dir1(DIR_MOT1);
+    PwmOut pw2(PWM_MOT2);
+    DigitalOut dir2(DIR_MOT2);
     
         
-    Motor motorR(&pw1,&dir1);
-    Motor motorL(&pw2,&dir2);    
+    Motor motorR(PWM_MOT1,DIR_MOT1);
+    Motor motorL(PWM_MOT2,DIR_MOT2);    
     logger.printf("mise a jour des pwm.\r\n");
     Timer t;
     
@@ -70,22 +70,22 @@
     
     test.SetMode(0); // Position
     
-    char dataOff[] = {0};
+    /*char dataOff[] = {0};
     char dataOn[] = {1};
-    /*while(1)
+    while(1)
     {
-        logger.printf("0: %f\r\n",ain0);
-        logger.printf("1: %f\r\n",ain1);
-        logger.printf("2: %f\r\n",ain2);
-        logger.printf("3: %f\r\n",ain3);
-        logger.printf("4: %f\r\n\r\n",ain4);
+        logger.printf("0: %f\r\n",ain0.read()*3.3);
+        logger.printf("1: %f\r\n",ain1.read()*3.3);
+        logger.printf("2: %f\r\n",ain2.read()*3.3);
+        logger.printf("3: %f\r\n",ain3.read()*3.3);
+        logger.printf("4: %f\r\n\r\n",ain4.read()*3.3);
         led = !led;
-        wait(0.5);
-        test.write(0x05,0x19,1,dataOff);
-        wait(0.5);
-        test.write(0x05,0x19,1,dataOn);
+        wait(1);
+        motorR.setSpeed(1.0);
+        wait(1);
+        motorR.setSpeed(0.0);
     }*/
-    bool testOdo = true;
+    bool testOdo = false;
     
     
     Asserv<float> instanceAsserv(&odometry);
@@ -93,13 +93,18 @@
     /*----------------------------------------------------------------------------------------------*/
     instanceAsserv.setGoal( (float)10,(float)0, (float)PI/2);
     
+    logger.printf("Debut boucle.\r\n");
+    
     while(1)
     {       
         //Asservissement :
-        t.start();         
+        logger.printf("1\r\n");
+        t.start();
+        logger.printf("2\r\n");
         instanceAsserv.update((float)t.read());
-                        
+        logger.printf("2\r\n");
         Mat<float> X( instanceAsserv.getX() );
+        logger.printf("3\r\n");
         float phi_r = instanceAsserv.getPhiR();
         float phi_l = instanceAsserv.getPhiL();
         float phi_max = instanceAsserv.getPhiMax();
@@ -109,15 +114,7 @@
         //(instanceAsserv.getX()).afficherMblue();
         //blue.printf("Odometry : \n\r");
         //z.afficherMblue();       
-                                 
-        //Mise a jour des moteurs :
-        if(!testOdo)
-        {
-            motorR.update((float)phi_r/phi_max);        
-            motorL.update((float)phi_l/phi_max);
-        }            
-        logger.printf("\n\n----------------- Commandes moteurs : mises a jour. ------------------ \n");
-                
+        
         //Timer Handling :
         t.stop();
         logger.printf("%f s ecoulee.\n\r", t.read());