Diff: debugPC.cpp

Revision:

25:869b1c1f51a7

Parent:

24:be2b2be6907b

--- a/debugPC.cpp	Wed Oct 28 20:08:39 2020 +0000
+++ b/debugPC.cpp	Thu Oct 29 07:53:25 2020 +0000
@@ -291,7 +291,7 @@
             pc.printf("O = %lf\n\r", O);
             pc.printf("consigneAngl = %lf\n\r", consigneOrientation);
             pc.printf("consigneDist = %lf\n\r", distanceCible);
-            pc.printf("indice = %d\n\r", indice);
+            pc.printf("indice = %d\n\r", indiceStrategie);
             //pc.printf("dist 1 = %d\n\r", ttt[0]);
             //pc.printf("dist 2 = %d\n\r", ttt[1]);
             //pc.printf("dist 6 = %d\n\r", ttt[5]);
@@ -306,14 +306,14 @@
             bt.printf("O = %lf\n\r", O);
             bt.printf("consigneAngl = %lf\n\r", consigneOrientation);
             bt.printf("consigneDist = %lf\n\r", distanceCible);
-            bt.printf("indice = %d\n\r", indice);
-            bt.printf("dist 1 = %lf\n\r", distt[0]);
-            bt.printf("dist 2 = %lf\n\r", distt[1]);
-            bt.printf("dist 6 = %lf\n\r", distt[5]);
+            bt.printf("indice = %d\n\r", indiceStrategie);
+            bt.printf("dist 1 = %d\n\r", us_dist[0]);
+            bt.printf("dist 2 = %d\n\r", us_dist[1]);
+            bt.printf("dist 6 = %d\n\r", us_dist[5]);
             bt.printf("---\n\r");
-            bt.printf("dist 3 = %lf\n\r", distt[2]);
-            bt.printf("dist 4 = %lf\n\r", distt[3]);
-            bt.printf("dist 5 = %lf\n\r", distt[4]);
+            bt.printf("dist 3 = %d\n\r", us_dist[2]);
+            bt.printf("dist 4 = %d\n\r", us_dist[3]);
+            bt.printf("dist 5 = %d\n\r", us_dist[4]);
             bt.printf("distanceMem = %lf\n\r", distanceMem);
             bt.printf("distancePlus = %lf\n\r", distancePlus);
             break;
@@ -391,62 +391,7 @@
 
 void affUltrasons()
 {
-    // Données bruts
-
-    /*
-    // pc
-    if(aff_US[0]) pc.printf("Tps US1 = %5.0f uS\n\r", us_diff[0]);
-    if(aff_US[1]) pc.printf("Tps US2 = %5.0f uS\n\r", us_diff[1]);
-    if(aff_US[2]) pc.printf("Tps US3 = %5.0f uS\n\r", us_diff[2]);
-    if(aff_US[3]) pc.printf("Tps US4 = %5.0f uS\n\r", us_diff[3]);
-    if(aff_US[4]) pc.printf("Tps US5 = %5.0f uS\n\r", us_diff[4]);
-    if(aff_US[5]) pc.printf("Tps US6 = %5.0f uS\n\r", us_diff[5]);
-    if(aff_US[0]||aff_US[1]||aff_US[2]||aff_US[3]||aff_US[4]||aff_US[5]) pc.printf("\n\r");
-
-    // bt
-    if(aff_US[0]) bt.printf("Tps US1 = %5.0f uS\n\r", us_diff[0]);
-    if(aff_US[1]) bt.printf("Tps US2 = %5.0f uS\n\r", us_diff[1]);
-    if(aff_US[2]) bt.printf("Tps US3 = %5.0f uS\n\r", us_diff[2]);
-    if(aff_US[3]) bt.printf("Tps US4 = %5.0f uS\n\r", us_diff[3]);
-    if(aff_US[4]) bt.printf("Tps US5 = %5.0f uS\n\r", us_diff[4]);
-    if(aff_US[5]) bt.printf("Tps US6 = %5.0f uS\n\r", us_diff[5]);
-    if(aff_US[0]||aff_US[1]||aff_US[2]||aff_US[3]||aff_US[4]||aff_US[5]) bt.printf("\n\r");
-    */
-
-    
-    // Distances
-
-    // pc
-    /*
-    pc.printf("US[1] = %lf\n\r", us_diff[0]);
-    pc.printf("US[2] = %lf\n\r", us_diff[1]);
-    pc.printf("US[3] = %lf\n\r", us_diff[2]);
-    pc.printf("US[4] = %lf\n\r", us_diff[3]);
-    pc.printf("US[5] = %lf\n\r", us_diff[4]);
-    pc.printf("US[6] = %lf\n\r", us_diff[5]);
-    pc.printf("\n\r");
-    */
-    
-    ///*
-    pc.printf("distance[1] = %lf\n\r", distt[0]);
-    pc.printf("distance[2] = %lf\n\r", distt[1]);
-    pc.printf("distance[3] = %lf\n\r", distt[2]);
-    pc.printf("distance[4] = %lf\n\r", distt[3]);
-    pc.printf("distance[5] = %lf\n\r", distt[4]);
-    pc.printf("distance[6] = %lf\n\r", distt[5]);
-    pc.printf("\n\r");
-    //*/
-
-    // bt
-    
-    bt.printf("distance[1] = %lf\n\r", distt[0]);
-    bt.printf("distance[2] = %lf\n\r", distt[1]);
-    bt.printf("distance[3] = %lf\n\r", distt[2]);
-    bt.printf("distance[4] = %lf\n\r", distt[3]);
-    bt.printf("distance[5] = %lf\n\r", distt[4]);
-    bt.printf("distance[6] = %lf\n\r", distt[5]);
-    bt.printf("\n\r");
-    
+    /* Rien */
 }
 
 void affCodeurs()