AresENSEA-CDF2020 / Mbed 2 deprecated AresCDFMainCode_capteur_US

Capteur_US

Dependencies:   mbed DRV8825

debug.cpp@3:3ba377aafdfd, 2020-07-15 (annotated)

Committer:
Nanaud
Date:
Wed Jul 15 17:51:04 2020 +0000
Revision:
3:3ba377aafdfd
Parent:
2:094c09903a9c 
Correction odometrie, Ajout fonction debug pour test de rotation;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Nanaud 1:2fe8c402ee79 1 // Nom du fichier : debug.cpp
Nanaud 0:dc036b67c87c 2 #include "pins.h"
Nanaud 0:dc036b67c87c 3
Nanaud 1:2fe8c402ee79 4 // Variables globales & timerse
Nanaud 1:2fe8c402ee79 5 Serial pc(USBTX, USBRX);
Nanaud 1:2fe8c402ee79 6 Ticker ticker_affUS;
Nanaud 1:2fe8c402ee79 7 Ticker ticker_affcd;
Nanaud 1:2fe8c402ee79 8 bool aff_US[6];
Nanaud 1:2fe8c402ee79 9 bool aff_cd[4];
Nanaud 3:3ba377aafdfd 10 int cmdType=0;
Nanaud 1:2fe8c402ee79 11
Nanaud 3:3ba377aafdfd 12 void serialIT()
Nanaud 3:3ba377aafdfd 13 {
Nanaud 0:dc036b67c87c 14 //pc.printf("\n\rserialIT on\n\r");
Nanaud 0:dc036b67c87c 15 static int i=0;
Nanaud 0:dc036b67c87c 16 static char buffer[10]=""; // Tableau qui contient la chaine de caractère rentrée dans le terminal.
Nanaud 0:dc036b67c87c 17 static char cmd[Lcmd]=""; // Variable qui retient que les premiers caractères qui représentent la commande.
Nanaud 0:dc036b67c87c 18 char tampon = pc.getc();
Nanaud 3:3ba377aafdfd 19
Nanaud 3:3ba377aafdfd 20 if((tampon >= 48 && tampon <=57) || (tampon>=97 && tampon<=122) || tampon==13) {
Nanaud 0:dc036b67c87c 21 buffer[i]=tampon; // Ajout du caractère dans le tableau buffer
Nanaud 0:dc036b67c87c 22 pc.putc(buffer[i]); // Réécriture sur le terminal du caractère envoyé
Nanaud 0:dc036b67c87c 23 i++;
Nanaud 0:dc036b67c87c 24 }
Nanaud 0:dc036b67c87c 25
Nanaud 3:3ba377aafdfd 26 if(buffer[i-1]=='\r') { // Attente un appui sur la touche entrée
Nanaud 0:dc036b67c87c 27 i=0;
Nanaud 0:dc036b67c87c 28 copieTab(buffer,cmd); // Sauvegarde la commande dans le tableau cmd
Nanaud 3:3ba377aafdfd 29
Nanaud 3:3ba377aafdfd 30 switch(cmdType) {
Nanaud 3:3ba377aafdfd 31 case 1 : // Commande test angle
Nanaud 3:3ba377aafdfd 32 StringToAngle(cmd);
Nanaud 3:3ba377aafdfd 33 cmdType=0;
Nanaud 3:3ba377aafdfd 34 break;
Nanaud 3:3ba377aafdfd 35 default : // Commande par défaut
Nanaud 3:3ba377aafdfd 36 cmdChoice(cmd);
Nanaud 3:3ba377aafdfd 37 }
Nanaud 3:3ba377aafdfd 38 }
Nanaud 0:dc036b67c87c 39 }
Nanaud 0:dc036b67c87c 40
Nanaud 3:3ba377aafdfd 41 void copieTab(char *tab1,char *tab2) // Fonction qui recopie un tableau dans un autre
Nanaud 3:3ba377aafdfd 42 {
Nanaud 0:dc036b67c87c 43 //pc.printf("\n\rcopieTab on\n\r");
Nanaud 0:dc036b67c87c 44 //pc.printf("\n\r");
Nanaud 3:3ba377aafdfd 45 for(int j=0; j<Lcmd; j++) {
Nanaud 0:dc036b67c87c 46 tab2[j]=tab1[j];
Nanaud 0:dc036b67c87c 47 //pc.printf("%c",tab2[j]);
Nanaud 0:dc036b67c87c 48 }
Nanaud 0:dc036b67c87c 49 //pc.printf("\n\r");
Nanaud 0:dc036b67c87c 50 }
Nanaud 0:dc036b67c87c 51
Nanaud 3:3ba377aafdfd 52 void cmdChoice(char *cmd) // Fonction qui permet de choisir de l'activation d'une commande
Nanaud 3:3ba377aafdfd 53 {
Nanaud 0:dc036b67c87c 54 //pc.printf("\n\rcmdChoice on\n\rcmd =");
Nanaud 3:3ba377aafdfd 55
Nanaud 3:3ba377aafdfd 56 const char *options[]= {
Nanaud 3:3ba377aafdfd 57 "help", //0
Nanaud 3:3ba377aafdfd 58 "usao", //1
Nanaud 3:3ba377aafdfd 59 "us1o", //2
Nanaud 3:3ba377aafdfd 60 "us2o", //3
Nanaud 3:3ba377aafdfd 61 "us3o", //4
Nanaud 3:3ba377aafdfd 62 "us4o", //5
Nanaud 3:3ba377aafdfd 63 "us5o", //6
Nanaud 3:3ba377aafdfd 64 "us6o", //7
Nanaud 3:3ba377aafdfd 65 "tdrv", //8
Nanaud 3:3ba377aafdfd 66 "cdon", //9
Nanaud 3:3ba377aafdfd 67 "cdga", //10
Nanaud 3:3ba377aafdfd 68 "cdgb", //11
Nanaud 3:3ba377aafdfd 69 "tagl", //12
Nanaud 3:3ba377aafdfd 70 0
Nanaud 0:dc036b67c87c 71 };
Nanaud 3:3ba377aafdfd 72
Nanaud 0:dc036b67c87c 73 long option=-1;
Nanaud 3:3ba377aafdfd 74
Nanaud 3:3ba377aafdfd 75 for (long a=0; options[a] && option<0; a++) {
Nanaud 3:3ba377aafdfd 76 if (!strcmp(cmd,options[a]) || strcmp(cmd,options[a])==1) { // strcmp(cmd,options[a])==1 permet de contourner le problème, à revoir !!!
Nanaud 0:dc036b67c87c 77 option=a;
Nanaud 0:dc036b67c87c 78 }
Nanaud 0:dc036b67c87c 79 //pc.printf("res = %d",strcmp(cmd,options[a]));
Nanaud 0:dc036b67c87c 80 }
Nanaud 3:3ba377aafdfd 81
Nanaud 0:dc036b67c87c 82 switch (option) {
Nanaud 0:dc036b67c87c 83 case 0: //help
Nanaud 0:dc036b67c87c 84 pc.printf("\n\n\r###HELP###\n\r");
Nanaud 0:dc036b67c87c 85 pc.printf("usao : Affichage resultats capteurs a ultrasons\n\r");
Nanaud 0:dc036b67c87c 86 pc.printf("usxo : Affichage resultat capteur ultrasons x\n\r");
Nanaud 0:dc036b67c87c 87 pc.printf("tdrv : Lance la fonction test_drv()\n\r");
Nanaud 0:dc036b67c87c 88 pc.printf("cdon : Affichage resultats codeurs\n\r");
Nanaud 0:dc036b67c87c 89 pc.printf("cdgx : Affichage resultats codeur gauche phase x (a ou b)\n\r");
Nanaud 3:3ba377aafdfd 90 pc.printf("tagl : Tourne le robot sur lui-meme avec un angle a preciser\r\n");
Nanaud 0:dc036b67c87c 91 pc.printf("\n\r");
Nanaud 0:dc036b67c87c 92 break;
Nanaud 0:dc036b67c87c 93 case 1: //usao
Nanaud 0:dc036b67c87c 94 pc.printf("Capt US ALL ON/OFF\n\r");
Nanaud 3:3ba377aafdfd 95 aff_US[0]=!aff_US[0];
Nanaud 3:3ba377aafdfd 96 aff_US[1]=!aff_US[1];
Nanaud 3:3ba377aafdfd 97 aff_US[2]=!aff_US[2];
Nanaud 3:3ba377aafdfd 98 aff_US[3]=!aff_US[3];
Nanaud 3:3ba377aafdfd 99 aff_US[4]=!aff_US[4];
Nanaud 3:3ba377aafdfd 100 aff_US[5]=!aff_US[5];
Nanaud 0:dc036b67c87c 101 break;
Nanaud 0:dc036b67c87c 102 case 2: //us1o
Nanaud 0:dc036b67c87c 103 pc.printf("Capt US 1 ON/OFF\n\r");
Nanaud 0:dc036b67c87c 104 aff_US[0]=!aff_US[0];
Nanaud 0:dc036b67c87c 105 break;
Nanaud 0:dc036b67c87c 106 case 3: //us2o
Nanaud 0:dc036b67c87c 107 pc.printf("Capt US 2 ON/OFF\n\r");
Nanaud 0:dc036b67c87c 108 aff_US[1]=!aff_US[1];
Nanaud 0:dc036b67c87c 109 break;
Nanaud 0:dc036b67c87c 110 case 4: //us3o
Nanaud 0:dc036b67c87c 111 pc.printf("Capt US 3 ON/OFF\n\r");
Nanaud 0:dc036b67c87c 112 aff_US[2]=!aff_US[2];
Nanaud 0:dc036b67c87c 113 break;
Nanaud 0:dc036b67c87c 114 case 5: //us4o
Nanaud 0:dc036b67c87c 115 pc.printf("Capt US 4 ON/OFF\n\r");
Nanaud 0:dc036b67c87c 116 aff_US[3]=!aff_US[3];
Nanaud 0:dc036b67c87c 117 break;
Nanaud 0:dc036b67c87c 118 case 6: //us5o
Nanaud 0:dc036b67c87c 119 pc.printf("Capt US 5 ON/OFF\n\r");
Nanaud 0:dc036b67c87c 120 aff_US[4]=!aff_US[4];
Nanaud 0:dc036b67c87c 121 break;
Nanaud 0:dc036b67c87c 122 case 7: //us6o
Nanaud 0:dc036b67c87c 123 pc.printf("Capt US 6 ON/OFF\n\r");
Nanaud 0:dc036b67c87c 124 aff_US[5]=!aff_US[5];
Nanaud 0:dc036b67c87c 125 break;
Nanaud 0:dc036b67c87c 126 case 8: //tdrv
Nanaud 0:dc036b67c87c 127 pc.printf("Fonction test_drv()\n\r");
Nanaud 0:dc036b67c87c 128 test_drv();
Nanaud 0:dc036b67c87c 129 break;
Nanaud 0:dc036b67c87c 130 case 9: //cdon
Nanaud 0:dc036b67c87c 131 pc.printf("Results ALL Encoders ON/OFF\n\r");
Nanaud 0:dc036b67c87c 132 aff_cd[0]=!aff_cd[0];
Nanaud 0:dc036b67c87c 133 aff_cd[1]=!aff_cd[1];
Nanaud 0:dc036b67c87c 134 break;
Nanaud 0:dc036b67c87c 135 case 10: //cdga
Nanaud 0:dc036b67c87c 136 pc.printf("Results Encoder Left A ON/OFF\n\r");
Nanaud 0:dc036b67c87c 137 aff_cd[0]=!aff_cd[0];
Nanaud 0:dc036b67c87c 138 break;
Nanaud 0:dc036b67c87c 139 case 11: //cdgb
Nanaud 0:dc036b67c87c 140 pc.printf("Results Encoder Left B ON/OFF\n\r");
Nanaud 0:dc036b67c87c 141 aff_cd[1]=!aff_cd[1];
Nanaud 0:dc036b67c87c 142 break;
Nanaud 3:3ba377aafdfd 143 case 12: //tagl
Nanaud 3:3ba377aafdfd 144 pc.printf("Cmd Angle robot\r\n");
Nanaud 3:3ba377aafdfd 145 pc.printf("Angle (entre 0 et 360 degres sous la forme xxx): ");
Nanaud 3:3ba377aafdfd 146 cmdType=1;
Nanaud 3:3ba377aafdfd 147 break;
Nanaud 0:dc036b67c87c 148 default:
Nanaud 0:dc036b67c87c 149 pc.printf("Commande invalide\n\r");
Nanaud 0:dc036b67c87c 150 }
Nanaud 0:dc036b67c87c 151 }
Nanaud 0:dc036b67c87c 152
Nanaud 3:3ba377aafdfd 153 void StringToAngle(char *cmd)
Nanaud 3:3ba377aafdfd 154 {
Nanaud 3:3ba377aafdfd 155 int cmd2 = 0;
Nanaud 3:3ba377aafdfd 156 cmd2 += (cmd[0]-48)*100;
Nanaud 3:3ba377aafdfd 157 cmd2 += (cmd[1]-48)*10;
Nanaud 3:3ba377aafdfd 158 cmd2 += (cmd[2]-48)*1;
Nanaud 3:3ba377aafdfd 159
Nanaud 3:3ba377aafdfd 160 if (cmd2>=0 && cmd2<=360) {
Nanaud 3:3ba377aafdfd 161 pc.printf("\r\nCommande envoyee au robot : %d\r\n",cmd2);
Nanaud 3:3ba377aafdfd 162 testAngle(cmd2);
Nanaud 3:3ba377aafdfd 163 } else {
Nanaud 3:3ba377aafdfd 164 pc.printf("\r\nAngle incorrect\r\n\n");
Nanaud 3:3ba377aafdfd 165 cmd2 = 0;
Nanaud 3:3ba377aafdfd 166 }
Nanaud 0:dc036b67c87c 167 }
Nanaud 0:dc036b67c87c 168
Nanaud 3:3ba377aafdfd 169 void affUltrasons()
Nanaud 3:3ba377aafdfd 170 {
Nanaud 3:3ba377aafdfd 171 if(aff_US[0]) printf("Tps US1 = %5.0f uS\n\r", us_out[0]);
Nanaud 3:3ba377aafdfd 172 if(aff_US[1]) printf("Tps US2 = %5.0f uS\n\r", us_out[1]);
Nanaud 3:3ba377aafdfd 173 if(aff_US[2]) printf("Tps US3 = %5.0f uS\n\r", us_out[2]);
Nanaud 3:3ba377aafdfd 174 if(aff_US[3]) printf("Tps US4 = %5.0f uS\n\r", us_out[3]);
Nanaud 3:3ba377aafdfd 175 if(aff_US[4]) printf("Tps US5 = %5.0f uS\n\r", us_out[4]);
Nanaud 3:3ba377aafdfd 176 if(aff_US[5]) printf("Tps US6 = %5.0f uS\n\r", us_out[5]);
Nanaud 3:3ba377aafdfd 177 if(aff_US[0]||aff_US[1]||aff_US[2]||aff_US[3]||aff_US[4]||aff_US[5]) printf("\n\r");
Nanaud 3:3ba377aafdfd 178 }
Nanaud 3:3ba377aafdfd 179
Nanaud 3:3ba377aafdfd 180 void affCodeurs()
Nanaud 3:3ba377aafdfd 181 {
Nanaud 3:3ba377aafdfd 182 if(aff_cd[0]) printf("CdgA = %d\n\r", cpt_cdgA);
Nanaud 3:3ba377aafdfd 183 //if(aff_cd[1]) printf("CdgB = %d\n\r", cpt_cdgB);
Nanaud 3:3ba377aafdfd 184 }