AresENSEA-CDF2020 / Mbed 2 deprecated AresCDFMainCode_capteur_US

Capteur_US

Dependencies:   mbed DRV8825

debugPC.cpp@16:4c0b1647e8ae, 2020-10-13 (annotated)

Committer:
g0dd4
Date:
Tue Oct 13 14:50:31 2020 +0000
Revision:
16:4c0b1647e8ae
Parent:
14:dd3c756c6d48 
Conversion du temps en distance ; Detection d'un obstacle; Changement de base; Test_fonctionnelle ;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Nanaud 4:ad9b7355332e 1 // Nom du fichier : debugPC.cpp
Nanaud 0:dc036b67c87c 2 #include "pins.h"
Nanaud 0:dc036b67c87c 3
Nanaud 4:ad9b7355332e 4 // Variables globales & timers
Nanaud 1:2fe8c402ee79 5 Serial pc(USBTX, USBRX);
Nanaud 1:2fe8c402ee79 6 Ticker ticker_affUS;
Nanaud 1:2fe8c402ee79 7 Ticker ticker_affcd;
plmir 12:2c312916a621 8 Ticker ticker_affodo;
plmir 12:2c312916a621 9
Nanaud 1:2fe8c402ee79 10 bool aff_US[6];
Nanaud 1:2fe8c402ee79 11 bool aff_cd[4];
plmir 12:2c312916a621 12 bool aff_odo[3];
Nanaud 5:34ed652f8c31 13 bool m_dis = true; // 0 : START // 1 : STOP
Nanaud 5:34ed652f8c31 14 bool m_avance = false; // 0 : BACKWARD // 1 : FORWARD
Nanaud 10:0714feaaaee1 15 bool mtrt_sens = false;
Nanaud 3:3ba377aafdfd 16 int cmdType=0;
Nanaud 10:0714feaaaee1 17 long comptG_saved = 0, comptD_saved = 0; // Sauvegarde nombre de tics codeurs
Nanaud 1:2fe8c402ee79 18
Nanaud 4:ad9b7355332e 19 void serialIT() // avec Tera Term
Nanaud 3:3ba377aafdfd 20 {
Nanaud 0:dc036b67c87c 21 //pc.printf("\n\rserialIT on\n\r");
Nanaud 0:dc036b67c87c 22 static int i=0;
Nanaud 0:dc036b67c87c 23 static char buffer[10]=""; // Tableau qui contient la chaine de caractère rentrée dans le terminal.
Nanaud 0:dc036b67c87c 24 static char cmd[Lcmd]=""; // Variable qui retient que les premiers caractères qui représentent la commande.
Nanaud 4:ad9b7355332e 25
Nanaud 0:dc036b67c87c 26 char tampon = pc.getc();
Nanaud 3:3ba377aafdfd 27
Nanaud 3:3ba377aafdfd 28 if((tampon >= 48 && tampon <=57) || (tampon>=97 && tampon<=122) || tampon==13) {
Nanaud 0:dc036b67c87c 29 buffer[i]=tampon; // Ajout du caractère dans le tableau buffer
Nanaud 0:dc036b67c87c 30 pc.putc(buffer[i]); // Réécriture sur le terminal du caractère envoyé
Nanaud 0:dc036b67c87c 31 i++;
Nanaud 0:dc036b67c87c 32 }
Nanaud 0:dc036b67c87c 33
Nanaud 3:3ba377aafdfd 34 if(buffer[i-1]=='\r') { // Attente un appui sur la touche entrée
Nanaud 0:dc036b67c87c 35 i=0;
Nanaud 0:dc036b67c87c 36 copieTab(buffer,cmd); // Sauvegarde la commande dans le tableau cmd
Nanaud 3:3ba377aafdfd 37
Nanaud 3:3ba377aafdfd 38 switch(cmdType) {
Nanaud 3:3ba377aafdfd 39 case 1 : // Commande test angle
Nanaud 3:3ba377aafdfd 40 StringToAngle(cmd);
Nanaud 3:3ba377aafdfd 41 cmdType=0;
Nanaud 3:3ba377aafdfd 42 break;
Nanaud 5:34ed652f8c31 43 case 2 : // Commande test vitesse
Nanaud 5:34ed652f8c31 44 StringToVitesse(cmd);
Nanaud 5:34ed652f8c31 45 cmdType=0;
Nanaud 5:34ed652f8c31 46 break;
Nanaud 10:0714feaaaee1 47 case 3 : // Commande distance a parcourir
Nanaud 10:0714feaaaee1 48 StringToDist(cmd);
Nanaud 10:0714feaaaee1 49 cmdType=0;
Nanaud 10:0714feaaaee1 50 break;
Nanaud 3:3ba377aafdfd 51 default : // Commande par défaut
Nanaud 3:3ba377aafdfd 52 cmdChoice(cmd);
Nanaud 3:3ba377aafdfd 53 }
Nanaud 3:3ba377aafdfd 54 }
Nanaud 0:dc036b67c87c 55 }
Nanaud 0:dc036b67c87c 56
Nanaud 3:3ba377aafdfd 57 void copieTab(char *tab1,char *tab2) // Fonction qui recopie un tableau dans un autre
Nanaud 3:3ba377aafdfd 58 {
Nanaud 0:dc036b67c87c 59 //pc.printf("\n\rcopieTab on\n\r");
Nanaud 0:dc036b67c87c 60 //pc.printf("\n\r");
Nanaud 3:3ba377aafdfd 61 for(int j=0; j<Lcmd; j++) {
Nanaud 0:dc036b67c87c 62 tab2[j]=tab1[j];
Nanaud 0:dc036b67c87c 63 //pc.printf("%c",tab2[j]);
Nanaud 0:dc036b67c87c 64 }
Nanaud 0:dc036b67c87c 65 //pc.printf("\n\r");
Nanaud 0:dc036b67c87c 66 }
Nanaud 0:dc036b67c87c 67
Nanaud 3:3ba377aafdfd 68 void cmdChoice(char *cmd) // Fonction qui permet de choisir de l'activation d'une commande
Nanaud 3:3ba377aafdfd 69 {
Nanaud 3:3ba377aafdfd 70 const char *options[]= {
Nanaud 3:3ba377aafdfd 71 "help", //0
Nanaud 3:3ba377aafdfd 72 "usao", //1
Nanaud 3:3ba377aafdfd 73 "us1o", //2
Nanaud 3:3ba377aafdfd 74 "us2o", //3
Nanaud 3:3ba377aafdfd 75 "us3o", //4
Nanaud 3:3ba377aafdfd 76 "us4o", //5
Nanaud 3:3ba377aafdfd 77 "us5o", //6
Nanaud 3:3ba377aafdfd 78 "us6o", //7
Nanaud 3:3ba377aafdfd 79 "tdrv", //8
Nanaud 3:3ba377aafdfd 80 "cdon", //9
Nanaud 3:3ba377aafdfd 81 "cdga", //10
Nanaud 3:3ba377aafdfd 82 "cdgb", //11
Nanaud 3:3ba377aafdfd 83 "tagl", //12
Nanaud 5:34ed652f8c31 84 "mten", //13
Nanaud 5:34ed652f8c31 85 "mtdr", //14
Nanaud 5:34ed652f8c31 86 "mtvt", //15
Nanaud 8:eb9bbab312ff 87 "mtrt", //16
Nanaud 10:0714feaaaee1 88 "cofr", //17
Nanaud 10:0714feaaaee1 89 "cofa", //18
Nanaud 10:0714feaaaee1 90 "parc", //19
plmir 12:2c312916a621 91 "odom", //20
Nanaud 3:3ba377aafdfd 92 0
Nanaud 0:dc036b67c87c 93 };
Nanaud 3:3ba377aafdfd 94
Nanaud 0:dc036b67c87c 95 long option=-1;
Nanaud 3:3ba377aafdfd 96
Nanaud 3:3ba377aafdfd 97 for (long a=0; options[a] && option<0; a++) {
Nanaud 3:3ba377aafdfd 98 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 99 option=a;
Nanaud 0:dc036b67c87c 100 }
Nanaud 4:ad9b7355332e 101 //pc.printf("res = %d\r\n",strcmp(cmd,options[a]));
Nanaud 0:dc036b67c87c 102 }
Nanaud 3:3ba377aafdfd 103
Nanaud 0:dc036b67c87c 104 switch (option) {
Nanaud 0:dc036b67c87c 105 case 0: //help
Nanaud 4:ad9b7355332e 106 // pc
Nanaud 0:dc036b67c87c 107 pc.printf("\n\n\r###HELP###\n\r");
Nanaud 0:dc036b67c87c 108 pc.printf("usao : Affichage resultats capteurs a ultrasons\n\r");
Nanaud 0:dc036b67c87c 109 pc.printf("usxo : Affichage resultat capteur ultrasons x\n\r");
Nanaud 10:0714feaaaee1 110 pc.printf("tdrv : Appelle une fonction test\n\r");
Nanaud 0:dc036b67c87c 111 pc.printf("cdon : Affichage resultats codeurs\n\r");
Nanaud 0:dc036b67c87c 112 pc.printf("cdgx : Affichage resultats codeur gauche phase x (a ou b)\n\r");
Nanaud 3:3ba377aafdfd 113 pc.printf("tagl : Tourne le robot sur lui-meme avec un angle a preciser\r\n");
Nanaud 5:34ed652f8c31 114 pc.printf("mten : Activation/Desactivation des moteurs\r\n");
Nanaud 5:34ed652f8c31 115 pc.printf("mtdr : Changement de de sens de rotation des moteurs\r\n");
Nanaud 5:34ed652f8c31 116 pc.printf("mtvt : Changement de la vitesse de rotation (vitesse a preciser)\r\n");
Nanaud 8:eb9bbab312ff 117 pc.printf("mtrt : Sens de rotation des moteurs opposes\r\n");
Nanaud 10:0714feaaaee1 118 pc.printf("cofr : Enregistrement nb tics et reset\r\n");
Nanaud 10:0714feaaaee1 119 pc.printf("cofa : Affichage nb tics\r\n");
Nanaud 10:0714feaaaee1 120 pc.printf("parc : Distance a parcourir\r\n");
Nanaud 14:dd3c756c6d48 121 pc.printf("odom : Afficher les valeurs pour l'odometrie\r\n");
Nanaud 0:dc036b67c87c 122 pc.printf("\n\r");
Nanaud 4:ad9b7355332e 123 // bt
Nanaud 4:ad9b7355332e 124 bt.printf("\n\n\r###HELP###\n\r");
Nanaud 4:ad9b7355332e 125 bt.printf("usao : Affichage resultats capteurs a ultrasons\n\r");
Nanaud 4:ad9b7355332e 126 bt.printf("usxo : Affichage resultat capteur ultrasons x\n\r");
Nanaud 10:0714feaaaee1 127 bt.printf("tdrv : Appelle une fonction test\n\r");
Nanaud 4:ad9b7355332e 128 bt.printf("cdon : Affichage resultats codeurs\n\r");
Nanaud 4:ad9b7355332e 129 bt.printf("cdgx : Affichage resultats codeur gauche phase x (a ou b)\n\r");
Nanaud 4:ad9b7355332e 130 bt.printf("tagl : Tourne le robot sur lui-meme avec un angle a preciser\r\n");
Nanaud 5:34ed652f8c31 131 bt.printf("mten : Activation/Desactivation des moteurs\r\n");
Nanaud 5:34ed652f8c31 132 bt.printf("mtdr : Changement de de sens de rotation des moteurs\r\n");
Nanaud 5:34ed652f8c31 133 bt.printf("mtvt : Changement de la vitesse de rotation (vitesse a preciser)\r\n");
Nanaud 8:eb9bbab312ff 134 bt.printf("mtrt : Sens de rotation des moteurs opposes\r\n");
Nanaud 10:0714feaaaee1 135 bt.printf("cofr : Enregistrement nb tics et reset\r\n");
Nanaud 10:0714feaaaee1 136 bt.printf("cofa : Affichage nb tics\r\n");
Nanaud 10:0714feaaaee1 137 bt.printf("parc : Distance a parcourir\r\n");
Nanaud 14:dd3c756c6d48 138 bt.printf("odom : Afficher les valeurs pour l'odometrie\r\n");
Nanaud 4:ad9b7355332e 139 bt.printf("\n\r");
Nanaud 0:dc036b67c87c 140 break;
Nanaud 0:dc036b67c87c 141 case 1: //usao
Nanaud 0:dc036b67c87c 142 pc.printf("Capt US ALL ON/OFF\n\r");
Nanaud 4:ad9b7355332e 143 bt.printf("Capt US ALL ON/OFF\n\r");
Nanaud 3:3ba377aafdfd 144 aff_US[0]=!aff_US[0];
Nanaud 3:3ba377aafdfd 145 aff_US[1]=!aff_US[1];
Nanaud 3:3ba377aafdfd 146 aff_US[2]=!aff_US[2];
Nanaud 3:3ba377aafdfd 147 aff_US[3]=!aff_US[3];
Nanaud 3:3ba377aafdfd 148 aff_US[4]=!aff_US[4];
Nanaud 3:3ba377aafdfd 149 aff_US[5]=!aff_US[5];
Nanaud 0:dc036b67c87c 150 break;
Nanaud 0:dc036b67c87c 151 case 2: //us1o
Nanaud 0:dc036b67c87c 152 pc.printf("Capt US 1 ON/OFF\n\r");
Nanaud 4:ad9b7355332e 153 bt.printf("Capt US 1 ON/OFF\n\r");
Nanaud 0:dc036b67c87c 154 aff_US[0]=!aff_US[0];
Nanaud 0:dc036b67c87c 155 break;
Nanaud 0:dc036b67c87c 156 case 3: //us2o
Nanaud 0:dc036b67c87c 157 pc.printf("Capt US 2 ON/OFF\n\r");
Nanaud 4:ad9b7355332e 158 bt.printf("Capt US 2 ON/OFF\n\r");
Nanaud 0:dc036b67c87c 159 aff_US[1]=!aff_US[1];
Nanaud 0:dc036b67c87c 160 break;
Nanaud 0:dc036b67c87c 161 case 4: //us3o
Nanaud 0:dc036b67c87c 162 pc.printf("Capt US 3 ON/OFF\n\r");
Nanaud 4:ad9b7355332e 163 bt.printf("Capt US 3 ON/OFF\n\r");
Nanaud 0:dc036b67c87c 164 aff_US[2]=!aff_US[2];
Nanaud 0:dc036b67c87c 165 break;
Nanaud 0:dc036b67c87c 166 case 5: //us4o
Nanaud 0:dc036b67c87c 167 pc.printf("Capt US 4 ON/OFF\n\r");
Nanaud 4:ad9b7355332e 168 bt.printf("Capt US 4 ON/OFF\n\r");
Nanaud 0:dc036b67c87c 169 aff_US[3]=!aff_US[3];
Nanaud 0:dc036b67c87c 170 break;
Nanaud 0:dc036b67c87c 171 case 6: //us5o
Nanaud 0:dc036b67c87c 172 pc.printf("Capt US 5 ON/OFF\n\r");
Nanaud 4:ad9b7355332e 173 bt.printf("Capt US 5 ON/OFF\n\r");
Nanaud 0:dc036b67c87c 174 aff_US[4]=!aff_US[4];
Nanaud 0:dc036b67c87c 175 break;
Nanaud 0:dc036b67c87c 176 case 7: //us6o
Nanaud 0:dc036b67c87c 177 pc.printf("Capt US 6 ON/OFF\n\r");
Nanaud 4:ad9b7355332e 178 bt.printf("Capt US 6 ON/OFF\n\r");
Nanaud 0:dc036b67c87c 179 aff_US[5]=!aff_US[5];
Nanaud 0:dc036b67c87c 180 break;
Nanaud 0:dc036b67c87c 181 case 8: //tdrv
Nanaud 0:dc036b67c87c 182 pc.printf("Fonction test_drv()\n\r");
Nanaud 4:ad9b7355332e 183 bt.printf("Fonction test_drv()\n\r");
Nanaud 10:0714feaaaee1 184 //test_drv();
Nanaud 10:0714feaaaee1 185 comptG = 0;
Nanaud 10:0714feaaaee1 186 comptD = 0;
Nanaud 10:0714feaaaee1 187 //test1();
Nanaud 0:dc036b67c87c 188 break;
Nanaud 0:dc036b67c87c 189 case 9: //cdon
Nanaud 0:dc036b67c87c 190 pc.printf("Results ALL Encoders ON/OFF\n\r");
Nanaud 4:ad9b7355332e 191 bt.printf("Results ALL Encoders ON/OFF\n\r");
Nanaud 0:dc036b67c87c 192 aff_cd[0]=!aff_cd[0];
Nanaud 0:dc036b67c87c 193 aff_cd[1]=!aff_cd[1];
Nanaud 0:dc036b67c87c 194 break;
Nanaud 0:dc036b67c87c 195 case 10: //cdga
Nanaud 0:dc036b67c87c 196 pc.printf("Results Encoder Left A ON/OFF\n\r");
Nanaud 4:ad9b7355332e 197 bt.printf("Results Encoder Left A ON/OFF\n\r");
Nanaud 0:dc036b67c87c 198 aff_cd[0]=!aff_cd[0];
Nanaud 0:dc036b67c87c 199 break;
Nanaud 0:dc036b67c87c 200 case 11: //cdgb
Nanaud 0:dc036b67c87c 201 pc.printf("Results Encoder Left B ON/OFF\n\r");
Nanaud 4:ad9b7355332e 202 bt.printf("Results Encoder Left B ON/OFF\n\r");
Nanaud 0:dc036b67c87c 203 aff_cd[1]=!aff_cd[1];
Nanaud 0:dc036b67c87c 204 break;
Nanaud 3:3ba377aafdfd 205 case 12: //tagl
Nanaud 3:3ba377aafdfd 206 pc.printf("Cmd Angle robot\r\n");
Nanaud 3:3ba377aafdfd 207 pc.printf("Angle (entre 0 et 360 degres sous la forme xxx): ");
Nanaud 4:ad9b7355332e 208 bt.printf("Cmd Angle robot\r\n");
Nanaud 4:ad9b7355332e 209 bt.printf("Angle (entre 0 et 360 degres sous la forme xxx): ");
Nanaud 3:3ba377aafdfd 210 cmdType=1;
Nanaud 3:3ba377aafdfd 211 break;
Nanaud 5:34ed652f8c31 212 case 13: // mten
Nanaud 5:34ed652f8c31 213 if(m_dis) {
Nanaud 5:34ed652f8c31 214 mot_en();
Nanaud 5:34ed652f8c31 215 m_dis=!m_dis;
Nanaud 5:34ed652f8c31 216 pc.printf("Motors Enable\r\n");
Nanaud 5:34ed652f8c31 217 bt.printf("Motors Enable\r\n");
Nanaud 5:34ed652f8c31 218 } else {
Nanaud 5:34ed652f8c31 219 mot_dis();
Nanaud 5:34ed652f8c31 220 m_dis=!m_dis;
Nanaud 5:34ed652f8c31 221 pc.printf("Motors Disable\r\n");
Nanaud 5:34ed652f8c31 222 bt.printf("Motors Disable\r\n");
Nanaud 5:34ed652f8c31 223 }
Nanaud 5:34ed652f8c31 224 break;
Nanaud 5:34ed652f8c31 225 case 14: // mtdr
Nanaud 5:34ed652f8c31 226 if(m_avance) {
Nanaud 5:34ed652f8c31 227 pc.printf("Changement de direction : En avant\r\n");
Nanaud 5:34ed652f8c31 228 bt.printf("Changement de direction : En avant\r\n");
Nanaud 5:34ed652f8c31 229 motGauche_fwd();
Nanaud 5:34ed652f8c31 230 motDroite_fwd();
Nanaud 5:34ed652f8c31 231 m_avance=!m_avance;
Nanaud 5:34ed652f8c31 232 } else {
Nanaud 5:34ed652f8c31 233 pc.printf("Changement de direction : En arriere\r\n");
Nanaud 5:34ed652f8c31 234 bt.printf("Changement de direction : En arriere\r\n");
Nanaud 5:34ed652f8c31 235 motGauche_bck();
Nanaud 5:34ed652f8c31 236 motDroite_bck();
Nanaud 5:34ed652f8c31 237 m_avance=!m_avance;
Nanaud 5:34ed652f8c31 238 }
Nanaud 5:34ed652f8c31 239 break;
Nanaud 5:34ed652f8c31 240 case 15: // mtvt
Nanaud 5:34ed652f8c31 241 pc.printf("Cmd Vitesse robot\r\n");
Nanaud 5:34ed652f8c31 242 pc.printf("Vitesse en mm/s (sous la forme xxxx): ");
Nanaud 5:34ed652f8c31 243 bt.printf("Cmd Vitesse robot\r\n");
Nanaud 5:34ed652f8c31 244 bt.printf("Vitesse en mm/s (sous la forme xxxx): ");
Nanaud 5:34ed652f8c31 245 cmdType=2;
Nanaud 5:34ed652f8c31 246 break;
Nanaud 10:0714feaaaee1 247 case 16: // mtrt
Nanaud 10:0714feaaaee1 248 pc.printf("Rotation du robot - Changement de sens");
Nanaud 10:0714feaaaee1 249 bt.printf("Rotation du robot - Changement de sens");
Nanaud 10:0714feaaaee1 250 mtrt_sens = !mtrt_sens;
Nanaud 10:0714feaaaee1 251 if(mtrt_sens) {
Nanaud 10:0714feaaaee1 252 motGauche_fwd();
Nanaud 10:0714feaaaee1 253 motDroite_bck();
Nanaud 10:0714feaaaee1 254 } else {
Nanaud 10:0714feaaaee1 255 motGauche_bck();
Nanaud 10:0714feaaaee1 256 motDroite_fwd();
Nanaud 10:0714feaaaee1 257 }
Nanaud 10:0714feaaaee1 258 break;
Nanaud 10:0714feaaaee1 259 case 17 :
Nanaud 10:0714feaaaee1 260 comptG_saved = comptG;
Nanaud 10:0714feaaaee1 261 comptD_saved = comptD;
Nanaud 10:0714feaaaee1 262 comptG=0;
Nanaud 10:0714feaaaee1 263 comptD=0;
Nanaud 10:0714feaaaee1 264 pc.printf("comptG et comptD sauvegardes\r\n");
Nanaud 10:0714feaaaee1 265 bt.printf("comptG et comptD sauvegardes\r\n");
Nanaud 10:0714feaaaee1 266 break;
Nanaud 10:0714feaaaee1 267 case 18 :
Nanaud 10:0714feaaaee1 268 pc.printf("comptG_saved = %ld\r\n",comptG_saved);
Nanaud 10:0714feaaaee1 269 pc.printf("comptD_saved = %ld\r\n",comptD_saved);
Nanaud 10:0714feaaaee1 270 bt.printf("comptG_saved = %ld\r\n",comptG_saved);
Nanaud 10:0714feaaaee1 271 bt.printf("comptD_saved = %ld\r\n",comptD_saved);
Nanaud 10:0714feaaaee1 272 break;
Nanaud 10:0714feaaaee1 273 case 19 : //
Nanaud 10:0714feaaaee1 274 bt.printf("Distance a parcourir : ");
Nanaud 10:0714feaaaee1 275 cmdType=3;
Nanaud 8:eb9bbab312ff 276 break;
Nanaud 14:dd3c756c6d48 277 case 20: // odom
Nanaud 14:dd3c756c6d48 278 bt.printf("Odometrie :\n\r");
Nanaud 14:dd3c756c6d48 279 bt.printf("xB = %f\n\r", xB);
Nanaud 14:dd3c756c6d48 280 bt.printf("yB = %f\n\r", yB);
Nanaud 14:dd3c756c6d48 281 bt.printf("phiB = %f\n\r", phiB*180/_PI_);
plmir 12:2c312916a621 282 break;
Nanaud 0:dc036b67c87c 283 default:
Nanaud 0:dc036b67c87c 284 pc.printf("Commande invalide\n\r");
Nanaud 4:ad9b7355332e 285 bt.printf("Commande invalide\n\r");
Nanaud 0:dc036b67c87c 286 }
Nanaud 0:dc036b67c87c 287 }
Nanaud 0:dc036b67c87c 288
Nanaud 3:3ba377aafdfd 289 void StringToAngle(char *cmd)
Nanaud 3:3ba377aafdfd 290 {
Nanaud 3:3ba377aafdfd 291 int cmd2 = 0;
Nanaud 3:3ba377aafdfd 292 cmd2 += (cmd[0]-48)*100;
Nanaud 3:3ba377aafdfd 293 cmd2 += (cmd[1]-48)*10;
Nanaud 3:3ba377aafdfd 294 cmd2 += (cmd[2]-48)*1;
Nanaud 3:3ba377aafdfd 295
Nanaud 3:3ba377aafdfd 296 if (cmd2>=0 && cmd2<=360) {
Nanaud 10:0714feaaaee1 297 //consigneAngle = cmd2;
Nanaud 10:0714feaaaee1 298 //bt.printf("\r\nCommande envoyee au robot : %lf\r\n",consigneAngle);
Nanaud 10:0714feaaaee1 299 comptG=0; // Reset des compteurs
Nanaud 10:0714feaaaee1 300 comptD=0;
Nanaud 10:0714feaaaee1 301 //calculIntervalles();
Nanaud 10:0714feaaaee1 302 //state=1;
Nanaud 3:3ba377aafdfd 303 } else {
Nanaud 3:3ba377aafdfd 304 pc.printf("\r\nAngle incorrect\r\n\n");
Nanaud 4:ad9b7355332e 305 bt.printf("\r\nAngle incorrect\r\n\n");
Nanaud 3:3ba377aafdfd 306 cmd2 = 0;
Nanaud 3:3ba377aafdfd 307 }
Nanaud 0:dc036b67c87c 308 }
Nanaud 0:dc036b67c87c 309
Nanaud 10:0714feaaaee1 310 void StringToDist(char *cmd)
Nanaud 10:0714feaaaee1 311 {
Nanaud 10:0714feaaaee1 312 int cmd4 = 0;
Nanaud 10:0714feaaaee1 313 cmd4 += (cmd[0]-48)*1000;
Nanaud 10:0714feaaaee1 314 cmd4 += (cmd[1]-48)*100;
Nanaud 10:0714feaaaee1 315 cmd4 += (cmd[2]-48)*10;
Nanaud 10:0714feaaaee1 316 cmd4 += (cmd[3]-48)*1;
Nanaud 10:0714feaaaee1 317
Nanaud 10:0714feaaaee1 318 if (cmd4>=0 && cmd4<=9999) {
Nanaud 10:0714feaaaee1 319 //consigneDistance = cmd4;
Nanaud 10:0714feaaaee1 320 //pc.printf("\r\nCommande envoyee au robot : %lf\r\n",consigneDistance);
Nanaud 10:0714feaaaee1 321 //bt.printf("\r\nCommande envoyee au robot : %lf\r\n",consigneDistance);
Nanaud 10:0714feaaaee1 322
Nanaud 10:0714feaaaee1 323 } else {
Nanaud 10:0714feaaaee1 324 pc.printf("\r\nDistance incorrecte\r\n\n");
Nanaud 10:0714feaaaee1 325 bt.printf("\r\nDistance incorrecte\r\n\n");
Nanaud 10:0714feaaaee1 326 cmd4 = 0;
Nanaud 10:0714feaaaee1 327 }
Nanaud 10:0714feaaaee1 328 }
Nanaud 10:0714feaaaee1 329
Nanaud 5:34ed652f8c31 330 void StringToVitesse(char *cmd)
Nanaud 5:34ed652f8c31 331 {
Nanaud 5:34ed652f8c31 332 for(int y=0; y<Lcmd ; y++) {
Nanaud 5:34ed652f8c31 333 bt.printf("%d ",cmd[y]);
Nanaud 5:34ed652f8c31 334 }
Nanaud 5:34ed652f8c31 335 bt.printf("\r\n");
Nanaud 5:34ed652f8c31 336
Nanaud 5:34ed652f8c31 337 float cmd3 = 0;
Nanaud 5:34ed652f8c31 338 cmd3 += (cmd[0]-48)*1000;
Nanaud 5:34ed652f8c31 339 cmd3 += (cmd[1]-48)*100;
Nanaud 5:34ed652f8c31 340 cmd3 += (cmd[2]-48)*10;
Nanaud 5:34ed652f8c31 341 cmd3 += (cmd[3]-48)*1;
Nanaud 5:34ed652f8c31 342
Nanaud 5:34ed652f8c31 343 if (cmd3>=0 && cmd3<=9999) {
Nanaud 5:34ed652f8c31 344 cmd3 = cmd3 / 1000;
Nanaud 5:34ed652f8c31 345 pc.printf("\r\nCommande envoyee au robot : %.3f m/s\r\n",cmd3);
Nanaud 5:34ed652f8c31 346 bt.printf("\r\nCommande envoyee au robot : %.3f m/s\r\n",cmd3);
Nanaud 5:34ed652f8c31 347 drvGauche.moveLinSpeed(cmd3);
Nanaud 5:34ed652f8c31 348 drvDroite.moveLinSpeed(cmd3);
Nanaud 5:34ed652f8c31 349 } else {
Nanaud 5:34ed652f8c31 350 pc.printf("\r\nVitesse incorrect\r\n\n");
Nanaud 5:34ed652f8c31 351 bt.printf("\r\nVitesse incorrect\r\n\n");
Nanaud 5:34ed652f8c31 352 cmd3 = 0;
Nanaud 5:34ed652f8c31 353 }
Nanaud 5:34ed652f8c31 354 }
Nanaud 5:34ed652f8c31 355
Nanaud 3:3ba377aafdfd 356 void affUltrasons()
Nanaud 3:3ba377aafdfd 357 {
Nanaud 4:ad9b7355332e 358 // pc
Nanaud 4:ad9b7355332e 359 if(aff_US[0]) pc.printf("Tps US1 = %5.0f uS\n\r", us_out[0]);
Nanaud 4:ad9b7355332e 360 if(aff_US[1]) pc.printf("Tps US2 = %5.0f uS\n\r", us_out[1]);
Nanaud 4:ad9b7355332e 361 if(aff_US[2]) pc.printf("Tps US3 = %5.0f uS\n\r", us_out[2]);
Nanaud 4:ad9b7355332e 362 if(aff_US[3]) pc.printf("Tps US4 = %5.0f uS\n\r", us_out[3]);
Nanaud 4:ad9b7355332e 363 if(aff_US[4]) pc.printf("Tps US5 = %5.0f uS\n\r", us_out[4]);
Nanaud 4:ad9b7355332e 364 if(aff_US[5]) pc.printf("Tps US6 = %5.0f uS\n\r", us_out[5]);
Nanaud 4:ad9b7355332e 365 if(aff_US[0]||aff_US[1]||aff_US[2]||aff_US[3]||aff_US[4]||aff_US[5]) pc.printf("\n\r");
Nanaud 4:ad9b7355332e 366
Nanaud 4:ad9b7355332e 367 // bt
Nanaud 4:ad9b7355332e 368 if(aff_US[0]) bt.printf("Tps US1 = %5.0f uS\n\r", us_out[0]);
Nanaud 4:ad9b7355332e 369 if(aff_US[1]) bt.printf("Tps US2 = %5.0f uS\n\r", us_out[1]);
Nanaud 4:ad9b7355332e 370 if(aff_US[2]) bt.printf("Tps US3 = %5.0f uS\n\r", us_out[2]);
Nanaud 4:ad9b7355332e 371 if(aff_US[3]) bt.printf("Tps US4 = %5.0f uS\n\r", us_out[3]);
Nanaud 4:ad9b7355332e 372 if(aff_US[4]) bt.printf("Tps US5 = %5.0f uS\n\r", us_out[4]);
Nanaud 4:ad9b7355332e 373 if(aff_US[5]) bt.printf("Tps US6 = %5.0f uS\n\r", us_out[5]);
Nanaud 4:ad9b7355332e 374 if(aff_US[0]||aff_US[1]||aff_US[2]||aff_US[3]||aff_US[4]||aff_US[5]) bt.printf("\n\r");
Nanaud 3:3ba377aafdfd 375 }
Nanaud 3:3ba377aafdfd 376
Nanaud 3:3ba377aafdfd 377 void affCodeurs()
Nanaud 3:3ba377aafdfd 378 {
Nanaud 6:ea6b30c4bb01 379 if(aff_cd[0]) pc.printf("comptG = %d\n\r", comptG);
Nanaud 6:ea6b30c4bb01 380 if(aff_cd[1]) pc.printf("comptD = %d\n\r", comptD);
Nanaud 5:34ed652f8c31 381
Nanaud 6:ea6b30c4bb01 382 if(aff_cd[0]) bt.printf("comptG = %d\n\r", comptG);
Nanaud 6:ea6b30c4bb01 383 if(aff_cd[1]) bt.printf("comptD = %d\n\r", comptD);
Nanaud 3:3ba377aafdfd 384 }
plmir 12:2c312916a621 385
plmir 12:2c312916a621 386 void affOdo()
plmir 12:2c312916a621 387 {
Nanaud 14:dd3c756c6d48 388 if(aff_odo[0]) bt.printf("x = %f\n\r", xB);
Nanaud 14:dd3c756c6d48 389 if(aff_odo[1]) bt.printf("y = %f\n\r", yB);
Nanaud 14:dd3c756c6d48 390 if(aff_odo[2]) bt.printf("phi = %f\n\r", phiB*180/_PI_);
plmir 12:2c312916a621 391 }