Diff: debugPC.cpp

Revision:

12:2c312916a621

Parent:

10:0714feaaaee1

Child:

13:a72b0752aa6f

--- a/debugPC.cpp	Fri Sep 11 11:11:56 2020 +0000
+++ b/debugPC.cpp	Fri Sep 11 13:47:56 2020 +0000
@@ -5,8 +5,11 @@
 Serial pc(USBTX, USBRX);
 Ticker ticker_affUS;
 Ticker ticker_affcd;
+Ticker ticker_affodo;
+
 bool aff_US[6];
 bool aff_cd[4];
+bool aff_odo[3];
 bool m_dis = true;    // 0 : START // 1 : STOP
 bool m_avance = false;   // 0 : BACKWARD // 1 : FORWARD
 bool mtrt_sens = false;
@@ -85,6 +88,7 @@
         "cofr", //17
         "cofa", //18
         "parc", //19
+        "odom", //20
         0
     };
 
@@ -268,6 +272,13 @@
             bt.printf("Distance a parcourir : ");
             cmdType=3;
             break;
+        case 20:     //résultat odométrie
+            pc.printf("Results Odometry\n\r");
+            bt.printf("Results Odometry\n\r");
+            aff_odo[0]=!aff_odo[0];
+            aff_odo[1]=!aff_odo[1];
+            aff_odo[2]=!aff_odo[2];
+            break;
         default:
             pc.printf("Commande invalide\n\r");
             bt.printf("Commande invalide\n\r");
@@ -370,3 +381,14 @@
     if(aff_cd[0]) bt.printf("comptG = %d\n\r", comptG);
     if(aff_cd[1]) bt.printf("comptD = %d\n\r", comptD);
 }
+
+void affOdo()
+{
+    if(aff_odo[0]) pc.printf("x = %f\n\r", x);
+    if(aff_odo[1]) pc.printf("y = %f\n\r", y);
+    if(aff_odo[2]) pc.printf("phi = %f\n\r", phi_deg);
+
+    if(aff_odo[0]) bt.printf("x = %f\n\r", x);
+    if(aff_odo[1]) bt.printf("y = %f\n\r", y);
+    if(aff_odo[2]) bt.printf("phi = %f\n\r", phi_deg); 
+}