Diff: debugPC.cpp

Revision:

13:a72b0752aa6f

Parent:

12:2c312916a621

Child:

14:dd3c756c6d48

--- a/debugPC.cpp	Fri Sep 11 13:47:56 2020 +0000
+++ b/debugPC.cpp	Fri Sep 11 14:15:57 2020 +0000
@@ -118,6 +118,7 @@
             pc.printf("cofr : Enregistrement nb tics et reset\r\n");
             pc.printf("cofa : Affichage nb tics\r\n");
             pc.printf("parc : Distance a parcourir\r\n");
+            pc.printf("odom : Odometrie\r\n");
             pc.printf("\n\r");
             // bt
             bt.printf("\n\n\r###HELP###\n\r");
@@ -134,6 +135,7 @@
             bt.printf("cofr : Enregistrement nb tics et reset\r\n");
             bt.printf("cofa : Affichage nb tics\r\n");
             bt.printf("parc : Distance a parcourir\r\n");
+            bt.printf("odom : Odometrie\r\n");
             bt.printf("\n\r");
             break;
         case 1:     //usao
@@ -384,11 +386,7 @@
 
 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); 
+    if(aff_odo[2]) bt.printf("phi = %f\n\r", phi*180/Pi); 
 }