AresENSEA-CDF2020
/
AresCDFMainCode_capteur_US
Capteur_US
Diff: debugPC.cpp
- Revision:
- 13:a72b0752aa6f
- Parent:
- 12:2c312916a621
- Child:
- 14:dd3c756c6d48
diff -r 2c312916a621 -r a72b0752aa6f debugPC.cpp --- 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); }