AresENSEA-CDF2020
/
AresCDFMainCode_us2
Test
debugPC.cpp@5:34ed652f8c31, 2020-07-21 (annotated)
- Committer:
- Nanaud
- Date:
- Tue Jul 21 19:33:38 2020 +0000
- Revision:
- 5:34ed652f8c31
- Parent:
- 4:ad9b7355332e
- Child:
- 6:ea6b30c4bb01
Commande Bluetooth test moteur
Who changed what in which revision?
User | Revision | Line number | New 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; |
Nanaud | 1:2fe8c402ee79 | 8 | bool aff_US[6]; |
Nanaud | 1:2fe8c402ee79 | 9 | bool aff_cd[4]; |
Nanaud | 5:34ed652f8c31 | 10 | bool m_dis = true; // 0 : START // 1 : STOP |
Nanaud | 5:34ed652f8c31 | 11 | bool m_avance = false; // 0 : BACKWARD // 1 : FORWARD |
Nanaud | 3:3ba377aafdfd | 12 | int cmdType=0; |
Nanaud | 1:2fe8c402ee79 | 13 | |
Nanaud | 4:ad9b7355332e | 14 | void serialIT() // avec Tera Term |
Nanaud | 3:3ba377aafdfd | 15 | { |
Nanaud | 0:dc036b67c87c | 16 | //pc.printf("\n\rserialIT on\n\r"); |
Nanaud | 0:dc036b67c87c | 17 | static int i=0; |
Nanaud | 0:dc036b67c87c | 18 | static char buffer[10]=""; // Tableau qui contient la chaine de caractère rentrée dans le terminal. |
Nanaud | 0:dc036b67c87c | 19 | static char cmd[Lcmd]=""; // Variable qui retient que les premiers caractères qui représentent la commande. |
Nanaud | 4:ad9b7355332e | 20 | |
Nanaud | 0:dc036b67c87c | 21 | char tampon = pc.getc(); |
Nanaud | 3:3ba377aafdfd | 22 | |
Nanaud | 3:3ba377aafdfd | 23 | if((tampon >= 48 && tampon <=57) || (tampon>=97 && tampon<=122) || tampon==13) { |
Nanaud | 0:dc036b67c87c | 24 | buffer[i]=tampon; // Ajout du caractère dans le tableau buffer |
Nanaud | 0:dc036b67c87c | 25 | pc.putc(buffer[i]); // Réécriture sur le terminal du caractère envoyé |
Nanaud | 0:dc036b67c87c | 26 | i++; |
Nanaud | 0:dc036b67c87c | 27 | } |
Nanaud | 0:dc036b67c87c | 28 | |
Nanaud | 3:3ba377aafdfd | 29 | if(buffer[i-1]=='\r') { // Attente un appui sur la touche entrée |
Nanaud | 0:dc036b67c87c | 30 | i=0; |
Nanaud | 0:dc036b67c87c | 31 | copieTab(buffer,cmd); // Sauvegarde la commande dans le tableau cmd |
Nanaud | 3:3ba377aafdfd | 32 | |
Nanaud | 3:3ba377aafdfd | 33 | switch(cmdType) { |
Nanaud | 3:3ba377aafdfd | 34 | case 1 : // Commande test angle |
Nanaud | 3:3ba377aafdfd | 35 | StringToAngle(cmd); |
Nanaud | 3:3ba377aafdfd | 36 | cmdType=0; |
Nanaud | 3:3ba377aafdfd | 37 | break; |
Nanaud | 5:34ed652f8c31 | 38 | case 2 : // Commande test vitesse |
Nanaud | 5:34ed652f8c31 | 39 | StringToVitesse(cmd); |
Nanaud | 5:34ed652f8c31 | 40 | cmdType=0; |
Nanaud | 5:34ed652f8c31 | 41 | break; |
Nanaud | 3:3ba377aafdfd | 42 | default : // Commande par défaut |
Nanaud | 3:3ba377aafdfd | 43 | cmdChoice(cmd); |
Nanaud | 3:3ba377aafdfd | 44 | } |
Nanaud | 3:3ba377aafdfd | 45 | } |
Nanaud | 0:dc036b67c87c | 46 | } |
Nanaud | 0:dc036b67c87c | 47 | |
Nanaud | 3:3ba377aafdfd | 48 | void copieTab(char *tab1,char *tab2) // Fonction qui recopie un tableau dans un autre |
Nanaud | 3:3ba377aafdfd | 49 | { |
Nanaud | 0:dc036b67c87c | 50 | //pc.printf("\n\rcopieTab on\n\r"); |
Nanaud | 0:dc036b67c87c | 51 | //pc.printf("\n\r"); |
Nanaud | 3:3ba377aafdfd | 52 | for(int j=0; j<Lcmd; j++) { |
Nanaud | 0:dc036b67c87c | 53 | tab2[j]=tab1[j]; |
Nanaud | 0:dc036b67c87c | 54 | //pc.printf("%c",tab2[j]); |
Nanaud | 0:dc036b67c87c | 55 | } |
Nanaud | 0:dc036b67c87c | 56 | //pc.printf("\n\r"); |
Nanaud | 0:dc036b67c87c | 57 | } |
Nanaud | 0:dc036b67c87c | 58 | |
Nanaud | 3:3ba377aafdfd | 59 | void cmdChoice(char *cmd) // Fonction qui permet de choisir de l'activation d'une commande |
Nanaud | 3:3ba377aafdfd | 60 | { |
Nanaud | 3:3ba377aafdfd | 61 | const char *options[]= { |
Nanaud | 3:3ba377aafdfd | 62 | "help", //0 |
Nanaud | 3:3ba377aafdfd | 63 | "usao", //1 |
Nanaud | 3:3ba377aafdfd | 64 | "us1o", //2 |
Nanaud | 3:3ba377aafdfd | 65 | "us2o", //3 |
Nanaud | 3:3ba377aafdfd | 66 | "us3o", //4 |
Nanaud | 3:3ba377aafdfd | 67 | "us4o", //5 |
Nanaud | 3:3ba377aafdfd | 68 | "us5o", //6 |
Nanaud | 3:3ba377aafdfd | 69 | "us6o", //7 |
Nanaud | 3:3ba377aafdfd | 70 | "tdrv", //8 |
Nanaud | 3:3ba377aafdfd | 71 | "cdon", //9 |
Nanaud | 3:3ba377aafdfd | 72 | "cdga", //10 |
Nanaud | 3:3ba377aafdfd | 73 | "cdgb", //11 |
Nanaud | 3:3ba377aafdfd | 74 | "tagl", //12 |
Nanaud | 5:34ed652f8c31 | 75 | "mten", //13 |
Nanaud | 5:34ed652f8c31 | 76 | "mtdr", //14 |
Nanaud | 5:34ed652f8c31 | 77 | "mtvt", //15 |
Nanaud | 3:3ba377aafdfd | 78 | 0 |
Nanaud | 0:dc036b67c87c | 79 | }; |
Nanaud | 3:3ba377aafdfd | 80 | |
Nanaud | 0:dc036b67c87c | 81 | long option=-1; |
Nanaud | 3:3ba377aafdfd | 82 | |
Nanaud | 3:3ba377aafdfd | 83 | for (long a=0; options[a] && option<0; a++) { |
Nanaud | 3:3ba377aafdfd | 84 | 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 | 85 | option=a; |
Nanaud | 0:dc036b67c87c | 86 | } |
Nanaud | 4:ad9b7355332e | 87 | //pc.printf("res = %d\r\n",strcmp(cmd,options[a])); |
Nanaud | 0:dc036b67c87c | 88 | } |
Nanaud | 3:3ba377aafdfd | 89 | |
Nanaud | 0:dc036b67c87c | 90 | switch (option) { |
Nanaud | 0:dc036b67c87c | 91 | case 0: //help |
Nanaud | 4:ad9b7355332e | 92 | // pc |
Nanaud | 0:dc036b67c87c | 93 | pc.printf("\n\n\r###HELP###\n\r"); |
Nanaud | 0:dc036b67c87c | 94 | pc.printf("usao : Affichage resultats capteurs a ultrasons\n\r"); |
Nanaud | 0:dc036b67c87c | 95 | pc.printf("usxo : Affichage resultat capteur ultrasons x\n\r"); |
Nanaud | 0:dc036b67c87c | 96 | pc.printf("tdrv : Lance la fonction test_drv()\n\r"); |
Nanaud | 0:dc036b67c87c | 97 | pc.printf("cdon : Affichage resultats codeurs\n\r"); |
Nanaud | 0:dc036b67c87c | 98 | pc.printf("cdgx : Affichage resultats codeur gauche phase x (a ou b)\n\r"); |
Nanaud | 3:3ba377aafdfd | 99 | pc.printf("tagl : Tourne le robot sur lui-meme avec un angle a preciser\r\n"); |
Nanaud | 5:34ed652f8c31 | 100 | pc.printf("mten : Activation/Desactivation des moteurs\r\n"); |
Nanaud | 5:34ed652f8c31 | 101 | pc.printf("mtdr : Changement de de sens de rotation des moteurs\r\n"); |
Nanaud | 5:34ed652f8c31 | 102 | pc.printf("mtvt : Changement de la vitesse de rotation (vitesse a preciser)\r\n"); |
Nanaud | 0:dc036b67c87c | 103 | pc.printf("\n\r"); |
Nanaud | 4:ad9b7355332e | 104 | // bt |
Nanaud | 4:ad9b7355332e | 105 | bt.printf("\n\n\r###HELP###\n\r"); |
Nanaud | 4:ad9b7355332e | 106 | bt.printf("usao : Affichage resultats capteurs a ultrasons\n\r"); |
Nanaud | 4:ad9b7355332e | 107 | bt.printf("usxo : Affichage resultat capteur ultrasons x\n\r"); |
Nanaud | 4:ad9b7355332e | 108 | bt.printf("tdrv : Lance la fonction test_drv()\n\r"); |
Nanaud | 4:ad9b7355332e | 109 | bt.printf("cdon : Affichage resultats codeurs\n\r"); |
Nanaud | 4:ad9b7355332e | 110 | bt.printf("cdgx : Affichage resultats codeur gauche phase x (a ou b)\n\r"); |
Nanaud | 4:ad9b7355332e | 111 | bt.printf("tagl : Tourne le robot sur lui-meme avec un angle a preciser\r\n"); |
Nanaud | 5:34ed652f8c31 | 112 | bt.printf("mten : Activation/Desactivation des moteurs\r\n"); |
Nanaud | 5:34ed652f8c31 | 113 | bt.printf("mtdr : Changement de de sens de rotation des moteurs\r\n"); |
Nanaud | 5:34ed652f8c31 | 114 | bt.printf("mtvt : Changement de la vitesse de rotation (vitesse a preciser)\r\n"); |
Nanaud | 4:ad9b7355332e | 115 | bt.printf("\n\r"); |
Nanaud | 0:dc036b67c87c | 116 | break; |
Nanaud | 0:dc036b67c87c | 117 | case 1: //usao |
Nanaud | 0:dc036b67c87c | 118 | pc.printf("Capt US ALL ON/OFF\n\r"); |
Nanaud | 4:ad9b7355332e | 119 | bt.printf("Capt US ALL ON/OFF\n\r"); |
Nanaud | 3:3ba377aafdfd | 120 | aff_US[0]=!aff_US[0]; |
Nanaud | 3:3ba377aafdfd | 121 | aff_US[1]=!aff_US[1]; |
Nanaud | 3:3ba377aafdfd | 122 | aff_US[2]=!aff_US[2]; |
Nanaud | 3:3ba377aafdfd | 123 | aff_US[3]=!aff_US[3]; |
Nanaud | 3:3ba377aafdfd | 124 | aff_US[4]=!aff_US[4]; |
Nanaud | 3:3ba377aafdfd | 125 | aff_US[5]=!aff_US[5]; |
Nanaud | 0:dc036b67c87c | 126 | break; |
Nanaud | 0:dc036b67c87c | 127 | case 2: //us1o |
Nanaud | 0:dc036b67c87c | 128 | pc.printf("Capt US 1 ON/OFF\n\r"); |
Nanaud | 4:ad9b7355332e | 129 | bt.printf("Capt US 1 ON/OFF\n\r"); |
Nanaud | 0:dc036b67c87c | 130 | aff_US[0]=!aff_US[0]; |
Nanaud | 0:dc036b67c87c | 131 | break; |
Nanaud | 0:dc036b67c87c | 132 | case 3: //us2o |
Nanaud | 0:dc036b67c87c | 133 | pc.printf("Capt US 2 ON/OFF\n\r"); |
Nanaud | 4:ad9b7355332e | 134 | bt.printf("Capt US 2 ON/OFF\n\r"); |
Nanaud | 0:dc036b67c87c | 135 | aff_US[1]=!aff_US[1]; |
Nanaud | 0:dc036b67c87c | 136 | break; |
Nanaud | 0:dc036b67c87c | 137 | case 4: //us3o |
Nanaud | 0:dc036b67c87c | 138 | pc.printf("Capt US 3 ON/OFF\n\r"); |
Nanaud | 4:ad9b7355332e | 139 | bt.printf("Capt US 3 ON/OFF\n\r"); |
Nanaud | 0:dc036b67c87c | 140 | aff_US[2]=!aff_US[2]; |
Nanaud | 0:dc036b67c87c | 141 | break; |
Nanaud | 0:dc036b67c87c | 142 | case 5: //us4o |
Nanaud | 0:dc036b67c87c | 143 | pc.printf("Capt US 4 ON/OFF\n\r"); |
Nanaud | 4:ad9b7355332e | 144 | bt.printf("Capt US 4 ON/OFF\n\r"); |
Nanaud | 0:dc036b67c87c | 145 | aff_US[3]=!aff_US[3]; |
Nanaud | 0:dc036b67c87c | 146 | break; |
Nanaud | 0:dc036b67c87c | 147 | case 6: //us5o |
Nanaud | 0:dc036b67c87c | 148 | pc.printf("Capt US 5 ON/OFF\n\r"); |
Nanaud | 4:ad9b7355332e | 149 | bt.printf("Capt US 5 ON/OFF\n\r"); |
Nanaud | 0:dc036b67c87c | 150 | aff_US[4]=!aff_US[4]; |
Nanaud | 0:dc036b67c87c | 151 | break; |
Nanaud | 0:dc036b67c87c | 152 | case 7: //us6o |
Nanaud | 0:dc036b67c87c | 153 | pc.printf("Capt US 6 ON/OFF\n\r"); |
Nanaud | 4:ad9b7355332e | 154 | bt.printf("Capt US 6 ON/OFF\n\r"); |
Nanaud | 0:dc036b67c87c | 155 | aff_US[5]=!aff_US[5]; |
Nanaud | 0:dc036b67c87c | 156 | break; |
Nanaud | 0:dc036b67c87c | 157 | case 8: //tdrv |
Nanaud | 0:dc036b67c87c | 158 | pc.printf("Fonction test_drv()\n\r"); |
Nanaud | 4:ad9b7355332e | 159 | bt.printf("Fonction test_drv()\n\r"); |
Nanaud | 0:dc036b67c87c | 160 | test_drv(); |
Nanaud | 0:dc036b67c87c | 161 | break; |
Nanaud | 0:dc036b67c87c | 162 | case 9: //cdon |
Nanaud | 0:dc036b67c87c | 163 | pc.printf("Results ALL Encoders ON/OFF\n\r"); |
Nanaud | 4:ad9b7355332e | 164 | bt.printf("Results ALL Encoders ON/OFF\n\r"); |
Nanaud | 0:dc036b67c87c | 165 | aff_cd[0]=!aff_cd[0]; |
Nanaud | 0:dc036b67c87c | 166 | aff_cd[1]=!aff_cd[1]; |
Nanaud | 0:dc036b67c87c | 167 | break; |
Nanaud | 0:dc036b67c87c | 168 | case 10: //cdga |
Nanaud | 0:dc036b67c87c | 169 | pc.printf("Results Encoder Left A ON/OFF\n\r"); |
Nanaud | 4:ad9b7355332e | 170 | bt.printf("Results Encoder Left A ON/OFF\n\r"); |
Nanaud | 0:dc036b67c87c | 171 | aff_cd[0]=!aff_cd[0]; |
Nanaud | 0:dc036b67c87c | 172 | break; |
Nanaud | 0:dc036b67c87c | 173 | case 11: //cdgb |
Nanaud | 0:dc036b67c87c | 174 | pc.printf("Results Encoder Left B ON/OFF\n\r"); |
Nanaud | 4:ad9b7355332e | 175 | bt.printf("Results Encoder Left B ON/OFF\n\r"); |
Nanaud | 0:dc036b67c87c | 176 | aff_cd[1]=!aff_cd[1]; |
Nanaud | 0:dc036b67c87c | 177 | break; |
Nanaud | 3:3ba377aafdfd | 178 | case 12: //tagl |
Nanaud | 3:3ba377aafdfd | 179 | pc.printf("Cmd Angle robot\r\n"); |
Nanaud | 3:3ba377aafdfd | 180 | pc.printf("Angle (entre 0 et 360 degres sous la forme xxx): "); |
Nanaud | 4:ad9b7355332e | 181 | bt.printf("Cmd Angle robot\r\n"); |
Nanaud | 4:ad9b7355332e | 182 | bt.printf("Angle (entre 0 et 360 degres sous la forme xxx): "); |
Nanaud | 3:3ba377aafdfd | 183 | cmdType=1; |
Nanaud | 3:3ba377aafdfd | 184 | break; |
Nanaud | 5:34ed652f8c31 | 185 | case 13: // mten |
Nanaud | 5:34ed652f8c31 | 186 | if(m_dis) { |
Nanaud | 5:34ed652f8c31 | 187 | mot_en(); |
Nanaud | 5:34ed652f8c31 | 188 | m_dis=!m_dis; |
Nanaud | 5:34ed652f8c31 | 189 | pc.printf("Motors Enable\r\n"); |
Nanaud | 5:34ed652f8c31 | 190 | bt.printf("Motors Enable\r\n"); |
Nanaud | 5:34ed652f8c31 | 191 | } else { |
Nanaud | 5:34ed652f8c31 | 192 | mot_dis(); |
Nanaud | 5:34ed652f8c31 | 193 | m_dis=!m_dis; |
Nanaud | 5:34ed652f8c31 | 194 | pc.printf("Motors Disable\r\n"); |
Nanaud | 5:34ed652f8c31 | 195 | bt.printf("Motors Disable\r\n"); |
Nanaud | 5:34ed652f8c31 | 196 | } |
Nanaud | 5:34ed652f8c31 | 197 | break; |
Nanaud | 5:34ed652f8c31 | 198 | case 14: // mtdr |
Nanaud | 5:34ed652f8c31 | 199 | if(m_avance) { |
Nanaud | 5:34ed652f8c31 | 200 | pc.printf("Changement de direction : En avant\r\n"); |
Nanaud | 5:34ed652f8c31 | 201 | bt.printf("Changement de direction : En avant\r\n"); |
Nanaud | 5:34ed652f8c31 | 202 | motGauche_fwd(); |
Nanaud | 5:34ed652f8c31 | 203 | motDroite_fwd(); |
Nanaud | 5:34ed652f8c31 | 204 | m_avance=!m_avance; |
Nanaud | 5:34ed652f8c31 | 205 | } else { |
Nanaud | 5:34ed652f8c31 | 206 | pc.printf("Changement de direction : En arriere\r\n"); |
Nanaud | 5:34ed652f8c31 | 207 | bt.printf("Changement de direction : En arriere\r\n"); |
Nanaud | 5:34ed652f8c31 | 208 | motGauche_bck(); |
Nanaud | 5:34ed652f8c31 | 209 | motDroite_bck(); |
Nanaud | 5:34ed652f8c31 | 210 | m_avance=!m_avance; |
Nanaud | 5:34ed652f8c31 | 211 | } |
Nanaud | 5:34ed652f8c31 | 212 | break; |
Nanaud | 5:34ed652f8c31 | 213 | case 15: // mtvt |
Nanaud | 5:34ed652f8c31 | 214 | pc.printf("Cmd Vitesse robot\r\n"); |
Nanaud | 5:34ed652f8c31 | 215 | pc.printf("Vitesse en mm/s (sous la forme xxxx): "); |
Nanaud | 5:34ed652f8c31 | 216 | bt.printf("Cmd Vitesse robot\r\n"); |
Nanaud | 5:34ed652f8c31 | 217 | bt.printf("Vitesse en mm/s (sous la forme xxxx): "); |
Nanaud | 5:34ed652f8c31 | 218 | cmdType=2; |
Nanaud | 5:34ed652f8c31 | 219 | break; |
Nanaud | 0:dc036b67c87c | 220 | default: |
Nanaud | 0:dc036b67c87c | 221 | pc.printf("Commande invalide\n\r"); |
Nanaud | 4:ad9b7355332e | 222 | bt.printf("Commande invalide\n\r"); |
Nanaud | 0:dc036b67c87c | 223 | } |
Nanaud | 0:dc036b67c87c | 224 | } |
Nanaud | 0:dc036b67c87c | 225 | |
Nanaud | 3:3ba377aafdfd | 226 | void StringToAngle(char *cmd) |
Nanaud | 3:3ba377aafdfd | 227 | { |
Nanaud | 3:3ba377aafdfd | 228 | int cmd2 = 0; |
Nanaud | 3:3ba377aafdfd | 229 | cmd2 += (cmd[0]-48)*100; |
Nanaud | 3:3ba377aafdfd | 230 | cmd2 += (cmd[1]-48)*10; |
Nanaud | 3:3ba377aafdfd | 231 | cmd2 += (cmd[2]-48)*1; |
Nanaud | 3:3ba377aafdfd | 232 | |
Nanaud | 3:3ba377aafdfd | 233 | if (cmd2>=0 && cmd2<=360) { |
Nanaud | 3:3ba377aafdfd | 234 | pc.printf("\r\nCommande envoyee au robot : %d\r\n",cmd2); |
Nanaud | 4:ad9b7355332e | 235 | bt.printf("\r\nCommande envoyee au robot : %d\r\n",cmd2); |
Nanaud | 3:3ba377aafdfd | 236 | testAngle(cmd2); |
Nanaud | 3:3ba377aafdfd | 237 | } else { |
Nanaud | 3:3ba377aafdfd | 238 | pc.printf("\r\nAngle incorrect\r\n\n"); |
Nanaud | 4:ad9b7355332e | 239 | bt.printf("\r\nAngle incorrect\r\n\n"); |
Nanaud | 3:3ba377aafdfd | 240 | cmd2 = 0; |
Nanaud | 3:3ba377aafdfd | 241 | } |
Nanaud | 0:dc036b67c87c | 242 | } |
Nanaud | 0:dc036b67c87c | 243 | |
Nanaud | 5:34ed652f8c31 | 244 | void StringToVitesse(char *cmd) |
Nanaud | 5:34ed652f8c31 | 245 | { |
Nanaud | 5:34ed652f8c31 | 246 | for(int y=0; y<Lcmd ; y++) { |
Nanaud | 5:34ed652f8c31 | 247 | bt.printf("%d ",cmd[y]); |
Nanaud | 5:34ed652f8c31 | 248 | } |
Nanaud | 5:34ed652f8c31 | 249 | bt.printf("\r\n"); |
Nanaud | 5:34ed652f8c31 | 250 | |
Nanaud | 5:34ed652f8c31 | 251 | float cmd3 = 0; |
Nanaud | 5:34ed652f8c31 | 252 | cmd3 += (cmd[0]-48)*1000; |
Nanaud | 5:34ed652f8c31 | 253 | cmd3 += (cmd[1]-48)*100; |
Nanaud | 5:34ed652f8c31 | 254 | cmd3 += (cmd[2]-48)*10; |
Nanaud | 5:34ed652f8c31 | 255 | cmd3 += (cmd[3]-48)*1; |
Nanaud | 5:34ed652f8c31 | 256 | |
Nanaud | 5:34ed652f8c31 | 257 | if (cmd3>=0 && cmd3<=9999) { |
Nanaud | 5:34ed652f8c31 | 258 | cmd3 = cmd3 / 1000; |
Nanaud | 5:34ed652f8c31 | 259 | pc.printf("\r\nCommande envoyee au robot : %.3f m/s\r\n",cmd3); |
Nanaud | 5:34ed652f8c31 | 260 | bt.printf("\r\nCommande envoyee au robot : %.3f m/s\r\n",cmd3); |
Nanaud | 5:34ed652f8c31 | 261 | drvGauche.moveLinSpeed(cmd3); |
Nanaud | 5:34ed652f8c31 | 262 | drvDroite.moveLinSpeed(cmd3); |
Nanaud | 5:34ed652f8c31 | 263 | } else { |
Nanaud | 5:34ed652f8c31 | 264 | pc.printf("\r\nVitesse incorrect\r\n\n"); |
Nanaud | 5:34ed652f8c31 | 265 | bt.printf("\r\nVitesse incorrect\r\n\n"); |
Nanaud | 5:34ed652f8c31 | 266 | cmd3 = 0; |
Nanaud | 5:34ed652f8c31 | 267 | } |
Nanaud | 5:34ed652f8c31 | 268 | } |
Nanaud | 5:34ed652f8c31 | 269 | |
Nanaud | 3:3ba377aafdfd | 270 | void affUltrasons() |
Nanaud | 3:3ba377aafdfd | 271 | { |
Nanaud | 4:ad9b7355332e | 272 | // pc |
Nanaud | 4:ad9b7355332e | 273 | if(aff_US[0]) pc.printf("Tps US1 = %5.0f uS\n\r", us_out[0]); |
Nanaud | 4:ad9b7355332e | 274 | if(aff_US[1]) pc.printf("Tps US2 = %5.0f uS\n\r", us_out[1]); |
Nanaud | 4:ad9b7355332e | 275 | if(aff_US[2]) pc.printf("Tps US3 = %5.0f uS\n\r", us_out[2]); |
Nanaud | 4:ad9b7355332e | 276 | if(aff_US[3]) pc.printf("Tps US4 = %5.0f uS\n\r", us_out[3]); |
Nanaud | 4:ad9b7355332e | 277 | if(aff_US[4]) pc.printf("Tps US5 = %5.0f uS\n\r", us_out[4]); |
Nanaud | 4:ad9b7355332e | 278 | if(aff_US[5]) pc.printf("Tps US6 = %5.0f uS\n\r", us_out[5]); |
Nanaud | 4:ad9b7355332e | 279 | 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 | 280 | |
Nanaud | 4:ad9b7355332e | 281 | // bt |
Nanaud | 4:ad9b7355332e | 282 | if(aff_US[0]) bt.printf("Tps US1 = %5.0f uS\n\r", us_out[0]); |
Nanaud | 4:ad9b7355332e | 283 | if(aff_US[1]) bt.printf("Tps US2 = %5.0f uS\n\r", us_out[1]); |
Nanaud | 4:ad9b7355332e | 284 | if(aff_US[2]) bt.printf("Tps US3 = %5.0f uS\n\r", us_out[2]); |
Nanaud | 4:ad9b7355332e | 285 | if(aff_US[3]) bt.printf("Tps US4 = %5.0f uS\n\r", us_out[3]); |
Nanaud | 4:ad9b7355332e | 286 | if(aff_US[4]) bt.printf("Tps US5 = %5.0f uS\n\r", us_out[4]); |
Nanaud | 4:ad9b7355332e | 287 | if(aff_US[5]) bt.printf("Tps US6 = %5.0f uS\n\r", us_out[5]); |
Nanaud | 4:ad9b7355332e | 288 | 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 | 289 | } |
Nanaud | 3:3ba377aafdfd | 290 | |
Nanaud | 3:3ba377aafdfd | 291 | void affCodeurs() |
Nanaud | 3:3ba377aafdfd | 292 | { |
Nanaud | 4:ad9b7355332e | 293 | if(aff_cd[0]) pc.printf("CdgA = %d\n\r", cpt_cdgA); |
Nanaud | 4:ad9b7355332e | 294 | //if(aff_cd[1]) pc.printf("CdgB = %d\n\r", cpt_cdgB); |
Nanaud | 5:34ed652f8c31 | 295 | |
Nanaud | 4:ad9b7355332e | 296 | if(aff_cd[0]) bt.printf("CdgA = %d\n\r", cpt_cdgA); |
Nanaud | 4:ad9b7355332e | 297 | //if(aff_cd[1]) bt.printf("CdgB = %d\n\r", cpt_cdgB); |
Nanaud | 3:3ba377aafdfd | 298 | } |