AresENSEA-CDF2020 / Mbed 2 deprecated AresCDFMainCode_us2

Test

Dependencies:   mbed DRV8825

debugPC.cpp@20:7d206773f39e, 2020-10-20 (annotated)

Committer:
Nanaud
Date:
Tue Oct 20 17:53:32 2020 +0000
Revision:
20:7d206773f39e
Parent:
19:c419033c0967
Child:
21:e5f0f5abb5ae
Fonctionnel, detection a ameliorer

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 16:ae65ce77b1f9 185 //comptG = 0;
Nanaud 16:ae65ce77b1f9 186 //comptD = 0;
Nanaud 10:0714feaaaee1 187 //test1();
Nanaud 18:48246daf0c06 188 //consigneOrientation = (180*3.1415)/180;
Nanaud 19:c419033c0967 189 //xC = (double)0;
Nanaud 19:c419033c0967 190 //yC = (double)100;
Nanaud 19:c419033c0967 191 //fnc=1;
Nanaud 20:7d206773f39e 192
Nanaud 20:7d206773f39e 193 /*
Nanaud 19:c419033c0967 194 indice++;
Nanaud 19:c419033c0967 195 fnc = objEtape[indice];
Nanaud 19:c419033c0967 196 xC = objX[indice];
Nanaud 19:c419033c0967 197 yC = objY[indice];
Nanaud 19:c419033c0967 198 mot_en();
Nanaud 20:7d206773f39e 199 */
Nanaud 0:dc036b67c87c 200 break;
Nanaud 0:dc036b67c87c 201 case 9: //cdon
Nanaud 0:dc036b67c87c 202 pc.printf("Results ALL Encoders ON/OFF\n\r");
Nanaud 4:ad9b7355332e 203 bt.printf("Results ALL Encoders ON/OFF\n\r");
Nanaud 0:dc036b67c87c 204 aff_cd[0]=!aff_cd[0];
Nanaud 0:dc036b67c87c 205 aff_cd[1]=!aff_cd[1];
Nanaud 0:dc036b67c87c 206 break;
Nanaud 0:dc036b67c87c 207 case 10: //cdga
Nanaud 0:dc036b67c87c 208 pc.printf("Results Encoder Left A ON/OFF\n\r");
Nanaud 4:ad9b7355332e 209 bt.printf("Results Encoder Left A ON/OFF\n\r");
Nanaud 0:dc036b67c87c 210 aff_cd[0]=!aff_cd[0];
Nanaud 0:dc036b67c87c 211 break;
Nanaud 0:dc036b67c87c 212 case 11: //cdgb
Nanaud 0:dc036b67c87c 213 pc.printf("Results Encoder Left B ON/OFF\n\r");
Nanaud 4:ad9b7355332e 214 bt.printf("Results Encoder Left B ON/OFF\n\r");
Nanaud 0:dc036b67c87c 215 aff_cd[1]=!aff_cd[1];
Nanaud 0:dc036b67c87c 216 break;
Nanaud 3:3ba377aafdfd 217 case 12: //tagl
Nanaud 3:3ba377aafdfd 218 pc.printf("Cmd Angle robot\r\n");
Nanaud 3:3ba377aafdfd 219 pc.printf("Angle (entre 0 et 360 degres sous la forme xxx): ");
Nanaud 4:ad9b7355332e 220 bt.printf("Cmd Angle robot\r\n");
Nanaud 4:ad9b7355332e 221 bt.printf("Angle (entre 0 et 360 degres sous la forme xxx): ");
Nanaud 3:3ba377aafdfd 222 cmdType=1;
Nanaud 3:3ba377aafdfd 223 break;
Nanaud 5:34ed652f8c31 224 case 13: // mten
Nanaud 5:34ed652f8c31 225 if(m_dis) {
Nanaud 5:34ed652f8c31 226 mot_en();
Nanaud 5:34ed652f8c31 227 m_dis=!m_dis;
Nanaud 5:34ed652f8c31 228 pc.printf("Motors Enable\r\n");
Nanaud 5:34ed652f8c31 229 bt.printf("Motors Enable\r\n");
Nanaud 5:34ed652f8c31 230 } else {
Nanaud 5:34ed652f8c31 231 mot_dis();
Nanaud 5:34ed652f8c31 232 m_dis=!m_dis;
Nanaud 5:34ed652f8c31 233 pc.printf("Motors Disable\r\n");
Nanaud 5:34ed652f8c31 234 bt.printf("Motors Disable\r\n");
Nanaud 5:34ed652f8c31 235 }
Nanaud 5:34ed652f8c31 236 break;
Nanaud 5:34ed652f8c31 237 case 14: // mtdr
Nanaud 5:34ed652f8c31 238 if(m_avance) {
Nanaud 5:34ed652f8c31 239 pc.printf("Changement de direction : En avant\r\n");
Nanaud 5:34ed652f8c31 240 bt.printf("Changement de direction : En avant\r\n");
Nanaud 5:34ed652f8c31 241 motGauche_fwd();
Nanaud 5:34ed652f8c31 242 motDroite_fwd();
Nanaud 5:34ed652f8c31 243 m_avance=!m_avance;
Nanaud 5:34ed652f8c31 244 } else {
Nanaud 5:34ed652f8c31 245 pc.printf("Changement de direction : En arriere\r\n");
Nanaud 5:34ed652f8c31 246 bt.printf("Changement de direction : En arriere\r\n");
Nanaud 5:34ed652f8c31 247 motGauche_bck();
Nanaud 5:34ed652f8c31 248 motDroite_bck();
Nanaud 5:34ed652f8c31 249 m_avance=!m_avance;
Nanaud 5:34ed652f8c31 250 }
Nanaud 5:34ed652f8c31 251 break;
Nanaud 5:34ed652f8c31 252 case 15: // mtvt
Nanaud 5:34ed652f8c31 253 pc.printf("Cmd Vitesse robot\r\n");
Nanaud 5:34ed652f8c31 254 pc.printf("Vitesse en mm/s (sous la forme xxxx): ");
Nanaud 5:34ed652f8c31 255 bt.printf("Cmd Vitesse robot\r\n");
Nanaud 5:34ed652f8c31 256 bt.printf("Vitesse en mm/s (sous la forme xxxx): ");
Nanaud 5:34ed652f8c31 257 cmdType=2;
Nanaud 5:34ed652f8c31 258 break;
Nanaud 10:0714feaaaee1 259 case 16: // mtrt
Nanaud 10:0714feaaaee1 260 pc.printf("Rotation du robot - Changement de sens");
Nanaud 10:0714feaaaee1 261 bt.printf("Rotation du robot - Changement de sens");
Nanaud 10:0714feaaaee1 262 mtrt_sens = !mtrt_sens;
Nanaud 10:0714feaaaee1 263 if(mtrt_sens) {
Nanaud 10:0714feaaaee1 264 motGauche_fwd();
Nanaud 10:0714feaaaee1 265 motDroite_bck();
Nanaud 10:0714feaaaee1 266 } else {
Nanaud 10:0714feaaaee1 267 motGauche_bck();
Nanaud 10:0714feaaaee1 268 motDroite_fwd();
Nanaud 10:0714feaaaee1 269 }
Nanaud 10:0714feaaaee1 270 break;
Nanaud 10:0714feaaaee1 271 case 17 :
Nanaud 10:0714feaaaee1 272 comptG_saved = comptG;
Nanaud 10:0714feaaaee1 273 comptD_saved = comptD;
Nanaud 10:0714feaaaee1 274 comptG=0;
Nanaud 10:0714feaaaee1 275 comptD=0;
Nanaud 10:0714feaaaee1 276 pc.printf("comptG et comptD sauvegardes\r\n");
Nanaud 10:0714feaaaee1 277 bt.printf("comptG et comptD sauvegardes\r\n");
Nanaud 10:0714feaaaee1 278 break;
Nanaud 10:0714feaaaee1 279 case 18 :
Nanaud 10:0714feaaaee1 280 pc.printf("comptG_saved = %ld\r\n",comptG_saved);
Nanaud 10:0714feaaaee1 281 pc.printf("comptD_saved = %ld\r\n",comptD_saved);
Nanaud 10:0714feaaaee1 282 bt.printf("comptG_saved = %ld\r\n",comptG_saved);
Nanaud 10:0714feaaaee1 283 bt.printf("comptD_saved = %ld\r\n",comptD_saved);
Nanaud 10:0714feaaaee1 284 break;
Nanaud 10:0714feaaaee1 285 case 19 : //
Nanaud 10:0714feaaaee1 286 bt.printf("Distance a parcourir : ");
Nanaud 10:0714feaaaee1 287 cmdType=3;
Nanaud 8:eb9bbab312ff 288 break;
Nanaud 14:dd3c756c6d48 289 case 20: // odom
Nanaud 16:ae65ce77b1f9 290 pc.printf("Odometrie :\n\r");
Nanaud 16:ae65ce77b1f9 291 pc.printf("x = %lf\n\r", x);
Nanaud 16:ae65ce77b1f9 292 pc.printf("y = %lf\n\r", y);
Nanaud 16:ae65ce77b1f9 293 pc.printf("O = %lf\n\r", O);
Nanaud 16:ae65ce77b1f9 294 //pc.printf("O = %lf\n\r", (O*180)/_PI_);
Nanaud 18:48246daf0c06 295 //pc.printf("vitG = %lf\n\r", vitG);
Nanaud 18:48246daf0c06 296 //pc.printf("vitD = %lf\n\r", vitD);
Nanaud 16:ae65ce77b1f9 297
Nanaud 14:dd3c756c6d48 298 bt.printf("Odometrie :\n\r");
Nanaud 16:ae65ce77b1f9 299 bt.printf("x = %lf\n\r", x);
Nanaud 16:ae65ce77b1f9 300 bt.printf("y = %lf\n\r", y);
Nanaud 16:ae65ce77b1f9 301 bt.printf("O = %lf\n\r", O);
Nanaud 16:ae65ce77b1f9 302 bt.printf("consigneAngl = %lf\n\r", consigneOrientation);
Nanaud 16:ae65ce77b1f9 303 bt.printf("consigneDist = %lf\n\r", distanceCible);
Nanaud 19:c419033c0967 304 bt.printf("indice = %d\n\r", indice);
Nanaud 16:ae65ce77b1f9 305 //bt.printf("O = %lf\n\r", (O*180)/_PI_);
Nanaud 18:48246daf0c06 306 //bt.printf("vitG = %lf\n\r", vitG);
Nanaud 18:48246daf0c06 307 //bt.printf("vitD = %lf\n\r", vitD);
Nanaud 20:7d206773f39e 308 bt.printf("dist 1 = %f\n\r", ::distance[0]);
Nanaud 20:7d206773f39e 309 bt.printf("dist 2 = %f\n\r", ::distance[1]);
Nanaud 20:7d206773f39e 310 bt.printf("dist 6 = %f\n\r", ::distance[5]);
Nanaud 20:7d206773f39e 311 bt.printf("fnc = %d\n\r", fnc);
plmir 12:2c312916a621 312 break;
Nanaud 0:dc036b67c87c 313 default:
Nanaud 0:dc036b67c87c 314 pc.printf("Commande invalide\n\r");
Nanaud 4:ad9b7355332e 315 bt.printf("Commande invalide\n\r");
Nanaud 0:dc036b67c87c 316 }
Nanaud 0:dc036b67c87c 317 }
Nanaud 0:dc036b67c87c 318
Nanaud 3:3ba377aafdfd 319 void StringToAngle(char *cmd)
Nanaud 3:3ba377aafdfd 320 {
Nanaud 3:3ba377aafdfd 321 int cmd2 = 0;
Nanaud 3:3ba377aafdfd 322 cmd2 += (cmd[0]-48)*100;
Nanaud 3:3ba377aafdfd 323 cmd2 += (cmd[1]-48)*10;
Nanaud 3:3ba377aafdfd 324 cmd2 += (cmd[2]-48)*1;
Nanaud 3:3ba377aafdfd 325
Nanaud 3:3ba377aafdfd 326 if (cmd2>=0 && cmd2<=360) {
Nanaud 16:ae65ce77b1f9 327 consigneOrientation = (cmd2*3.1415)/180;
Nanaud 16:ae65ce77b1f9 328 motGauche_bck();
Nanaud 16:ae65ce77b1f9 329 motDroite_fwd();
Nanaud 16:ae65ce77b1f9 330 mot_en();
Nanaud 16:ae65ce77b1f9 331 bt.printf("\r\nCommande envoyee au robot : %lf\r\n",consigneOrientation);
Nanaud 3:3ba377aafdfd 332 } else {
Nanaud 3:3ba377aafdfd 333 pc.printf("\r\nAngle incorrect\r\n\n");
Nanaud 4:ad9b7355332e 334 bt.printf("\r\nAngle incorrect\r\n\n");
Nanaud 3:3ba377aafdfd 335 cmd2 = 0;
Nanaud 3:3ba377aafdfd 336 }
Nanaud 0:dc036b67c87c 337 }
Nanaud 0:dc036b67c87c 338
Nanaud 10:0714feaaaee1 339 void StringToDist(char *cmd)
Nanaud 10:0714feaaaee1 340 {
Nanaud 10:0714feaaaee1 341 int cmd4 = 0;
Nanaud 10:0714feaaaee1 342 cmd4 += (cmd[0]-48)*1000;
Nanaud 10:0714feaaaee1 343 cmd4 += (cmd[1]-48)*100;
Nanaud 10:0714feaaaee1 344 cmd4 += (cmd[2]-48)*10;
Nanaud 10:0714feaaaee1 345 cmd4 += (cmd[3]-48)*1;
Nanaud 10:0714feaaaee1 346
Nanaud 10:0714feaaaee1 347 if (cmd4>=0 && cmd4<=9999) {
Nanaud 10:0714feaaaee1 348 //consigneDistance = cmd4;
Nanaud 10:0714feaaaee1 349 //pc.printf("\r\nCommande envoyee au robot : %lf\r\n",consigneDistance);
Nanaud 10:0714feaaaee1 350 //bt.printf("\r\nCommande envoyee au robot : %lf\r\n",consigneDistance);
Nanaud 10:0714feaaaee1 351
Nanaud 10:0714feaaaee1 352 } else {
Nanaud 10:0714feaaaee1 353 pc.printf("\r\nDistance incorrecte\r\n\n");
Nanaud 10:0714feaaaee1 354 bt.printf("\r\nDistance incorrecte\r\n\n");
Nanaud 10:0714feaaaee1 355 cmd4 = 0;
Nanaud 10:0714feaaaee1 356 }
Nanaud 10:0714feaaaee1 357 }
Nanaud 10:0714feaaaee1 358
Nanaud 5:34ed652f8c31 359 void StringToVitesse(char *cmd)
Nanaud 5:34ed652f8c31 360 {
Nanaud 5:34ed652f8c31 361 for(int y=0; y<Lcmd ; y++) {
Nanaud 5:34ed652f8c31 362 bt.printf("%d ",cmd[y]);
Nanaud 5:34ed652f8c31 363 }
Nanaud 5:34ed652f8c31 364 bt.printf("\r\n");
Nanaud 5:34ed652f8c31 365
Nanaud 5:34ed652f8c31 366 float cmd3 = 0;
Nanaud 5:34ed652f8c31 367 cmd3 += (cmd[0]-48)*1000;
Nanaud 5:34ed652f8c31 368 cmd3 += (cmd[1]-48)*100;
Nanaud 5:34ed652f8c31 369 cmd3 += (cmd[2]-48)*10;
Nanaud 5:34ed652f8c31 370 cmd3 += (cmd[3]-48)*1;
Nanaud 5:34ed652f8c31 371
Nanaud 5:34ed652f8c31 372 if (cmd3>=0 && cmd3<=9999) {
Nanaud 5:34ed652f8c31 373 cmd3 = cmd3 / 1000;
Nanaud 5:34ed652f8c31 374 pc.printf("\r\nCommande envoyee au robot : %.3f m/s\r\n",cmd3);
Nanaud 5:34ed652f8c31 375 bt.printf("\r\nCommande envoyee au robot : %.3f m/s\r\n",cmd3);
Nanaud 5:34ed652f8c31 376 drvGauche.moveLinSpeed(cmd3);
Nanaud 5:34ed652f8c31 377 drvDroite.moveLinSpeed(cmd3);
Nanaud 5:34ed652f8c31 378 } else {
Nanaud 5:34ed652f8c31 379 pc.printf("\r\nVitesse incorrect\r\n\n");
Nanaud 5:34ed652f8c31 380 bt.printf("\r\nVitesse incorrect\r\n\n");
Nanaud 5:34ed652f8c31 381 cmd3 = 0;
Nanaud 5:34ed652f8c31 382 }
Nanaud 5:34ed652f8c31 383 }
Nanaud 5:34ed652f8c31 384
Nanaud 3:3ba377aafdfd 385 void affUltrasons()
Nanaud 3:3ba377aafdfd 386 {
Nanaud 20:7d206773f39e 387 /*
Nanaud 20:7d206773f39e 388 // Données bruts
Nanaud 20:7d206773f39e 389
Nanaud 4:ad9b7355332e 390 // pc
Nanaud 4:ad9b7355332e 391 if(aff_US[0]) pc.printf("Tps US1 = %5.0f uS\n\r", us_out[0]);
Nanaud 4:ad9b7355332e 392 if(aff_US[1]) pc.printf("Tps US2 = %5.0f uS\n\r", us_out[1]);
Nanaud 4:ad9b7355332e 393 if(aff_US[2]) pc.printf("Tps US3 = %5.0f uS\n\r", us_out[2]);
Nanaud 4:ad9b7355332e 394 if(aff_US[3]) pc.printf("Tps US4 = %5.0f uS\n\r", us_out[3]);
Nanaud 4:ad9b7355332e 395 if(aff_US[4]) pc.printf("Tps US5 = %5.0f uS\n\r", us_out[4]);
Nanaud 4:ad9b7355332e 396 if(aff_US[5]) pc.printf("Tps US6 = %5.0f uS\n\r", us_out[5]);
Nanaud 4:ad9b7355332e 397 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 398
Nanaud 4:ad9b7355332e 399 // bt
Nanaud 4:ad9b7355332e 400 if(aff_US[0]) bt.printf("Tps US1 = %5.0f uS\n\r", us_out[0]);
Nanaud 4:ad9b7355332e 401 if(aff_US[1]) bt.printf("Tps US2 = %5.0f uS\n\r", us_out[1]);
Nanaud 4:ad9b7355332e 402 if(aff_US[2]) bt.printf("Tps US3 = %5.0f uS\n\r", us_out[2]);
Nanaud 4:ad9b7355332e 403 if(aff_US[3]) bt.printf("Tps US4 = %5.0f uS\n\r", us_out[3]);
Nanaud 4:ad9b7355332e 404 if(aff_US[4]) bt.printf("Tps US5 = %5.0f uS\n\r", us_out[4]);
Nanaud 4:ad9b7355332e 405 if(aff_US[5]) bt.printf("Tps US6 = %5.0f uS\n\r", us_out[5]);
Nanaud 4:ad9b7355332e 406 if(aff_US[0]||aff_US[1]||aff_US[2]||aff_US[3]||aff_US[4]||aff_US[5]) bt.printf("\n\r");
Nanaud 20:7d206773f39e 407 */
Nanaud 20:7d206773f39e 408
Nanaud 20:7d206773f39e 409 // Distances
Nanaud 20:7d206773f39e 410
Nanaud 20:7d206773f39e 411 // pc
Nanaud 20:7d206773f39e 412 pc.printf("distance[0] = %f\n\r", ::distance[0]);
Nanaud 20:7d206773f39e 413 //pc.printf("distance[1] = %f\n\r", ::distance[1]);
Nanaud 20:7d206773f39e 414 //pc.printf("distance[2] = %f\n\r", ::distance[2]);
Nanaud 20:7d206773f39e 415 //pc.printf("distance[3] = %f\n\r", ::distance[3]);
Nanaud 20:7d206773f39e 416 //pc.printf("distance[4] = %f\n\r", ::distance[4]);
Nanaud 20:7d206773f39e 417 //pc.printf("distance[5] = %f\n\r", ::distance[5]);
Nanaud 20:7d206773f39e 418 pc.printf("\n\r");
Nanaud 20:7d206773f39e 419
Nanaud 20:7d206773f39e 420 // bt
Nanaud 20:7d206773f39e 421 /*
Nanaud 20:7d206773f39e 422 bt.printf("distance[0] = %f\n\r", ::distance[0]);
Nanaud 20:7d206773f39e 423 bt.printf("distance[1] = %f\n\r", ::distance[1]);
Nanaud 20:7d206773f39e 424 bt.printf("distance[2] = %f\n\r", ::distance[2]);
Nanaud 20:7d206773f39e 425 bt.printf("distance[3] = %f\n\r", ::distance[3]);
Nanaud 20:7d206773f39e 426 bt.printf("distance[4] = %f\n\r", ::distance[4]);
Nanaud 20:7d206773f39e 427 bt.printf("distance[5] = %f\n\r", ::distance[5]);
Nanaud 20:7d206773f39e 428 */
Nanaud 3:3ba377aafdfd 429 }
Nanaud 3:3ba377aafdfd 430
Nanaud 3:3ba377aafdfd 431 void affCodeurs()
Nanaud 3:3ba377aafdfd 432 {
Nanaud 6:ea6b30c4bb01 433 if(aff_cd[0]) pc.printf("comptG = %d\n\r", comptG);
Nanaud 6:ea6b30c4bb01 434 if(aff_cd[1]) pc.printf("comptD = %d\n\r", comptD);
Nanaud 5:34ed652f8c31 435
Nanaud 6:ea6b30c4bb01 436 if(aff_cd[0]) bt.printf("comptG = %d\n\r", comptG);
Nanaud 6:ea6b30c4bb01 437 if(aff_cd[1]) bt.printf("comptD = %d\n\r", comptD);
Nanaud 3:3ba377aafdfd 438 }
plmir 12:2c312916a621 439
Nanaud 16:ae65ce77b1f9 440 /*
plmir 12:2c312916a621 441 void affOdo()
plmir 12:2c312916a621 442 {
Nanaud 14:dd3c756c6d48 443 if(aff_odo[0]) bt.printf("x = %f\n\r", xB);
Nanaud 14:dd3c756c6d48 444 if(aff_odo[1]) bt.printf("y = %f\n\r", yB);
Nanaud 14:dd3c756c6d48 445 if(aff_odo[2]) bt.printf("phi = %f\n\r", phiB*180/_PI_);
plmir 12:2c312916a621 446 }
Nanaud 16:ae65ce77b1f9 447 */