AresENSEA-CDF2020
/
AresCDFMainCode_us2
Test
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); +}