Diff: debugPC.cpp

Revision:

22:f891c2bce091

Parent:

21:e5f0f5abb5ae

Child:

23:a74135a0271d

--- a/debugPC.cpp	Sun Oct 25 22:36:51 2020 +0000
+++ b/debugPC.cpp	Tue Oct 27 17:27:33 2020 +0000
@@ -1,11 +1,9 @@
 // Nom du fichier : debugPC.cpp
 #include "pins.h"
 
-// Variables globales & timers
+// Variables globales
 Serial pc(USBTX, USBRX);
-Ticker ticker_affUS;
-Ticker ticker_affcd;
-Ticker ticker_affodo;
+Ticker Ticker_affUS;
 
 bool aff_US[6];
 bool aff_cd[4];
@@ -291,9 +289,16 @@
             pc.printf("x = %lf\n\r", x);
             pc.printf("y = %lf\n\r", y);
             pc.printf("O = %lf\n\r", O);
-            //pc.printf("O = %lf\n\r", (O*180)/_PI_);
-            //pc.printf("vitG = %lf\n\r", vitG);
-            //pc.printf("vitD = %lf\n\r", vitD);
+            pc.printf("consigneAngl = %lf\n\r", consigneOrientation);
+            pc.printf("consigneDist = %lf\n\r", distanceCible);
+            pc.printf("indice = %d\n\r", indice);
+            pc.printf("dist 1 = %lf\n\r", distt[0]);
+            pc.printf("dist 2 = %lf\n\r", distt[1]);
+            pc.printf("dist 6 = %lf\n\r", distt[5]);
+            pc.printf("---\n\r");
+            pc.printf("dist 3 = %lf\n\r", distt[2]);
+            pc.printf("dist 4 = %lf\n\r", distt[3]);
+            pc.printf("dist 5 = %lf\n\r", distt[4]);
 
             bt.printf("Odometrie :\n\r");
             bt.printf("x = %lf\n\r", x);
@@ -302,13 +307,15 @@
             bt.printf("consigneAngl = %lf\n\r", consigneOrientation);
             bt.printf("consigneDist = %lf\n\r", distanceCible);
             bt.printf("indice = %d\n\r", indice);
-            //bt.printf("O = %lf\n\r", (O*180)/_PI_);
-            //bt.printf("vitG = %lf\n\r", vitG);
-            //bt.printf("vitD = %lf\n\r", vitD);
-            //bt.printf("dist 1 = %f\n\r", ::distance[0]);
-            //bt.printf("dist 2 = %f\n\r", ::distance[1]);
-            //bt.printf("dist 6 = %f\n\r", ::distance[5]);
-            bt.printf("fnc = %d\n\r", fnc);
+            bt.printf("dist 1 = %lf\n\r", distt[0]);
+            bt.printf("dist 2 = %lf\n\r", distt[1]);
+            bt.printf("dist 6 = %lf\n\r", distt[5]);
+            bt.printf("---\n\r");
+            bt.printf("dist 3 = %lf\n\r", distt[2]);
+            bt.printf("dist 4 = %lf\n\r", distt[3]);
+            bt.printf("dist 5 = %lf\n\r", distt[4]);
+            bt.printf("distanceMem = %lf\n\r", distanceMem);
+            bt.printf("distancePlus = %lf\n\r", distancePlus);
             break;
         default:
             pc.printf("Commande invalide\n\r");
@@ -410,16 +417,27 @@
     // Distances
 
     // pc
-    pc.printf("distance[0] = %lf\n\r", distt[0]);
-    pc.printf("distance[1] = %lf\n\r", distt[1]);
-    pc.printf("distance[2] = %lf\n\r", distt[2]);
-    pc.printf("distance[3] = %lf\n\r", distt[3]);
-    pc.printf("distance[4] = %lf\n\r", distt[4]);
-    pc.printf("distance[5] = %lf\n\r", distt[5]);
+    /*
+    pc.printf("US[1] = %lf\n\r", us_diff[0]);
+    pc.printf("US[2] = %lf\n\r", us_diff[1]);
+    pc.printf("US[3] = %lf\n\r", us_diff[2]);
+    pc.printf("US[4] = %lf\n\r", us_diff[3]);
+    pc.printf("US[5] = %lf\n\r", us_diff[4]);
+    pc.printf("US[6] = %lf\n\r", us_diff[5]);
     pc.printf("\n\r");
+    */
+    
+    ///*
+    pc.printf("distance[1] = %lf\n\r", distt[0]);
+    pc.printf("distance[2] = %lf\n\r", distt[1]);
+    pc.printf("distance[3] = %lf\n\r", distt[2]);
+    pc.printf("distance[4] = %lf\n\r", distt[3]);
+    pc.printf("distance[5] = %lf\n\r", distt[4]);
+    pc.printf("distance[6] = %lf\n\r", distt[5]);
+    pc.printf("\n\r");
+    //*/
 
     // bt
-
     /*
     bt.printf("distance[0] = %f\n\r", ::distance[0]);
     bt.printf("distance[1] = %f\n\r", ::distance[1]);