AresENSEA-CDF2020
/
AresCDFMainCode_us2
Test
debugPC.cpp@21:e5f0f5abb5ae, 2020-10-25 (annotated)
- Committer:
- Nanaud
- Date:
- Sun Oct 25 22:36:51 2020 +0000
- Revision:
- 21:e5f0f5abb5ae
- Parent:
- 20:7d206773f39e
- Child:
- 22:f891c2bce091
J-4
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; |
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 | 21:e5f0f5abb5ae | 308 | //bt.printf("dist 1 = %f\n\r", ::distance[0]); |
Nanaud | 21:e5f0f5abb5ae | 309 | //bt.printf("dist 2 = %f\n\r", ::distance[1]); |
Nanaud | 21:e5f0f5abb5ae | 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 | // Données bruts |
Nanaud | 20:7d206773f39e | 388 | |
Nanaud | 21:e5f0f5abb5ae | 389 | /* |
Nanaud | 4:ad9b7355332e | 390 | // pc |
Nanaud | 21:e5f0f5abb5ae | 391 | if(aff_US[0]) pc.printf("Tps US1 = %5.0f uS\n\r", us_diff[0]); |
Nanaud | 21:e5f0f5abb5ae | 392 | if(aff_US[1]) pc.printf("Tps US2 = %5.0f uS\n\r", us_diff[1]); |
Nanaud | 21:e5f0f5abb5ae | 393 | if(aff_US[2]) pc.printf("Tps US3 = %5.0f uS\n\r", us_diff[2]); |
Nanaud | 21:e5f0f5abb5ae | 394 | if(aff_US[3]) pc.printf("Tps US4 = %5.0f uS\n\r", us_diff[3]); |
Nanaud | 21:e5f0f5abb5ae | 395 | if(aff_US[4]) pc.printf("Tps US5 = %5.0f uS\n\r", us_diff[4]); |
Nanaud | 21:e5f0f5abb5ae | 396 | if(aff_US[5]) pc.printf("Tps US6 = %5.0f uS\n\r", us_diff[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 | 21:e5f0f5abb5ae | 400 | if(aff_US[0]) bt.printf("Tps US1 = %5.0f uS\n\r", us_diff[0]); |
Nanaud | 21:e5f0f5abb5ae | 401 | if(aff_US[1]) bt.printf("Tps US2 = %5.0f uS\n\r", us_diff[1]); |
Nanaud | 21:e5f0f5abb5ae | 402 | if(aff_US[2]) bt.printf("Tps US3 = %5.0f uS\n\r", us_diff[2]); |
Nanaud | 21:e5f0f5abb5ae | 403 | if(aff_US[3]) bt.printf("Tps US4 = %5.0f uS\n\r", us_diff[3]); |
Nanaud | 21:e5f0f5abb5ae | 404 | if(aff_US[4]) bt.printf("Tps US5 = %5.0f uS\n\r", us_diff[4]); |
Nanaud | 21:e5f0f5abb5ae | 405 | if(aff_US[5]) bt.printf("Tps US6 = %5.0f uS\n\r", us_diff[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 | 21:e5f0f5abb5ae | 409 | |
Nanaud | 20:7d206773f39e | 410 | // Distances |
Nanaud | 20:7d206773f39e | 411 | |
Nanaud | 20:7d206773f39e | 412 | // pc |
Nanaud | 21:e5f0f5abb5ae | 413 | pc.printf("distance[0] = %lf\n\r", distt[0]); |
Nanaud | 21:e5f0f5abb5ae | 414 | pc.printf("distance[1] = %lf\n\r", distt[1]); |
Nanaud | 21:e5f0f5abb5ae | 415 | pc.printf("distance[2] = %lf\n\r", distt[2]); |
Nanaud | 21:e5f0f5abb5ae | 416 | pc.printf("distance[3] = %lf\n\r", distt[3]); |
Nanaud | 21:e5f0f5abb5ae | 417 | pc.printf("distance[4] = %lf\n\r", distt[4]); |
Nanaud | 21:e5f0f5abb5ae | 418 | pc.printf("distance[5] = %lf\n\r", distt[5]); |
Nanaud | 20:7d206773f39e | 419 | pc.printf("\n\r"); |
Nanaud | 20:7d206773f39e | 420 | |
Nanaud | 20:7d206773f39e | 421 | // bt |
Nanaud | 21:e5f0f5abb5ae | 422 | |
Nanaud | 20:7d206773f39e | 423 | /* |
Nanaud | 20:7d206773f39e | 424 | bt.printf("distance[0] = %f\n\r", ::distance[0]); |
Nanaud | 20:7d206773f39e | 425 | bt.printf("distance[1] = %f\n\r", ::distance[1]); |
Nanaud | 20:7d206773f39e | 426 | bt.printf("distance[2] = %f\n\r", ::distance[2]); |
Nanaud | 20:7d206773f39e | 427 | bt.printf("distance[3] = %f\n\r", ::distance[3]); |
Nanaud | 20:7d206773f39e | 428 | bt.printf("distance[4] = %f\n\r", ::distance[4]); |
Nanaud | 20:7d206773f39e | 429 | bt.printf("distance[5] = %f\n\r", ::distance[5]); |
Nanaud | 20:7d206773f39e | 430 | */ |
Nanaud | 3:3ba377aafdfd | 431 | } |
Nanaud | 3:3ba377aafdfd | 432 | |
Nanaud | 3:3ba377aafdfd | 433 | void affCodeurs() |
Nanaud | 3:3ba377aafdfd | 434 | { |
Nanaud | 6:ea6b30c4bb01 | 435 | if(aff_cd[0]) pc.printf("comptG = %d\n\r", comptG); |
Nanaud | 6:ea6b30c4bb01 | 436 | if(aff_cd[1]) pc.printf("comptD = %d\n\r", comptD); |
Nanaud | 5:34ed652f8c31 | 437 | |
Nanaud | 6:ea6b30c4bb01 | 438 | if(aff_cd[0]) bt.printf("comptG = %d\n\r", comptG); |
Nanaud | 6:ea6b30c4bb01 | 439 | if(aff_cd[1]) bt.printf("comptD = %d\n\r", comptD); |
Nanaud | 3:3ba377aafdfd | 440 | } |
plmir | 12:2c312916a621 | 441 | |
Nanaud | 16:ae65ce77b1f9 | 442 | /* |
plmir | 12:2c312916a621 | 443 | void affOdo() |
plmir | 12:2c312916a621 | 444 | { |
Nanaud | 14:dd3c756c6d48 | 445 | if(aff_odo[0]) bt.printf("x = %f\n\r", xB); |
Nanaud | 14:dd3c756c6d48 | 446 | if(aff_odo[1]) bt.printf("y = %f\n\r", yB); |
Nanaud | 14:dd3c756c6d48 | 447 | if(aff_odo[2]) bt.printf("phi = %f\n\r", phiB*180/_PI_); |
plmir | 12:2c312916a621 | 448 | } |
Nanaud | 16:ae65ce77b1f9 | 449 | */ |