Diff: main.cpp

Revision:

22:9e92a2b941ba

Parent:

21:edf6d03fdb20

Child:

23:93a427b242ce

--- a/main.cpp	Wed May 22 11:19:27 2019 +0000
+++ b/main.cpp	Wed May 22 15:46:40 2019 +0000
@@ -5,6 +5,7 @@
 
 CAN can(PB_8,PB_9,1000000); // Rx&Tx pour le CAN
 
+Serial pc(USBTX,USBRX);
 
 CANMessage msgRxBuffer[SIZE_FIFO];
 unsigned char FIFO_ecriture=0; //Position du fifo pour la reception CAN
@@ -48,12 +49,14 @@
     
     
 #ifdef ROBOT_SMALL
+    pc.printf("\nPetit robot\n\n");
     gabarit_petit_robot();
 #endif
 
 
     
 #ifdef ROBOT_BIG
+    pc.printf("\nGros robot\n\n");
     clear(doigt,2);
     setTorque(doigt, TORQUE_ON,2);
     positionControl(doigt,384,100,BLED_ON,2);
@@ -61,6 +64,7 @@
 #endif
 
 
+    pc.printf("\nLAUNCHED");
     while(1) {
         canProcessRx();
         f_mesure();//dt35
@@ -274,7 +278,7 @@
 #endif
 #ifdef ROBOT_BIG
             case ASCENSEUR:
-                rotation_couroies = msgRxBuffer[FIFO_lecture].data[0];
+                flag_ascenseur = msgRxBuffer[FIFO_lecture].data[0];
                 break;
 
             case 5: