Diff: log.cpp

Revision:

12:58ad06f9847d

Parent:

11:2156cb77d0d6

diff -r 2156cb77d0d6 -r 58ad06f9847d log.cpp
--- a/log.cpp	Fri Oct 04 09:58:51 2019 +0000
+++ b/log.cpp	Fri Oct 04 22:20:23 2019 +0000
@@ -2,9 +2,11 @@
 
 Timer t_loggingTimer;
 int i_logging_duration;
+int i_last_log;
 bool b_LOG_READY = false;
-Serial rs_LOG_pc(USBTX, USBRX,9600);
-//Serial rs_LOG_odroid(PC_10, PC_11,115200);
+Serial rs_LOG(PC_10, PC_11,115200);
+//odroid(PC_10, PC_11);
+//pc(USBTX, USBRX);
 
 
 s_Sample s_LOG_history[LOG_SIZE];
@@ -28,7 +30,9 @@
         t_loggingTimer.stop();
         t_loggingTimer.reset();
     }
-    if(b_LOG_flag && i_LOG_index_data < LOG_SIZE) {
+    if(b_LOG_flag && i_LOG_index_data < LOG_SIZE && (t_loggingTimer.read_ms()-i_last_log) >= LOG_PERIOD_MS) {
+        i_last_log = t_loggingTimer.read_ms();
+        s_LOG_history[i_LOG_index_data].timestamp = i_last_log;
         i_LOG_index_data ++;
         //rs_LOG_pc.printf("i_LOG_index_data:%d\r\n",i_LOG_index_data);
     }
@@ -44,9 +48,9 @@
 
 void log_pc()
 {
-    rs_LOG_pc.printf("timestamp;left_90;right_90;left_45;right_45;pwm_dir;odom;speed;\r\n");
+    rs_LOG.printf("timestamp;left_90;right_90;left_45;right_45;pwm_dir_prec;odom;speed;angle_bord0;angle_bord1;angle_bord2;angle_bord3;angle_bord4;angle_bord5;angle_pos;angle;distParcourue;\r\n");
     for(int i = 0; i<i_LOG_index_data; i++) {
-        rs_LOG_pc.printf("%d;%f;%f;%f;%f;%d;%f;%f;\r\n",s_LOG_history[i].timestamp,s_LOG_history[i].left_90,s_LOG_history[i].right_90,s_LOG_history[i].left_45,s_LOG_history[i].right_45,s_LOG_history[i].pwm_dir,s_LOG_history[i].odom,s_LOG_history[i].speed);
+        rs_LOG.printf("%d;%f;%f;%f;%f;%d;%f;%f;%f;%f;%f;%f;%f;%f;%f;%f;%f\r\n",s_LOG_history[i].timestamp,s_LOG_history[i].left_90,s_LOG_history[i].right_90,s_LOG_history[i].left_45,s_LOG_history[i].right_45,s_LOG_history[i].pwm_dir,s_LOG_history[i].odom,s_LOG_history[i].speed,s_LOG_history[i].angle_bord0,s_LOG_history[i].angle_bord1,s_LOG_history[i].angle_bord2,s_LOG_history[i].angle_bord3,s_LOG_history[i].angle_bord4,s_LOG_history[i].angle_bord5,s_LOG_history[i].angle_pos,s_LOG_history[i].angle,s_LOG_history[i].distParcourue);
 
         s_LOG_history[i].left_90 = 0.0;
         s_LOG_history[i].right_90 = 0.0;
@@ -56,6 +60,15 @@
         s_LOG_history[i].speed = 0.0;
         s_LOG_history[i].timestamp = 0;
         s_LOG_history[i].pwm_dir = 0;
+        s_LOG_history[i].angle_bord0 = 0.0;
+        s_LOG_history[i].angle_bord1 = 0.0;
+        s_LOG_history[i].angle_bord2 = 0.0;
+        s_LOG_history[i].angle_bord3 = 0.0;
+        s_LOG_history[i].angle_bord4 = 0.0;
+        s_LOG_history[i].angle_bord5 = 0.0;
+        s_LOG_history[i].angle_pos = 0;
+        s_LOG_history[i].angle = 0;
+        s_LOG_history[i].distParcourue = 0;
 
 
     }