Diff: sm_sections.cpp

Revision:

9:1b54bac6d9a7

Parent:

8:f23601373e8b

Child:

10:e63fe4080760

--- a/sm_sections.cpp	Wed Oct 02 22:25:12 2019 +0000
+++ b/sm_sections.cpp	Thu Oct 03 23:28:56 2019 +0000
@@ -18,18 +18,18 @@
 
 //section de départ
     s_section1.nextSection = &s_section2;
-    s_section1.consigne_position = 0.75;
+    s_section1.consigne_position = 0.5;
     s_section1.targetSpeed_mps = 1640;
-    s_section1.lng_section_m = 4.0;
+    s_section1.lng_section_m = 2.0;
     s_section1.coef_p = 1.0;
     s_section1.coef_d = 0.0;
     s_section1.coef_i = 0.000;
 
     //epingle 1
     s_section2.nextSection = NULL;
-    s_section2.consigne_position = 0.75;
+    s_section2.consigne_position = 0.5;
     s_section2.targetSpeed_mps = 1640;
-    s_section2.lng_section_m = 4.0;
+    s_section2.lng_section_m = 2.0;
     s_section2.coef_p = 1.0;
     s_section2.coef_d = 0.0;
     s_section2.coef_i = 0.000;
@@ -41,27 +41,27 @@
 
     E_STATE_SECTIONS e_next_state = e_SECTIONS_state;
 
-    //rs_UTILS_pc.printf("\r\nUpdate Section\r\n");
+    //rs_LOG_pc.printf("\r\nUpdate Section\r\n");
 
     if(b_UTILS_flag_emergency_stop) {
-        rs_UTILS_pc.printf("emergency stop -> STOPPED\r\n");
+        rs_LOG_pc.printf("emergency stop -> STOPPED\r\n");
         e_next_state = STOPPED;
     } else {
         switch (e_SECTIONS_state) {
             case INIT_SECTION:
                 e_next_state = RUNNING_SECTION;
-                //rs_UTILS_pc.printf("RUNNING SECTION\r\n");
+                //rs_LOG_pc.printf("RUNNING SECTION\r\n");
                 break;
             case RUNNING_SECTION:
                 if(d_ODOM_distFromSectionStart_m > s_UTILS_currentSection->lng_section_m) {
                     e_next_state = LOADING_SECTION;
-                    //rs_UTILS_pc.printf("LOADING SECTION !\r\n");
+                    //rs_LOG_pc.printf("LOADING SECTION !\r\n");
                 }
                 break;
             case LOADING_SECTION:
                 if(s_UTILS_currentSection != NULL) {
                     e_next_state = RUNNING_SECTION;
-                    //rs_UTILS_pc.printf("RUNNING SECTION !\r\n");
+                    //rs_LOG_pc.printf("RUNNING SECTION !\r\n");
                 } else {
                     b_UTILS_flag_emergency_stop = true;
                     e_next_state = STOPPED;
@@ -70,7 +70,7 @@
             case STOPPED:
                 if(b_UTILS_flag_button_SECTIONS) {
                     e_next_state = INIT_SECTION;
-                    rs_UTILS_pc.printf("INIT SECTION !\r\n");
+                    rs_LOG_pc.printf("INIT SECTION !\r\n");
                 }
                 break;
             default:
@@ -86,12 +86,11 @@
         case INIT_SECTION:
             b_UTILS_flag_button_SECTIONS = false;
             s_UTILS_currentSection = &s_section1;
-            rs_UTILS_pc.printf("sect 1 INITIALIZED\r\n");
-             mpu_log_start(10000);
+            rs_LOG_pc.printf("sect 1 INITIALIZED\r\n");
         case RUNNING_SECTION:
             break;
         case LOADING_SECTION:
-            //rs_UTILS_pc.printf("next section loading\r\n");
+            //rs_LOG_pc.printf("next section loading\r\n");
             s_UTILS_currentSection=s_UTILS_currentSection->nextSection;
             d_ODOM_distFromSectionStart_m = 0.0;
             break;