Diff: main.cpp

Revision:

5:bbca34b60427

Parent:

4:deef042e9c02

--- a/main.cpp	Wed May 08 20:46:46 2019 +0000
+++ b/main.cpp	Sun May 19 20:09:32 2019 +0000
@@ -6,6 +6,23 @@
 #include "commande_moteurs.h"
 #include "deplacement.h"
 
+#define TAILLEWRITE 22
+#define TAILLEREAD  20
+Serial serial(PC_10,PC_11,115200);
+Serial pc(SERIAL_TX, SERIAL_RX, 115200);
+event_callback_t receptionCallback;
+bool consigne = false;
+
+char bufferWrite[TAILLEWRITE] = "3.1415/15000/50000";
+char bufferRead[TAILLEREAD]; 
+
+void recupererConsigne(int events);
+
+void envoyerPosition()
+{
+    serial.printf("%s", bufferWrite);   
+}
+
 int main()
 {
     //ini
@@ -28,22 +45,84 @@
     //asser.attach(callback(&robot,&deplacement::asservissement),0.01);
     //robot.ligne_droite_v2(210000);
 
-    //robot.ligne_droite_v2(210000);
-    robot.commande_vitesse(500,0);
-    //robot.ligne_droite_v2(150000);
-    //robot.test_rotation_rel(90);
-    //robot.ligne_droite_v2(40000);
-    //robot.poussette();
-    //robot.reculer_un_peu(-50000);
-    //robot.test();
-    //asser.detach();
-    //robot.vitesse_nulle_G(0);
-    //robot.vitesse_nulle_D(0);
-    //wait(0.2);
-    //motors_stop();
-    //robot.printftab();
+    Ticker t;
+    t.attach(&envoyerPosition, 0.1f);
+    
+    receptionCallback.attach(recupererConsigne); 
+    serial.read((uint8_t*)bufferRead, TAILLEREAD, receptionCallback, SERIAL_EVENT_RX_COMPLETE);
     
+    float vitesseD;
+    float vitesseG;
+    
+    while(1)
+    {
+        pc.printf("Consigne lu : %s\n\r", bufferRead);
+        conversion(&vitesseD, &vitesseG);
+        commande_vitesse(),
+    }
     
     //printf("x : %lf,y : %lf,angle : %lf\n",get_x_actuel(),get_y_actuel(),get_angle());*/
     return 0;
 }
+
+
+
+void recupererConsigne(int events)
+{
+    consigne = true;
+    serial.read((uint8_t*)bufferRead, TAILLEREAD, receptionCallback, SERIAL_EVENT_RX_COMPLETE);
+    
+}
+
+void conversion(float *vd, float *vg)
+{
+    const char seps[2] = "/";
+    int i = 1;
+    const char sepv[2] = ",";
+    float aux1 = 0;
+    float aux2 = 0;
+    int j=0;
+    
+    float aux = bufferRead[0];
+    while(bufferRead[i] != sepv[0])
+    {
+        aux *= 10;
+        aux = bufferRead[i] - 48;
+        i++;
+    }
+    j=i;
+    i++;
+    while(bufferRead[i] != seps[0])
+    {
+        aux1 = bufferRead[i] - 48;
+        aux1 = aux1/(pow(10,(i-j)));
+        aux2 = aux1+aux2;
+        i++;
+    }
+    *vd = aux + aux2;
+    
+    printf("vd : %lf",&vd);
+    
+    i++;    
+    float aux = bufferRead[i];
+    i++;
+    aux1, aux2 = 0, 0;
+    while(bufferRead[i] != sepv[0])
+    {
+        aux *= 10;
+        aux = bufferRead[i] - 48;
+        i++;
+    }
+    j=i;
+    i++;
+    while(bufferRead[i] != seps[0])
+    {
+        aux1 = bufferRead[i] - 48;
+        aux1 = aux1/(pow(10,(i-j)));
+        aux2 = aux1+aux2;
+        i++;
+    }
+    *vg = aux + aux2;
+    
+    printf("vg : %lf",&vg);
+}