Module_Mouvement.cpp

00001  /* Copyright (c) 2012 - 2013 AUTHEUR
00002  *
00003  * THIS SOFTWARE IS PROVIDED BY THE AUTHOR "AS IS" AND ANY EXPRESS OR IMPLIED 
00004  * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF 
00005  * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT 
00006  * SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, 
00007  * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT 
00008  * OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 
00009  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, 
00010  * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY 
00011  * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00012  */
00013  
00014  /*
00015  * Description
00016  * Input
00017  * Output
00018  */
00019  
00020  #include "Module_Mouvement.h"
00021  #include "Module_Communication.h"
00022  #include "os.h"
00023  
00024  // Pointeur sur la classe systeme d'exploitation instancié dans le main
00025  extern mbos os;
00026  
00027 
00028 DigitalOut led1(LED1);
00029 extern Serial pc;
00030  
00031  /* CONSRTRUCTEUR(S) */
00032  ModuleMouvement::ModuleMouvement()
00033  {
00034     m_gyroX = 0;
00035     m_gyroY = 0;
00036     m_gyroZ = 0;
00037     m_gyro = new ITG3200(SDA, SCL);
00038     m_motor = new Motor(PWM, FDW, REV);
00039  }
00040  
00041  /* DESTRUCTEUR */
00042  ModuleMouvement::~ModuleMouvement()
00043  {
00044     delete m_gyro;
00045     delete m_motor;
00046  }
00047  
00048  /* Point d'entrée de la tache Module Mouvement */
00049  void ModuleMouvement_Task(void)
00050  {
00051     ModuleMouvement *mouv = new ModuleMouvement();
00052     os.SetTimer(TIMER_MOUV_ID, TIMER_MOUV_PERIOD, TIMER_MOUV_PERIOD);
00053     while(1){
00054         os.WaitEvent(TIMER_EVENT | COMMUNICATION_EVENT);
00055         if(os.GetEvent() & TIMER_EVENT){
00056             //send gyro information
00057             led1 = 1;
00058             mouv->getGyroValue();
00059             pc.printf("Gyroscope [x : %d] [y : %d] [z : %d]\n", mouv->m_gyroX, mouv->m_gyroY, mouv->m_gyroZ);
00060             mouv->creerTrame(getEnvoi());
00061             pc.printf("trame : %s\n", getEnvoi());
00062             os.SetEvent(COMMUNICATION_EVENT, TASK_ENVOI);
00063             led1 = 0;
00064             
00065         }
00066         if(os.GetEvent() & COMMUNICATION_EVENT){
00067             //traite commande
00068             pc.printf("mouv receive command\n");
00069             //mouv->traiteCommande();
00070         }
00071     }
00072  }
00073  
00074  void ModuleMouvement::getGyroValue(){
00075     m_gyroX = m_gyro->getGyroX();
00076     m_gyroY = m_gyro->getGyroY();
00077     m_gyroZ = m_gyro->getGyroZ();
00078  }
00079  
00080 void ModuleMouvement::allumMotor(){
00081     for(float i = 0.0 ; i < 0.90 ; i += 0.05){
00082         m_motor->speed(i);
00083     }
00084 }
00085 void ModuleMouvement::eteindMotor(){
00086     for(float i = 0.90 ; i >= 0.0 ; i -= 0.05){
00087         m_motor->speed(i);
00088     }
00089 }
00090  
00091  void ModuleMouvement::creerTrame(char *envoi){
00092     //creer un trame envoi pour la tache Com
00093     envoi[0] = 'G';
00094     memcpy(&envoi[1], &m_gyroX, 4);
00095     memcpy(&envoi[5], &m_gyroY, 4);
00096     memcpy(&envoi[9], &m_gyroZ, 4);
00097     envoi[13] = 'F';
00098     envoi[14] = '\0';
00099     
00100  }
00101  
00102  void ModuleMouvement::traiteCommande(){
00103     //allum // eteind moteur
00104  }