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Programme de contrôle de l'octopode 4DOF, Theraphosa-Salconi.
CtrlBridge
- fonction quelquonque pour communiquer avec les module
- fonction quelquonque pour faire des recherche dans les module dispo
- autre fonction pour jouer avec MemRegistre
Version 1.2.0
- Ajout d'un mode de simulation pour tester le code avec seulement un contrôleur stm32
main.cpp@11:496453b45e25, 2015-03-20 (annotated)
- Committer:
- salco
- Date:
- Fri Mar 20 01:03:17 2015 +0000
- Revision:
- 11:496453b45e25
- Parent:
- 8:e017e3d527d7
- Child:
- 14:ca1a9230ba7f
ajouter 2-3 debug pour voir ou est l'overflow quand je call tachecritique.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
salco | 0:e4151abdff23 | 1 | |
salco | 0:e4151abdff23 | 2 | #include "mbed.h" |
salco | 2:4c5b0f6d0a6b | 3 | //#include "mouvement.h" |
salco | 8:e017e3d527d7 | 4 | #include "debug.h" |
salco | 2:4c5b0f6d0a6b | 5 | //#include "Concience/InstinctPrimaire.h" |
salco | 7:dcfd81d7f93f | 6 | #include "source/Task/TTaskCritique.h" |
salco | 7:dcfd81d7f93f | 7 | #include "source/Task/TTaskAlerte.h" |
salco | 7:dcfd81d7f93f | 8 | #include "source/Task/TTaskGeneral.h" |
salco | 3:e0d6e081a9d3 | 9 | |
salco | 3:e0d6e081a9d3 | 10 | |
salco | 0:e4151abdff23 | 11 | //------------------------------------ |
salco | 0:e4151abdff23 | 12 | // Hyperterminal configuration |
salco | 0:e4151abdff23 | 13 | // 9600 bauds, 8-bit data, no parity |
salco | 0:e4151abdff23 | 14 | //------------------------------------ |
salco | 0:e4151abdff23 | 15 | |
salco | 3:e0d6e081a9d3 | 16 | |
salco | 0:e4151abdff23 | 17 | |
salco | 0:e4151abdff23 | 18 | DigitalOut myled(LED1); |
salco | 0:e4151abdff23 | 19 | //char str [80]; |
salco | 11:496453b45e25 | 20 | DigitalIn mybutton(USER_BUTTON); |
salco | 0:e4151abdff23 | 21 | int main() |
salco | 0:e4151abdff23 | 22 | { |
salco | 0:e4151abdff23 | 23 | // int i = 1; |
salco | 0:e4151abdff23 | 24 | |
salco | 0:e4151abdff23 | 25 | //pc.printf("Hello World !\n"); |
salco | 0:e4151abdff23 | 26 | //pc.scanf ("%79s",str); |
salco | 0:e4151abdff23 | 27 | // string test="allo"; |
salco | 0:e4151abdff23 | 28 | // pc.printf(test.c_str()); |
salco | 0:e4151abdff23 | 29 | |
salco | 11:496453b45e25 | 30 | TTaskCritique taskCritique(1); |
salco | 11:496453b45e25 | 31 | // TTaskAlerte taskAlerte(20); |
salco | 11:496453b45e25 | 32 | // TTaskGeneral taskGeneral(40); |
salco | 0:e4151abdff23 | 33 | ////////// |
salco | 0:e4151abdff23 | 34 | // Boot // |
salco | 0:e4151abdff23 | 35 | ////////// |
salco | 3:e0d6e081a9d3 | 36 | |
salco | 0:e4151abdff23 | 37 | |
salco | 0:e4151abdff23 | 38 | while(1) { |
salco | 0:e4151abdff23 | 39 | |
salco | 0:e4151abdff23 | 40 | |
salco | 11:496453b45e25 | 41 | |
salco | 11:496453b45e25 | 42 | //taskAlerte.exec(); |
salco | 11:496453b45e25 | 43 | //taskGeneral.exec(); |
salco | 11:496453b45e25 | 44 | if (mybutton == 0) { // Button is pressed |
salco | 11:496453b45e25 | 45 | debug("Hello debug world"); |
salco | 11:496453b45e25 | 46 | taskCritique.exec(); |
salco | 0:e4151abdff23 | 47 | |
salco | 11:496453b45e25 | 48 | myled = !myled; |
salco | 11:496453b45e25 | 49 | } |
salco | 11:496453b45e25 | 50 | wait(1); |
salco | 0:e4151abdff23 | 51 | } |
salco | 11:496453b45e25 | 52 | |
salco | 7:dcfd81d7f93f | 53 | /*if(taskCritt) |
salco | 3:e0d6e081a9d3 | 54 | delete taskCritt; |
salco | 3:e0d6e081a9d3 | 55 | if(taskAlert) |
salco | 3:e0d6e081a9d3 | 56 | delete taskAlert; |
salco | 3:e0d6e081a9d3 | 57 | if(taskGen) |
salco | 7:dcfd81d7f93f | 58 | delete taskGen;*/ |
salco | 0:e4151abdff23 | 59 | } |