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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@2:4c5b0f6d0a6b, 2015-03-12 (annotated)
- Committer:
- salco
- Date:
- Thu Mar 12 00:40:43 2015 +0000
- Revision:
- 2:4c5b0f6d0a6b
- Parent:
- 1:25ea21da4542
- Child:
- 3:e0d6e081a9d3
Ebauche qui compile reste a bien structurer. Jai fini leritage des tache reste la creation dans le main.
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 | 1:25ea21da4542 | 4 | |
salco | 2:4c5b0f6d0a6b | 5 | //#include "Concience/InstinctPrimaire.h" |
salco | 2:4c5b0f6d0a6b | 6 | #include "Task/TTaskGen.h" |
salco | 2:4c5b0f6d0a6b | 7 | #include "Motrice/mouvement.h" |
salco | 0:e4151abdff23 | 8 | //------------------------------------ |
salco | 0:e4151abdff23 | 9 | // Hyperterminal configuration |
salco | 0:e4151abdff23 | 10 | // 9600 bauds, 8-bit data, no parity |
salco | 0:e4151abdff23 | 11 | //------------------------------------ |
salco | 0:e4151abdff23 | 12 | |
salco | 0:e4151abdff23 | 13 | Serial pc(SERIAL_TX, SERIAL_RX); |
salco | 0:e4151abdff23 | 14 | Serial ssc32(PA_9, PA_10); |
salco | 0:e4151abdff23 | 15 | |
salco | 0:e4151abdff23 | 16 | DigitalOut myled(LED1); |
salco | 0:e4151abdff23 | 17 | //char str [80]; |
salco | 0:e4151abdff23 | 18 | char c; |
salco | 0:e4151abdff23 | 19 | int main() |
salco | 0:e4151abdff23 | 20 | { |
salco | 0:e4151abdff23 | 21 | // int i = 1; |
salco | 0:e4151abdff23 | 22 | |
salco | 0:e4151abdff23 | 23 | //pc.printf("Hello World !\n"); |
salco | 0:e4151abdff23 | 24 | //pc.scanf ("%79s",str); |
salco | 0:e4151abdff23 | 25 | // string test="allo"; |
salco | 0:e4151abdff23 | 26 | // pc.printf(test.c_str()); |
salco | 0:e4151abdff23 | 27 | |
salco | 0:e4151abdff23 | 28 | ////////// |
salco | 0:e4151abdff23 | 29 | // Boot // |
salco | 0:e4151abdff23 | 30 | ////////// |
salco | 0:e4151abdff23 | 31 | c=0; |
salco | 0:e4151abdff23 | 32 | Faculter_motrice ctrDesPattes(&/*ssc32*/pc); |
salco | 0:e4151abdff23 | 33 | |
salco | 0:e4151abdff23 | 34 | while(1) { |
salco | 0:e4151abdff23 | 35 | wait(1); |
salco | 0:e4151abdff23 | 36 | //////////////// |
salco | 0:e4151abdff23 | 37 | // Inspection // |
salco | 0:e4151abdff23 | 38 | //////////////// |
salco | 0:e4151abdff23 | 39 | if(pc.readable()) { |
salco | 0:e4151abdff23 | 40 | c=pc.getc();//pc.scanf ("%79s",str); |
salco | 0:e4151abdff23 | 41 | pc.printf("AK %c\n",c);//pc.printf("AK %s\n",str);// pc.printf("This program is %d .\n", i); |
salco | 0:e4151abdff23 | 42 | } |
salco | 0:e4151abdff23 | 43 | ////////////////////////////// |
salco | 0:e4151abdff23 | 44 | // Traitement du Labyrinthe // |
salco | 0:e4151abdff23 | 45 | ////////////////////////////// |
salco | 0:e4151abdff23 | 46 | if (c == 'g') { |
salco | 0:e4151abdff23 | 47 | ctrDesPattes.calibre(); |
salco | 0:e4151abdff23 | 48 | c=0; |
salco | 0:e4151abdff23 | 49 | } |
salco | 0:e4151abdff23 | 50 | if(c == 'h') |
salco | 0:e4151abdff23 | 51 | { |
salco | 0:e4151abdff23 | 52 | pc.printf(" ID seq: %i \n\r",ctrDesPattes.get_idSeq()); |
salco | 0:e4151abdff23 | 53 | c=0; |
salco | 0:e4151abdff23 | 54 | } |
salco | 0:e4151abdff23 | 55 | /////////////// |
salco | 0:e4151abdff23 | 56 | // Mouvement // |
salco | 0:e4151abdff23 | 57 | /////////////// |
salco | 2:4c5b0f6d0a6b | 58 | // ctrDesPattes.exec(); |
salco | 0:e4151abdff23 | 59 | //////////////////// |
salco | 0:e4151abdff23 | 60 | // Update memoire // |
salco | 0:e4151abdff23 | 61 | //////////////////// |
salco | 0:e4151abdff23 | 62 | |
salco | 0:e4151abdff23 | 63 | //////////// |
salco | 0:e4151abdff23 | 64 | // Autre? // |
salco | 0:e4151abdff23 | 65 | //////////// |
salco | 0:e4151abdff23 | 66 | |
salco | 0:e4151abdff23 | 67 | |
salco | 0:e4151abdff23 | 68 | |
salco | 0:e4151abdff23 | 69 | |
salco | 0:e4151abdff23 | 70 | |
salco | 0:e4151abdff23 | 71 | myled = !myled; |
salco | 0:e4151abdff23 | 72 | } |
salco | 0:e4151abdff23 | 73 | } |