![](/media/cache/profiles/4b0986230d9d7aded7f0c24033d221d4.jpg.50x50_q85.jpg)
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@16:5ea4337d785f, 2015-04-23 (annotated)
- Committer:
- salco
- Date:
- Thu Apr 23 00:53:11 2015 +0000
- Revision:
- 16:5ea4337d785f
- Parent:
- 15:91b3c572d9df
- Child:
- 19:0ac80045ba4c
toute a foirer faut faire un role back;
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 | 14:ca1a9230ba7f | 3 | //#include "OSNAPprotocoleDefine.h" |
salco | 2:4c5b0f6d0a6b | 4 | //#include "mouvement.h" |
salco | 8:e017e3d527d7 | 5 | #include "debug.h" |
salco | 2:4c5b0f6d0a6b | 6 | //#include "Concience/InstinctPrimaire.h" |
salco | 7:dcfd81d7f93f | 7 | #include "source/Task/TTaskCritique.h" |
salco | 7:dcfd81d7f93f | 8 | #include "source/Task/TTaskAlerte.h" |
salco | 7:dcfd81d7f93f | 9 | #include "source/Task/TTaskGeneral.h" |
salco | 3:e0d6e081a9d3 | 10 | |
salco | 3:e0d6e081a9d3 | 11 | |
salco | 0:e4151abdff23 | 12 | //------------------------------------ |
salco | 0:e4151abdff23 | 13 | // Hyperterminal configuration |
salco | 0:e4151abdff23 | 14 | // 9600 bauds, 8-bit data, no parity |
salco | 0:e4151abdff23 | 15 | //------------------------------------ |
salco | 0:e4151abdff23 | 16 | |
salco | 3:e0d6e081a9d3 | 17 | |
salco | 0:e4151abdff23 | 18 | |
salco | 0:e4151abdff23 | 19 | DigitalOut myled(LED1); |
salco | 0:e4151abdff23 | 20 | //char str [80]; |
salco | 11:496453b45e25 | 21 | DigitalIn mybutton(USER_BUTTON); |
salco | 15:91b3c572d9df | 22 | DigitalOut pinA(PA_13); |
salco | 15:91b3c572d9df | 23 | DigitalOut pinB(PA_14); |
salco | 15:91b3c572d9df | 24 | |
salco | 0:e4151abdff23 | 25 | int main() |
salco | 0:e4151abdff23 | 26 | { |
salco | 0:e4151abdff23 | 27 | // int i = 1; |
salco | 0:e4151abdff23 | 28 | |
salco | 0:e4151abdff23 | 29 | //pc.printf("Hello World !\n"); |
salco | 0:e4151abdff23 | 30 | //pc.scanf ("%79s",str); |
salco | 0:e4151abdff23 | 31 | // string test="allo"; |
salco | 0:e4151abdff23 | 32 | // pc.printf(test.c_str()); |
salco | 0:e4151abdff23 | 33 | |
salco | 11:496453b45e25 | 34 | TTaskCritique taskCritique(1); |
salco | 15:91b3c572d9df | 35 | // TTaskAlerte taskAlerte(20); |
salco | 15:91b3c572d9df | 36 | // TTaskGeneral taskGeneral(40); |
salco | 0:e4151abdff23 | 37 | ////////// |
salco | 0:e4151abdff23 | 38 | // Boot // |
salco | 0:e4151abdff23 | 39 | ////////// |
salco | 3:e0d6e081a9d3 | 40 | |
salco | 0:e4151abdff23 | 41 | |
salco | 0:e4151abdff23 | 42 | while(1) { |
salco | 0:e4151abdff23 | 43 | |
salco | 0:e4151abdff23 | 44 | |
salco | 15:91b3c572d9df | 45 | |
salco | 11:496453b45e25 | 46 | //taskAlerte.exec(); |
salco | 11:496453b45e25 | 47 | //taskGeneral.exec(); |
salco | 11:496453b45e25 | 48 | if (mybutton == 0) { // Button is pressed |
salco | 15:91b3c572d9df | 49 | //debug("Hello debug world"); |
salco | 16:5ea4337d785f | 50 | taskCritique.exec(); |
salco | 0:e4151abdff23 | 51 | |
salco | 16:5ea4337d785f | 52 | /*if(myled) { |
salco | 15:91b3c572d9df | 53 | pinB=0; |
salco | 15:91b3c572d9df | 54 | pinA=1; |
salco | 15:91b3c572d9df | 55 | |
salco | 15:91b3c572d9df | 56 | } else { |
salco | 15:91b3c572d9df | 57 | pinA=0; |
salco | 15:91b3c572d9df | 58 | pinB=1; |
salco | 16:5ea4337d785f | 59 | }*/ |
salco | 11:496453b45e25 | 60 | myled = !myled; |
salco | 16:5ea4337d785f | 61 | wait(1); |
salco | 11:496453b45e25 | 62 | } |
salco | 16:5ea4337d785f | 63 | //wait(1); |
salco | 0:e4151abdff23 | 64 | } |
salco | 11:496453b45e25 | 65 | |
salco | 7:dcfd81d7f93f | 66 | /*if(taskCritt) |
salco | 3:e0d6e081a9d3 | 67 | delete taskCritt; |
salco | 3:e0d6e081a9d3 | 68 | if(taskAlert) |
salco | 3:e0d6e081a9d3 | 69 | delete taskAlert; |
salco | 3:e0d6e081a9d3 | 70 | if(taskGen) |
salco | 7:dcfd81d7f93f | 71 | delete taskGen;*/ |
salco | 0:e4151abdff23 | 72 | } |