Alexandre Salconi-Denis / Mbed 2 deprecated ProjetOctopode

Programme de contrôle de l'octopode 4DOF, Theraphosa-Salconi.

Dependencies:   debug mbed

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@30:7305ea319fe6, 2015-08-19 (annotated)

Committer:
salco
Date:
Wed Aug 19 18:27:18 2015 +0000
Revision:
30:7305ea319fe6
Parent:
29:51308764fdd0
Child:
31:ed23647fd16e
Ajout d'un aspect grafique pour simplifier l'analise.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
salco 0:e4151abdff23 1 //------------------------------------
salco 0:e4151abdff23 2 // Hyperterminal configuration
salco 0:e4151abdff23 3 // 9600 bauds, 8-bit data, no parity
salco 0:e4151abdff23 4 //------------------------------------
salco 0:e4151abdff23 5
salco 29:51308764fdd0 6 #include "mbed.h"
salco 29:51308764fdd0 7 //#include "OSNAPprotocoleDefine.h"
salco 29:51308764fdd0 8 //#include "mouvement.h"
salco 29:51308764fdd0 9 #include "debug.h"
salco 29:51308764fdd0 10 #include "settingDebug.h"
salco 30:7305ea319fe6 11 #include "AnsiGraphicalConsole.h"
salco 3:e0d6e081a9d3 12
salco 29:51308764fdd0 13 #include "source/Task/TTaskCritique.h"
salco 29:51308764fdd0 14 #include "source/Task/TTaskAlerte.h"
salco 29:51308764fdd0 15 #include "source/Task/TTaskGeneral.h"
salco 0:e4151abdff23 16
salco 30:7305ea319fe6 17
salco 30:7305ea319fe6 18 //#include <fcntl.h>
salco 30:7305ea319fe6 19 //#include <io.h>
salco 30:7305ea319fe6 20 //#include <stdio.h>
salco 30:7305ea319fe6 21 //#include <iostream>
salco 30:7305ea319fe6 22
salco 19:0ac80045ba4c 23 DigitalOut myled(LED1, 0);
salco 11:496453b45e25 24 DigitalIn mybutton(USER_BUTTON);
salco 15:91b3c572d9df 25 DigitalOut pinA(PA_13);
salco 15:91b3c572d9df 26 DigitalOut pinB(PA_14);
salco 27:ea60d12dccdf 27
salco 0:e4151abdff23 28 int main()
salco 0:e4151abdff23 29 {
salco 28:ac5c6350ed9a 30 wait(3);
salco 0:e4151abdff23 31 //////////
salco 0:e4151abdff23 32 // Boot //
salco 0:e4151abdff23 33 //////////
salco 3:e0d6e081a9d3 34
salco 29:51308764fdd0 35 #ifdef DBG_MAIN_INIT
salco 29:51308764fdd0 36 debug("\n\rInit taskCritique ...");
salco 29:51308764fdd0 37 #endif
salco 29:51308764fdd0 38 TTaskCritique taskCritique(40);
salco 29:51308764fdd0 39 #ifdef DBG_MAIN_INIT
salco 29:51308764fdd0 40 debug(" end");
salco 29:51308764fdd0 41 #endif
salco 29:51308764fdd0 42
salco 29:51308764fdd0 43 //#ifdef DBG_MAIN_INIT
salco 29:51308764fdd0 44 //debug("\n\rInit taskAlerte ...");
salco 29:51308764fdd0 45 //#endif
salco 29:51308764fdd0 46 // TTaskCritique taskAlerte(20);// un-use because i dont know what to do with.
salco 29:51308764fdd0 47 //#ifdef DBG_MAIN_INIT
salco 29:51308764fdd0 48 //debug(" end");
salco 29:51308764fdd0 49 //#endif
salco 29:51308764fdd0 50
salco 29:51308764fdd0 51 #ifdef DBG_MAIN_INIT
salco 29:51308764fdd0 52 debug("\n\rInit taskGeneral ...");
salco 29:51308764fdd0 53 #endif
salco 29:51308764fdd0 54 TTaskCritique taskGeneral(20);
salco 29:51308764fdd0 55 #ifdef DBG_MAIN_INIT
salco 29:51308764fdd0 56 debug(" end");
salco 29:51308764fdd0 57 #endif
salco 30:7305ea319fe6 58
salco 30:7305ea319fe6 59 #ifdef DEBUG_BOOT_GRAPHICAL_INTERFACE
salco 30:7305ea319fe6 60 wait(2);
salco 30:7305ea319fe6 61 debug("\x1B[2J"); //clear screen
salco 30:7305ea319fe6 62 debug("\x1B[25l");//hide cursor
salco 30:7305ea319fe6 63 debug("\x1B[;H"); //cursor default position
salco 30:7305ea319fe6 64
salco 30:7305ea319fe6 65 //createSLbox(0,0,5,15,"Mode");
salco 30:7305ea319fe6 66 createDLbox(0,0,5,15,"Mode");//(1,12,10,20,"test2");
salco 30:7305ea319fe6 67 createDLbox(16,0,5,15,"Stage");
salco 30:7305ea319fe6 68 //debug("\u00BF \u00BF \u00BF");
salco 30:7305ea319fe6 69 //debug("╔═══╦════╗");
salco 30:7305ea319fe6 70 #endif
salco 29:51308764fdd0 71
salco 0:e4151abdff23 72 while(1) {
salco 27:ea60d12dccdf 73
salco 29:51308764fdd0 74 #if taskCritique
salco 29:51308764fdd0 75 taskCritique.exec();
salco 29:51308764fdd0 76 #endif
salco 29:51308764fdd0 77
salco 29:51308764fdd0 78 #if taskAlerte
salco 29:51308764fdd0 79 taskAlerte.exec();
salco 29:51308764fdd0 80 #endif
salco 29:51308764fdd0 81
salco 29:51308764fdd0 82 #if taskGeneral
salco 28:ac5c6350ed9a 83 taskGeneral.exec();
salco 29:51308764fdd0 84 #endif
salco 29:51308764fdd0 85
salco 29:51308764fdd0 86 /*if (mybutton == 0) { // Button is pressed
salco 29:51308764fdd0 87 debug("Hello debug world");
salco 29:51308764fdd0 88 wait(2);
salco 27:ea60d12dccdf 89
salco 11:496453b45e25 90 myled = !myled;
salco 16:5ea4337d785f 91 wait(1);
salco 29:51308764fdd0 92 }*/
salco 11:496453b45e25 93
salco 29:51308764fdd0 94 }
salco 29:51308764fdd0 95
salco 29:51308764fdd0 96 }