![](/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
Diff: source/Motrice/mouvement.cpp
- Revision:
- 19:0ac80045ba4c
- Parent:
- 2:4c5b0f6d0a6b
- Child:
- 20:c825e7b07af7
--- a/source/Motrice/mouvement.cpp Thu Apr 23 19:28:42 2015 +0000 +++ b/source/Motrice/mouvement.cpp Mon Apr 27 20:41:21 2015 +0000 @@ -58,42 +58,40 @@ } void Faculter_motrice::exec(void) { -#ifdef DEBUG - m_com->printf("Flag in exec [%i :: %i ] \n\r",m_ForceStop,m_seq->get_Sequence()); -#endif + debug(DEBUG_MOUVEMENT,"\n\r In Faculter Mott"); + debug(DEBUG_MOUVEMENT,"\n\r Flag in exec [%i :: %i ] \n\r",m_ForceStop,m_seq->get_Sequence()); if((!m_ForceStop)&&(m_seq->get_Sequence() != 0)) { unsigned char* tempLeg; switch(m_seq->get_Sequence()) { - case 1: + default: tempLeg=m_seq->get_frame(m_arr_D->id()); m_arr_D->move(tempLeg[0],tempLeg[1],tempLeg[2],tempLeg[3]); //...// if(m_seq->next_frame() == false) { m_ForceStop=true; -#ifdef DEBUG - m_com->printf(" Flag next impossible \n\r",m_ForceStop,m_seq->get_Sequence()); -#endif + + debug(DEBUG_EXEC," Flag next impossible \n\r",m_ForceStop,m_seq->get_Sequence()); + } - #ifdef DEBUG else - m_com->printf(" Flag next possible \n\r",m_ForceStop,m_seq->get_Sequence()); -#endif + debug(DEBUG_EXEC," Flag next possible \n\r",m_ForceStop,m_seq->get_Sequence()); + break; } //char buffer[50]; //scanf(buffer,"%s T%d\n\r",m_arr_D->toString(),DELAITESTE); - m_com->printf("%s T%d\n\r",m_arr_D->toString(),DELAITESTE); - + //m_com->printf("%s T%d\n\r",m_arr_D->toString(),DELAITESTE); //move to sendSequence() + + debug(DEBUG_MOUVEMENT,"\n\r %s T%d\n\r",m_arr_D->toString(),DELAITESTE); + sendSequence(); /* tempLeg=m_seq->get_frame(m_arr_D->id()); m_com->printf("This program is %d .\n", tempLeg[0]);*/ } -#ifdef DEBUG - m_com->printf("Flag out exec [%i :: %i ] \n\r",m_ForceStop,m_seq->get_Sequence()); -#endif +debug(DEBUG_MOUVEMENT,"\n\r Out Faculter Mott"); } /*void Faculter_motrice::moveLeft (void) { @@ -132,4 +130,34 @@ m_com->printf("#0L #1L #2L #3L #4L #5L #6L #7L #8L #9L #10L #11L #12L #13L #14L #15L #16L #17L #18L #19L #20L #21L #22L #23L #24L #25L #26L #27L #28L #29L #30L #31L #32L\n\r"); m_ForceStop=true; m_CriticalStop=true; +} + +void Faculter_motrice::sendSequence(void) +{ + debug(DEBUG_SENDSEQ,"\n\r in sendSeq\n\r"); + m_com->printf("%s T%d\n\r",m_arr_D->toString(),DELAITESTE); + debug(DEBUG_SENDSEQ,"\n\r %s T%d",m_arr_D->toString(),DELAITESTE); + + m_com->printf("%s T%d\n\r",m_arr_G->toString(),DELAITESTE); + debug(DEBUG_SENDSEQ,"\n\r %s T%d",m_arr_G->toString(),DELAITESTE); + + m_com->printf("%s T%d\n\r",m_arr_mil_D->toString(),DELAITESTE); + debug(DEBUG_SENDSEQ,"\n\r %s T%d",m_arr_mil_D->toString(),DELAITESTE); + + m_com->printf("%s T%d\n\r",m_arr_mil_G->toString(),DELAITESTE); + debug(DEBUG_SENDSEQ,"\n\r %s T%d",m_arr_mil_G->toString(),DELAITESTE); + + m_com->printf("%s T%d\n\r",m_avv_mil_D->toString(),DELAITESTE); + debug(DEBUG_SENDSEQ,"\n\r %s T%d",m_avv_mil_D->toString(),DELAITESTE); + + m_com->printf("%s T%d\n\r",m_avv_mil_G->toString(),DELAITESTE); + debug(DEBUG_SENDSEQ,"\n\r %s T%d",m_avv_mil_G->toString(),DELAITESTE); + + m_com->printf("%s T%d\n\r",m_avv_D->toString(),DELAITESTE); + debug(DEBUG_SENDSEQ,"\n\r %s T%d",m_avv_D->toString(),DELAITESTE); + + m_com->printf("%s T%d\n\r",m_avv_G->toString(),DELAITESTE); + debug(DEBUG_SENDSEQ,"\n\r %s T%d",m_avv_G->toString(),DELAITESTE); + + debug(DEBUG_SENDSEQ,"\n\r\n\r out sendSeq"); } \ No newline at end of file