![](/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:
- 22:a2c875629f2d
- Parent:
- 21:5c17b7836733
- Child:
- 27:ea60d12dccdf
--- a/source/Motrice/mouvement.cpp Fri May 08 01:33:51 2015 +0000 +++ b/source/Motrice/mouvement.cpp Fri May 08 19:57:25 2015 +0000 @@ -115,7 +115,7 @@ //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); //move to sendSequence() - //debug(DEBUG_MOUVEMENT,"\n\r %s T%d\n\r",m_arr_D->toString(),DELAITESTE); + //debug(DEBUG_MOUVEMENT,"\n\r %s T%d\n\r",m_arr_D->toString(),); sendSequence(); /* tempLeg=m_seq->get_frame(m_arr_D->id()); @@ -165,29 +165,29 @@ 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_D->toString(),m_seq->get_Time(m_arr_D->id())); + debug(DEBUG_SENDSEQ,"\n\r %s T%d",m_arr_D->toString(),m_seq->get_Time(m_arr_D->id())); - 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_G->toString(),m_seq->get_Time(m_arr_G->id())); + debug(DEBUG_SENDSEQ,"\n\r %s T%d",m_arr_G->toString(),m_seq->get_Time(m_arr_G->id())); - 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_D->toString(),m_seq->get_Time(m_arr_mil_D->id())); + debug(DEBUG_SENDSEQ,"\n\r %s T%d",m_arr_mil_D->toString(),m_seq->get_Time(m_arr_mil_D->id())); - 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_arr_mil_G->toString(),m_seq->get_Time(m_arr_mil_G->id())); + debug(DEBUG_SENDSEQ,"\n\r %s T%d",m_arr_mil_G->toString(),m_seq->get_Time(m_arr_mil_G->id())); - 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_D->toString(),m_seq->get_Time(m_avv_mil_D->id())); + debug(DEBUG_SENDSEQ,"\n\r %s T%d",m_avv_mil_D->toString(),m_seq->get_Time(m_avv_mil_D->id())); - 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_mil_G->toString(),m_seq->get_Time(m_avv_mil_G->id())); + debug(DEBUG_SENDSEQ,"\n\r %s T%d",m_avv_mil_G->toString(),m_seq->get_Time(m_avv_mil_G->id())); - 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_D->toString(),m_seq->get_Time(m_avv_D->id())); + debug(DEBUG_SENDSEQ,"\n\r %s T%d",m_avv_D->toString(),m_seq->get_Time(m_avv_D->id())); - 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); + m_com->printf("%s T%d\n\r",m_avv_G->toString(),m_seq->get_Time(m_avv_G->id())); + debug(DEBUG_SENDSEQ,"\n\r %s T%d",m_avv_G->toString(),m_seq->get_Time(m_avv_G->id())); debug(DEBUG_SENDSEQ,"\n\r\n\r out sendSeq"); } \ No newline at end of file