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@29:51308764fdd0, 2015-07-28 (annotated)

Committer:
salco
Date:
Tue Jul 28 04:30:12 2015 +0000
Revision:
29:51308764fdd0
Parent:
28:ac5c6350ed9a
Child:
30:7305ea319fe6
Simplification du code et debut du mode debug

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 3:e0d6e081a9d3 11
salco 29:51308764fdd0 12 #include "source/Task/TTaskCritique.h"
salco 29:51308764fdd0 13 #include "source/Task/TTaskAlerte.h"
salco 29:51308764fdd0 14 #include "source/Task/TTaskGeneral.h"
salco 0:e4151abdff23 15
salco 19:0ac80045ba4c 16 DigitalOut myled(LED1, 0);
salco 11:496453b45e25 17 DigitalIn mybutton(USER_BUTTON);
salco 15:91b3c572d9df 18 DigitalOut pinA(PA_13);
salco 15:91b3c572d9df 19 DigitalOut pinB(PA_14);
salco 27:ea60d12dccdf 20
salco 0:e4151abdff23 21 int main()
salco 0:e4151abdff23 22 {
salco 28:ac5c6350ed9a 23 wait(3);
salco 0:e4151abdff23 24 //////////
salco 0:e4151abdff23 25 // Boot //
salco 0:e4151abdff23 26 //////////
salco 3:e0d6e081a9d3 27
salco 29:51308764fdd0 28 #ifdef DBG_MAIN_INIT
salco 29:51308764fdd0 29 debug("\n\rInit taskCritique ...");
salco 29:51308764fdd0 30 #endif
salco 29:51308764fdd0 31 TTaskCritique taskCritique(40);
salco 29:51308764fdd0 32 #ifdef DBG_MAIN_INIT
salco 29:51308764fdd0 33 debug(" end");
salco 29:51308764fdd0 34 #endif
salco 29:51308764fdd0 35
salco 29:51308764fdd0 36 //#ifdef DBG_MAIN_INIT
salco 29:51308764fdd0 37 //debug("\n\rInit taskAlerte ...");
salco 29:51308764fdd0 38 //#endif
salco 29:51308764fdd0 39 // TTaskCritique taskAlerte(20);// un-use because i dont know what to do with.
salco 29:51308764fdd0 40 //#ifdef DBG_MAIN_INIT
salco 29:51308764fdd0 41 //debug(" end");
salco 29:51308764fdd0 42 //#endif
salco 29:51308764fdd0 43
salco 29:51308764fdd0 44 #ifdef DBG_MAIN_INIT
salco 29:51308764fdd0 45 debug("\n\rInit taskGeneral ...");
salco 29:51308764fdd0 46 #endif
salco 29:51308764fdd0 47 TTaskCritique taskGeneral(20);
salco 29:51308764fdd0 48 #ifdef DBG_MAIN_INIT
salco 29:51308764fdd0 49 debug(" end");
salco 29:51308764fdd0 50 #endif
salco 29:51308764fdd0 51
salco 0:e4151abdff23 52 while(1) {
salco 27:ea60d12dccdf 53
salco 29:51308764fdd0 54 #if taskCritique
salco 29:51308764fdd0 55 taskCritique.exec();
salco 29:51308764fdd0 56 #endif
salco 29:51308764fdd0 57
salco 29:51308764fdd0 58 #if taskAlerte
salco 29:51308764fdd0 59 taskAlerte.exec();
salco 29:51308764fdd0 60 #endif
salco 29:51308764fdd0 61
salco 29:51308764fdd0 62 #if taskGeneral
salco 28:ac5c6350ed9a 63 taskGeneral.exec();
salco 29:51308764fdd0 64 #endif
salco 29:51308764fdd0 65
salco 29:51308764fdd0 66 /*if (mybutton == 0) { // Button is pressed
salco 29:51308764fdd0 67 debug("Hello debug world");
salco 29:51308764fdd0 68 wait(2);
salco 27:ea60d12dccdf 69
salco 11:496453b45e25 70 myled = !myled;
salco 16:5ea4337d785f 71 wait(1);
salco 29:51308764fdd0 72 }*/
salco 11:496453b45e25 73
salco 29:51308764fdd0 74 }
salco 29:51308764fdd0 75
salco 29:51308764fdd0 76 }