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@32:65eecdf56e2c, 2015-08-31 (annotated)

Committer:
salco
Date:
Mon Aug 31 13:59:34 2015 +0000
Revision:
32:65eecdf56e2c
Parent:
31:ed23647fd16e
Child:
34:dfd82c744b26
Modifier l"init pour metre les bon type de class;

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 31:ed23647fd16e 23
salco 19:0ac80045ba4c 24 DigitalOut myled(LED1, 0);
salco 11:496453b45e25 25 DigitalIn mybutton(USER_BUTTON);
salco 15:91b3c572d9df 26 DigitalOut pinA(PA_13);
salco 15:91b3c572d9df 27 DigitalOut pinB(PA_14);
salco 27:ea60d12dccdf 28
salco 0:e4151abdff23 29 int main()
salco 0:e4151abdff23 30 {
salco 28:ac5c6350ed9a 31 wait(3);
salco 0:e4151abdff23 32 //////////
salco 0:e4151abdff23 33 // Boot //
salco 0:e4151abdff23 34 //////////
salco 3:e0d6e081a9d3 35
salco 29:51308764fdd0 36 #ifdef DBG_MAIN_INIT
salco 29:51308764fdd0 37 debug("\n\rInit taskCritique ...");
salco 29:51308764fdd0 38 #endif
salco 29:51308764fdd0 39 TTaskCritique taskCritique(40);
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 taskAlerte ...");
salco 29:51308764fdd0 46 //#endif
salco 32:65eecdf56e2c 47 // TTaskAlerte taskAlerte(20);// un-use because i dont know what to do with.
salco 29:51308764fdd0 48 //#ifdef DBG_MAIN_INIT
salco 29:51308764fdd0 49 //debug(" end");
salco 29:51308764fdd0 50 //#endif
salco 29:51308764fdd0 51
salco 29:51308764fdd0 52 #ifdef DBG_MAIN_INIT
salco 29:51308764fdd0 53 debug("\n\rInit taskGeneral ...");
salco 29:51308764fdd0 54 #endif
salco 32:65eecdf56e2c 55 TTaskGeneral taskGeneral(20);
salco 29:51308764fdd0 56 #ifdef DBG_MAIN_INIT
salco 29:51308764fdd0 57 debug(" end");
salco 29:51308764fdd0 58 #endif
salco 30:7305ea319fe6 59
salco 30:7305ea319fe6 60
salco 29:51308764fdd0 61
salco 0:e4151abdff23 62 while(1) {
salco 31:ed23647fd16e 63
salco 27:ea60d12dccdf 64
salco 29:51308764fdd0 65 #if taskCritique
salco 32:65eecdf56e2c 66 #ifdef DBG_MAIN_FLAG
salco 32:65eecdf56e2c 67 debug("/n/r IN taskCritique");
salco 32:65eecdf56e2c 68 #endif
salco 32:65eecdf56e2c 69
salco 29:51308764fdd0 70 taskCritique.exec();
salco 32:65eecdf56e2c 71
salco 32:65eecdf56e2c 72 #ifdef DBG_MAIN_FLAG
salco 32:65eecdf56e2c 73 debug(" Out taskCritique");
salco 32:65eecdf56e2c 74 #endif
salco 29:51308764fdd0 75 #endif
salco 29:51308764fdd0 76
salco 29:51308764fdd0 77 #if taskAlerte
salco 32:65eecdf56e2c 78 #ifdef DBG_MAIN_FLAG
salco 32:65eecdf56e2c 79 debug("/n/r IN taskAlerte");
salco 32:65eecdf56e2c 80 #endif
salco 32:65eecdf56e2c 81
salco 29:51308764fdd0 82 taskAlerte.exec();
salco 32:65eecdf56e2c 83
salco 32:65eecdf56e2c 84 #ifdef DBG_MAIN_FLAG
salco 32:65eecdf56e2c 85 debug(" Out taskAlerte");
salco 32:65eecdf56e2c 86 #endif
salco 29:51308764fdd0 87 #endif
salco 29:51308764fdd0 88
salco 29:51308764fdd0 89 #if taskGeneral
salco 32:65eecdf56e2c 90 #ifdef DBG_MAIN_FLAG
salco 32:65eecdf56e2c 91 debug("/n/r IN taskGeneral");
salco 32:65eecdf56e2c 92 #endif
salco 32:65eecdf56e2c 93
salco 28:ac5c6350ed9a 94 taskGeneral.exec();
salco 32:65eecdf56e2c 95
salco 32:65eecdf56e2c 96 #ifdef DBG_MAIN_FLAG
salco 32:65eecdf56e2c 97 debug(" Out taskGeneral");
salco 32:65eecdf56e2c 98 #endif
salco 29:51308764fdd0 99 #endif
salco 29:51308764fdd0 100
salco 29:51308764fdd0 101 /*if (mybutton == 0) { // Button is pressed
salco 29:51308764fdd0 102 debug("Hello debug world");
salco 29:51308764fdd0 103 wait(2);
salco 27:ea60d12dccdf 104
salco 11:496453b45e25 105 myled = !myled;
salco 16:5ea4337d785f 106 wait(1);
salco 29:51308764fdd0 107 }*/
salco 11:496453b45e25 108
salco 29:51308764fdd0 109 }
salco 29:51308764fdd0 110
salco 29:51308764fdd0 111 }