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@35:d81f6b927932, 2015-09-12 (annotated)

Committer:
salco
Date:
Sat Sep 12 21:34:57 2015 +0000
Revision:
35:d81f6b927932
Parent:
34:dfd82c744b26
Child:
36:474d4795aafa
modification du labyrithe et test du doxygen.

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 35:d81f6b927932 35
salco 35:d81f6b927932 36 #ifdef ENABLE_TASK_CRIT
salco 35:d81f6b927932 37 #ifdef DBG_MAIN_INIT
salco 35:d81f6b927932 38 debug("\n\rInit taskCritique ...");
salco 35:d81f6b927932 39 #endif
salco 35:d81f6b927932 40 TTaskCritique taskCritique(40);
salco 35:d81f6b927932 41 #ifdef DBG_MAIN_INIT
salco 35:d81f6b927932 42 debug(" end taskCritique");
salco 35:d81f6b927932 43 #endif
salco 29:51308764fdd0 44 #endif
salco 29:51308764fdd0 45
salco 35:d81f6b927932 46 #ifdef ENABLE_TASK_ALERT
salco 35:d81f6b927932 47 #ifdef DBG_MAIN_INIT
salco 35:d81f6b927932 48 debug("\n\rInit taskAlerte ...");
salco 35:d81f6b927932 49 #endif
salco 35:d81f6b927932 50 TTaskAlerte taskAlerte(20);// un-use because i dont know what to do with.
salco 35:d81f6b927932 51 #ifdef DBG_MAIN_INIT
salco 35:d81f6b927932 52 debug(" end taskAlerte");
salco 35:d81f6b927932 53 #endif
salco 35:d81f6b927932 54 #endif
salco 29:51308764fdd0 55
salco 35:d81f6b927932 56 #ifdef ENABLE_TASK_GEN
salco 35:d81f6b927932 57 #ifdef DBG_MAIN_INIT
salco 35:d81f6b927932 58 debug("\n\rInit taskGeneral ...");
salco 35:d81f6b927932 59 #endif
salco 35:d81f6b927932 60 TTaskGeneral taskGeneral(20);
salco 35:d81f6b927932 61 #ifdef DBG_MAIN_INIT
salco 35:d81f6b927932 62 debug(" end taskGeneral");
salco 35:d81f6b927932 63 #endif
salco 29:51308764fdd0 64 #endif
salco 30:7305ea319fe6 65
salco 30:7305ea319fe6 66
salco 29:51308764fdd0 67
salco 0:e4151abdff23 68 while(1) {
salco 31:ed23647fd16e 69
salco 34:dfd82c744b26 70
salco 35:d81f6b927932 71 #ifdef ENABLE_TASK_CRIT
salco 32:65eecdf56e2c 72 #ifdef DBG_MAIN_FLAG
salco 34:dfd82c744b26 73 debug("\n\r IN taskCritique");
salco 32:65eecdf56e2c 74 #endif
salco 32:65eecdf56e2c 75
salco 35:d81f6b927932 76 taskCritique.exec();
salco 32:65eecdf56e2c 77
salco 32:65eecdf56e2c 78 #ifdef DBG_MAIN_FLAG
salco 32:65eecdf56e2c 79 debug(" Out taskCritique");
salco 32:65eecdf56e2c 80 #endif
salco 29:51308764fdd0 81 #endif
salco 29:51308764fdd0 82
salco 35:d81f6b927932 83 #ifdef ENABLE_TASK_ALERT
salco 32:65eecdf56e2c 84 #ifdef DBG_MAIN_FLAG
salco 34:dfd82c744b26 85 debug("\n\r IN taskAlerte");
salco 32:65eecdf56e2c 86 #endif
salco 32:65eecdf56e2c 87
salco 35:d81f6b927932 88 taskAlerte.exec();
salco 32:65eecdf56e2c 89
salco 32:65eecdf56e2c 90 #ifdef DBG_MAIN_FLAG
salco 32:65eecdf56e2c 91 debug(" Out taskAlerte");
salco 32:65eecdf56e2c 92 #endif
salco 29:51308764fdd0 93 #endif
salco 29:51308764fdd0 94
salco 35:d81f6b927932 95 #ifdef ENABLE_TASK_GEN
salco 32:65eecdf56e2c 96 #ifdef DBG_MAIN_FLAG
salco 34:dfd82c744b26 97 debug("\n\r IN taskGeneral");
salco 32:65eecdf56e2c 98 #endif
salco 32:65eecdf56e2c 99
salco 35:d81f6b927932 100 taskGeneral.exec();
salco 32:65eecdf56e2c 101
salco 32:65eecdf56e2c 102 #ifdef DBG_MAIN_FLAG
salco 32:65eecdf56e2c 103 debug(" Out taskGeneral");
salco 35:d81f6b927932 104
salco 35:d81f6b927932 105 #endif
salco 35:d81f6b927932 106
salco 35:d81f6b927932 107 #ifdef DBG_MAIN_DELAY_SEC
salco 35:d81f6b927932 108 wait(DBG_MAIN_DELAY_SEC);
salco 32:65eecdf56e2c 109 #endif
salco 29:51308764fdd0 110 #endif
salco 29:51308764fdd0 111
salco 29:51308764fdd0 112 /*if (mybutton == 0) { // Button is pressed
salco 29:51308764fdd0 113 debug("Hello debug world");
salco 29:51308764fdd0 114 wait(2);
salco 27:ea60d12dccdf 115
salco 11:496453b45e25 116 myled = !myled;
salco 16:5ea4337d785f 117 wait(1);
salco 29:51308764fdd0 118 }*/
salco 11:496453b45e25 119
salco 29:51308764fdd0 120 }
salco 29:51308764fdd0 121
salco 29:51308764fdd0 122 }