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

Diff: source/Motrice/mouvement.cpp

Revision:
30:7305ea319fe6
Parent:
27:ea60d12dccdf
Child:
36:474d4795aafa
diff -r 51308764fdd0 -r 7305ea319fe6 source/Motrice/mouvement.cpp
--- a/source/Motrice/mouvement.cpp	Tue Jul 28 04:30:12 2015 +0000
+++ b/source/Motrice/mouvement.cpp	Wed Aug 19 18:27:18 2015 +0000
@@ -179,39 +179,56 @@
 }
 
 void Faculter_motrice::sendSequence(void)
-{
+{   
+    
     debug(DEBUG_SENDSEQ,"\n\r   in sendSeq\n\r");
     debug(DEBUG_SENDSEQ,"\n\r tarzan: %i",m_seq->get_msTime(m_arr_mil_D->id()));
     if(m_arr_D->haveChange()) {
+        #ifndef DEBUG_MOUVEMENT_COMM_OFF
         m_com->printf("%s T%d\n\r",m_arr_D->toString(),m_seq->get_msTime(m_arr_D->id()));
+        #endif
         debug(DEBUG_SENDSEQ,"\n\r   %s T%d\n\r",m_arr_D->toString(),m_seq->get_msTime(m_arr_D->id()));
     }
     if(m_arr_G->haveChange()) {
+        #ifndef DEBUG_MOUVEMENT_COMM_OFF
         m_com->printf("%s T%d\n\r",m_arr_G->toString(),m_seq->get_msTime(m_arr_G->id()));
+        #endif
         debug(DEBUG_SENDSEQ,"\n\r   %s T%d\n\r",m_arr_G->toString(),m_seq->get_msTime(m_arr_G->id()));
     }
     if(m_arr_mil_D->haveChange()) {
+        #ifndef DEBUG_MOUVEMENT_COMM_OFF
         m_com->printf("%s T%d\n\r",m_arr_mil_D->toString(),m_seq->get_msTime(m_arr_mil_D->id()));
+        #endif
         debug(DEBUG_SENDSEQ,"\n\r   %s T%d\n\r",m_arr_mil_D->toString(),m_seq->get_msTime(m_arr_mil_D->id()));
     }
     if(m_arr_mil_G->haveChange()) {
+        #ifndef DEBUG_MOUVEMENT_COMM_OFF
         m_com->printf("%s T%d\n\r",m_arr_mil_G->toString(),m_seq->get_msTime(m_arr_mil_G->id()));
+        #endif
         debug(DEBUG_SENDSEQ,"\n\r   %s T%d\n\r",m_arr_mil_G->toString(),m_seq->get_msTime(m_arr_mil_G->id()));
     }
     if(m_avv_mil_D->haveChange()) {
+        #ifndef DEBUG_MOUVEMENT_COMM_OFF
         m_com->printf("%s T%d\n\r",m_avv_mil_D->toString(),m_seq->get_msTime(m_avv_mil_D->id()));
+        #endif
         debug(DEBUG_SENDSEQ,"\n\r   %s T%d\n\r",m_avv_mil_D->toString(),m_seq->get_msTime(m_avv_mil_D->id()));
     }
     if(m_avv_mil_G->haveChange()) {
+        #ifndef DEBUG_MOUVEMENT_COMM_OFF
         m_com->printf("%s T%d\n\r",m_avv_mil_G->toString(),m_seq->get_msTime(m_avv_mil_G->id()));
+        #endif
         debug(DEBUG_SENDSEQ,"\n\r   %s T%d\n\r",m_avv_mil_G->toString(),m_seq->get_msTime(m_avv_mil_G->id()));
     }
     if(m_avv_D->haveChange()) {
+        #ifndef DEBUG_MOUVEMENT_COMM_OFF
         m_com->printf("%s T%d\n\r",m_avv_D->toString(),m_seq->get_msTime(m_avv_D->id()));
+        #endif
         debug(DEBUG_SENDSEQ,"\n\r   %s T%d\n\r",m_avv_D->toString(),m_seq->get_msTime(m_avv_D->id()));
     }
     if(m_avv_G->haveChange()) {
+        #ifndef DEBUG_MOUVEMENT_COMM_OFF
         m_com->printf("%s T%d\n\r",m_avv_G->toString(),m_seq->get_msTime(m_avv_G->id()));
+        #endif
         debug(DEBUG_SENDSEQ,"\n\r   %s T%d\n\r",m_avv_G->toString(),m_seq->get_msTime(m_avv_G->id()));
     }
     debug(DEBUG_SENDSEQ,"\n\r   out sendSeq\n\r");