Alexandre Salconi-Denis
/
ProjetOctopode
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: directive.cpp
- Revision:
- 35:d81f6b927932
- Parent:
- 34:dfd82c744b26
- Child:
- 36:474d4795aafa
diff -r dfd82c744b26 -r d81f6b927932 directive.cpp --- a/directive.cpp Mon Aug 31 14:30:40 2015 +0000 +++ b/directive.cpp Sat Sep 12 21:34:57 2015 +0000 @@ -20,14 +20,16 @@ myMaze->setDirection(UP); //c=0; - ssc32 = new /*Serial*//*Raw*/Serial/*(USBTX, USBRX);*/(PB_6, PB_7);//(PA_9, PA_10); + ssc32 = new Serial(PB_6, PB_7); ctrDesPattes = new Faculter_motrice(ssc32/*pc*/); m_valueCapteurUltrasonic = 0; m_valueCapteurIR = 0; m_valueCapteurProximiter = 0; for(int i =0; i<10; i++)tableauDeCommange[i]= 0; size_tableauDeCommange=0; - myMaze->setC(EXPLORER,C5); + + myMaze->setMyPos(EXPLORER); + //myMaze->setC(EXPLORER,C5); //m_CtrlBridge = m_CtrlBridge->getInstance(); //a enlever de commentaire//m_ListDesModules = m_CtrlBridge->findModule(0,1,0,0); @@ -35,16 +37,16 @@ //ssc32->set_flow_control(0); - myMaze = new Labyrinthe(); - debug("\n\r directive Init");//printf("Hello World\n"); + + //debug("\n\r directive Init"); m_ListDesModules = m_CtrlBridge->findModule(0,CAPTEUR,DISTANCE,0); m_ListDesModules.append(m_CtrlBridge->findModule(0,CAPTEUR,PROXIMITEE,0)); m_capteurUltrasonic= m_CtrlBridge->findModule(0,CAPTEUR,ULTRASONIQUE,0x27/*0b100111*/); - if(!(m_capteurUltrasonic.empty()))debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurUltrasonic found"); - else debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurUltrasonic not found"); + if(!(m_capteurUltrasonic.empty())) debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurUltrasonic found"); + else debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurUltrasonic not found"); m_capteurIR= m_CtrlBridge->findModule(0,CAPTEUR,DISTANCE,0x27/*0b100111*/); - if(!(m_capteurIR.empty()))debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurIR found"); + if(!(m_capteurIR.empty())) debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurIR found"); else debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurIR not found"); m_capteurProximiter= m_CtrlBridge->findModule(0,CAPTEUR,PROXIMITEE,0x0E/*0b001110*/); if(!(m_capteurProximiter.empty()))debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurProximiter found"); @@ -63,18 +65,20 @@ ctrDesPattes->calibre(); - #ifdef DEBUG_BOOT_GRAPHICAL_INTERFACE + #ifdef DEBUG_DIRECTIVE_GRAPHICAL_INTERFACE + analiseMaze(); wait(2); debug("\x1B[2J"); //clear screen - debug("\x1B[25l");//hide cursor - debug("\x1B[;H"); //cursor default position + /*debug("\x1B[25l");//hide cursor + debug("\x1B[;H");*/ //cursor default position - //createSLbox(0,0,5,15,"Mode"); - createDLbox(0,0,10,20,"Menu");//(1,12,10,20,"test2"); + //createSLbox(0,0,5,15,"Mode"); + /*createDLbox(0,0,10,20,"Menu");//(1,12,10,20,"test2"); setText(1,3,"1) BrainControle"); - setText(1,4,"2) Show Maze"); + setText(1,4,"2) Show Maze");*/ //createDLbox(16,0,5,15,"Stage"); + #endif } Directive::~Directive()