Revision 19:0ac80045ba4c, committed 2015-04-27

Comitter:

salco

Date:

Mon Apr 27 20:41:21 2015 +0000

Parent:

18:3f113f8441b2

Child:

20:c825e7b07af7

Commit message:

modification de homemade s?quence pour simplifier le codage et la modification future des s?quence si besoin est.

Changed in this revision

--- a/directive.cpp	Thu Apr 23 19:28:42 2015 +0000
+++ b/directive.cpp	Mon Apr 27 20:41:21 2015 +0000
@@ -4,39 +4,106 @@
 Directive::Directive():TTask(0)//on veux que cette tache sois exec toute les fois que TTaskGen sexecute.
 {
     c=0;
-
-   // ctrDesPattes = new Faculter_motrice(/*ssc32*/pc);
+    ssc32 = new Serial(PA_9, PA_10);
+    ctrDesPattes = new Faculter_motrice(ssc32/*pc*/);
+    //m_CtrlBridge = m_CtrlBridge->getInstance();
+    //a enlever de commentaire//m_ListDesModules = m_CtrlBridge->findModule(0,1,0,0);
 }
 Directive::~Directive()
 {
 
     if(ctrDesPattes)
         delete ctrDesPattes;
+    if(ssc32)
+        delete ssc32;
 }
 void Directive::task(void)//ALL CODE HERE//
 {
+    debug(DEBUG_DIRECTIVE_TEST,"\n\rIn task directive");
+    //pas sur que c'Est tout ce qui doit etre ici mais je vois pas quoi d'autre pour le moment.
+    string flag,data,savedData;
+    DigitalOut myled(LED1);
+    DigitalIn mybutton(USER_BUTTON);
 
-   wait(1);// a enlever plus tard pour gain de vitesse//
+    
+    //wait(1);// a enlever plus tard pour gain de vitesse//
     ////////////////
 // Inspection //
 ////////////////
 
-/*    if(pc->readable()) {
-        c=pc->getc();//pc.scanf ("%79s",str);
-        pc->printf("AK %c\n",c);//pc.printf("AK %s\n",str);// pc.printf("This program is %d .\n", i);
+    savedData.clear();
+
+   /* for(int i=0; i<m_ListDesModules.length(); ++i) {
+        flag.clear();
+        data.clear();
+        debug("\n\r result: %d",m_CtrlBridge->send(m_ListDesModules.at(i),flag,data));
+        if(data[0]!= 0x00)
+            savedData.append(data);
     }*/
+    int buttonCount;
+    for(buttonCount =0; mybutton == 0; buttonCount++){
+        debug(DEBUG_DIRECTIVE_TEST,"\n\r %02i",buttonCount+1);
+        wait(1);
+        myled = 1;
+        wait_ms(500);
+        myled = 0;
+        }
+debug(DEBUG_DIRECTIVE_TEST,"\n\rResult : %02i",buttonCount);
 
 //////////////////////////////
 // Traitement du Labyrinthe //
 //////////////////////////////
-/*    if (c == 'g') {
-        ctrDesPattes->calibre();
-        c=0;
-    }
-    if(c == 'h') {
-        pc->printf(" ID seq: %i \n\r",ctrDesPattes->get_idSeq());
-        c=0;
+
+    switch(buttonCount){
+        case 2:
+            ctrDesPattes->calibre();
+            ctrDesPattes->exec();
+        break;
+        
+        case 6:
+            ctrDesPattes->stop();
+            ctrDesPattes->exec();
+            ctrDesPattes->resume();
+        break;
+        
+        case 3:
+            ctrDesPattes->moveUp();
+            ctrDesPattes->exec();
+        break;
+                
+        case 4:
+            ctrDesPattes->moveDown();
+            ctrDesPattes->exec();
+        break;  
+
+        case 5:
+            //ctrDesPattes->stop();
+            //ctrDesPattes->exec();
+            ctrDesPattes->resume();
+        break;
+        
+        case 1:
+            //ctrDesPattes->stop();
+            ctrDesPattes->exec();
+            //ctrDesPattes->resume();
+        break;
+                      
+        default:
+        break;
+        }
+        
+   /* if(savedData.size() != 0)
+    {
+          ctrDesPattes->exec();
     }*/
+    /*    if (c == 'g') {
+            ctrDesPattes->calibre();
+            c=0;
+        }
+        if(c == 'h') {
+            pc->printf(" ID seq: %i \n\r",ctrDesPattes->get_idSeq());
+            c=0;
+        }*/
 ///////////////
 // Mouvement //
 ///////////////
@@ -49,6 +116,6 @@
 // Autre? //
 ////////////
 
-
+debug(DEBUG_DIRECTIVE_TEST,"\n\rOut task directive");
 
 }
\ No newline at end of file

--- a/directive.h	Thu Apr 23 19:28:42 2015 +0000
+++ b/directive.h	Mon Apr 27 20:41:21 2015 +0000
@@ -8,14 +8,18 @@
 #ifndef DIRECTIVE_H
 #define DIRECTIVE_H
 
+#define DEBUG_DIRECTIVE_TEST 1
+
 #include "mbed.h"
+#include "debug.h"
 #include "source/Task/TTask.h"
 #include "Motrice/mouvement.h"
 
 class Directive : public TTask
 {
-
+    CtrlBridge* m_CtrlBridge;
     Faculter_motrice *ctrDesPattes;
+    Serial *ssc32;
     char c;
 protected:
     virtual void task(void);

--- a/main.cpp	Thu Apr 23 19:28:42 2015 +0000
+++ b/main.cpp	Mon Apr 27 20:41:21 2015 +0000
@@ -16,7 +16,7 @@
 
 
 
-DigitalOut myled(LED1);
+DigitalOut myled(LED1, 0);
 //char str [80];
 DigitalIn mybutton(USER_BUTTON);
 DigitalOut pinA(PA_13);
@@ -31,9 +31,9 @@
     //         string test="allo";
     //    pc.printf(test.c_str());
 
-    TTaskCritique taskCritique(1);
+    //TTaskCritique taskCritique(1);
     // TTaskAlerte taskAlerte(20);
-    // TTaskGeneral  taskGeneral(40);
+     TTaskGeneral  taskGeneral(1);//40);
 //////////
 // Boot //
 //////////
@@ -47,8 +47,8 @@
         //taskGeneral.exec();
         if (mybutton == 0) { // Button is pressed
             //debug("Hello debug world");
-            taskCritique.exec();
-
+            //taskCritique.exec();
+            taskGeneral.exec();
             /*if(myled) {
                 pinB=0;
                 pinA=1;

--- a/source/Motrice/Patte.h	Thu Apr 23 19:28:42 2015 +0000
+++ b/source/Motrice/Patte.h	Mon Apr 27 20:41:21 2015 +0000
@@ -69,7 +69,7 @@
     }
     const char* toString(void){
        
-       sprintf (buffer,"#%d P%d #%d P%d #%d P%d #%d P%d",m_Coxa.iD,m_Coxa.curr,m_Femur.iD,m_Femur.curr,m_Tibia.iD,m_Tibia.curr,m_Tars.iD,m_Tars.curr);
+       sprintf (buffer,"#%d P%d0 #%d P%d0 #%d P%d0 #%d P%d0",m_Coxa.iD,m_Coxa.curr,m_Femur.iD,m_Femur.curr,m_Tibia.iD,m_Tibia.curr,m_Tars.iD,m_Tars.curr);
        return buffer;
         }
     //setting Coxa //
@@ -232,7 +232,7 @@
             m_Tars.curr = value;
     }
     void move(unsigned char coxaValue,unsigned char femurValue,
-              unsigned char tibiaValue,unsigned char tarsValue) {
+              unsigned char tibiaValue,unsigned char tarsValue) {//noob proof
         if((coxaValue >= m_Coxa.min)&&(coxaValue <= m_Coxa.max ))
             m_Coxa.curr = coxaValue;
         if((femurValue >= m_Femur.min)&&(femurValue <= m_Femur.max ))

--- a/source/Motrice/homemadeSequence.cpp	Thu Apr 23 19:28:42 2015 +0000
+++ b/source/Motrice/homemadeSequence.cpp	Mon Apr 27 20:41:21 2015 +0000
@@ -5,10 +5,47 @@
  *      Author: salco
  */
 #include "homemadeSequence.h"
+unsigned char table_seqUp[9][2][3] =     { { {80 , 210, 160}, {220, 90 , 114} },
+                                           { {80 , 220, 170}, {220, 80 , 130} },
+                                           { {90 , 220, 160}, {200, 80 , 140} },
+                                           { {106, 220, 150}, {194, 80 , 150} },
+                                           { {128, 220, 127}, {172, 80 , 173} },
+                                           { {144, 205, 130}, {156, 95 , 170} },
+                                           { {144, 210, 123}, {156, 89 , 177} },
+                                           { {172, 185, 124}, {128, 115, 176} },
+                                           { {194, 166, 118}, {106, 134, 182} } };
+                                           
+unsigned char table_seqDown[9][2][3] =   { { {172, 185, 124}, {128, 115, 176} },
+                                           { {172, 185, 124}, {128, 115, 176} },
+                                           { {144, 210, 123}, {156, 89 , 177} },
+                                           { {144, 205, 130}, {156, 95 , 170} },
+                                           { {128, 220, 127}, {172, 80 , 173} },
+                                           { {106, 220, 150}, {194, 80 , 150} },
+                                           { {90 , 220, 160}, {200, 80 , 140} },
+                                           { {80 , 220, 170}, {220, 80 , 130} },
+                                           { {80 , 100, 150}, {220, 200, 150} } };//fin de la seq il met ses patte sur sa tete**
+/*unsigned char table_seqUpDown[9][8][4] = { { {140, 80, 210, 160}, {165, 80, 210, 160}, {160, 80, 210, 160}, {150, 80, 210, 160},
+                                             {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} },
+                                           { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4},
+                                             {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} },
+                                           { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4},
+                                             {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} },
+                                           { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4},
+                                             {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} },
+                                           { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4},
+                                             {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} },
+                                           { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4},
+                                             {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} },
+                                           { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4},
+                                             {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} },
+                                           { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4},
+                                             {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} },
+                                           { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4},
+                                             {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} } };*/
 homemadeSequence::homemadeSequence()
 {
-m_SequenceChosen=0;
-m_idFrame=0;
+    m_SequenceChosen=0;
+    m_idFrame=0;
 }
 homemadeSequence::~homemadeSequence()
 {
@@ -16,11 +53,14 @@
 }
 unsigned char* homemadeSequence::get_frame(/*char idSequence,char idOperation,*/char idLeg)
 {
+    debug(DEBUG_HOMEMADE_GETFRAME,"\n\r    In Get Frame");
     m_posLeg[0] = 0;
     m_posLeg[1] = 0;
     m_posLeg[2] = 0;
     m_posLeg[3] = 0;
-
+    debug(DEBUG_HOMEMADE_GETFRAME,"\n\r    idLeg: %i",idLeg);
+    debug(DEBUG_HOMEMADE_GETFRAME,"\n\r    m_SequenceChosen: %i",m_SequenceChosen);
+    debug(DEBUG_HOMEMADE_GETFRAME,"\n\r    m_idFrame: %i",m_idFrame);
     switch(m_SequenceChosen) {
         case 1:// 01 - Calibration(milieu) //
             if(m_idFrame == 1) {//if(idOperation == 1) {
@@ -28,6 +68,11 @@
                 m_posLeg[1] = 150;
                 m_posLeg[2] = 150;
                 m_posLeg[3] = 150;
+            } else {
+                m_posLeg[0] = 0;
+                m_posLeg[1] = 0;
+                m_posLeg[2] = 0;
+                m_posLeg[3] = 0;
             }
             break;
 
@@ -52,13 +97,15 @@
         case 10:// 10 - Crabe  Droite       //
             break;
     }
+    debug(DEBUG_HOMEMADE_GETFRAME,"\n\r    posLeg: [0]:%i, [1]:%i, [2]:%i, [3]:%i,",m_posLeg[0],m_posLeg[1],m_posLeg[2],m_posLeg[3]);
+    debug(DEBUG_HOMEMADE_GETFRAME,"\n\r    Out Get Frame");
     return m_posLeg;
 }
 
 void homemadeSequence::seqUpDown(bool downUP,char idOperation,char idLeg)
 {
     if((idOperation<10)&&(idOperation>0)) {
-        switch(idLeg) {
+        switch(idLeg) { //moving hips
             case 1:
                 m_posLeg[0] = 140;
                 break;
@@ -78,7 +125,21 @@
                 m_posLeg[0] = 150;
                 break;
         }
-        if(idOperation == 1) {
+         if(downUP)
+         {
+            if(idLeg<5)
+                for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqUp[idOperation-1][0][i-1];
+            else
+                for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqUp[idOperation-1][1][i-1];
+         }
+         else
+         {
+            if(idLeg<5)
+                for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqDown[idOperation-1][0][i-1];
+            else
+                for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqDown[idOperation-1][1][i-1];
+         }
+        /*if(idOperation == 1) {
             if(idLeg<5) {
                 m_posLeg[1] = 80;
                 m_posLeg[2] = 210;
@@ -106,9 +167,9 @@
             }
 
             switch(idOperation) {
-                    /*case 1:
+                    case 1:
 
-                        break;*/
+                        break;
                 case 2:
                     if(idLeg<5) {
                         m_posLeg[1] = 80;
@@ -197,8 +258,14 @@
                         m_posLeg[3] = 182;
                     }
                     break;
+                default:
+                    m_posLeg[0] = 0;
+                    m_posLeg[1] = 0;
+                    m_posLeg[2] = 0;
+                    m_posLeg[3] = 0;
+                    break;
             }
-        }
+        }*/
     }
 }
 void homemadeSequence::seqTurn(bool leftRIGHT,char idOperation,char idLeg)
@@ -211,29 +278,48 @@
 {}
 bool homemadeSequence::next_frame(void)
 {
-    bool temp=true;
+    debug(DEBUG_HOMEMADE_NEXTFRAME,"\n\r    in Next Frame");
+    bool temp=false;
+    debug(DEBUG_HOMEMADE_NEXTFRAME,"\n\r    m_idframe == %d",m_idFrame);
+
+    //if(m_idFrame > 1){
     m_idFrame++;
-    unsigned char* tmpTable = get_frame(m_idFrame+1);
-    
-    if((tmpTable[0]==0) && (tmpTable[1]==0) && (tmpTable[2]==0) && (tmpTable[3]==0)) {
-        temp=false;
-        m_idFrame--;//get_frame(m_idFrame);
-    }/* else
-        m_idFrame++;*/
+    unsigned char* tmpTable = get_frame(1);
 
+    if((tmpTable[0]!=0) && (tmpTable[1]!=0) && (tmpTable[2]!=0) && (tmpTable[3]!=0)) //{
+        temp=true;
+    //m_idFrame++;//get_frame(m_idFrame);
+    //}
+    else
+        m_idFrame--;
+
+    //}
+    //}
+    debug(DEBUG_HOMEMADE_NEXTFRAME,"\n\r    m_idframe == %d",m_idFrame);
+    debug(DEBUG_HOMEMADE_NEXTFRAME,"\n\r    out Next Frame");
     return temp;
 }
-bool homemadeSequence::prev_frame(void)
+bool homemadeSequence::prev_frame(void)   //true == prev is ok
 {
-    bool temp=true;
-    m_idFrame--;
-    unsigned char* tmpTable = get_frame(1);
-    
-    if((tmpTable[0]==0) && (tmpTable[1]==0) && (tmpTable[2]==0) && (tmpTable[3]==0)) {
-        temp=false;
-        m_idFrame++;//get_frame(m_idFrame);
-    } /*else
-        m_idFrame--;*/
+    //false == impossible
+    debug(DEBUG_HOMEMADE_PREVFRAME,"\n\r    in Prev Frame");
+    bool temp=false;
+    debug(DEBUG_HOMEMADE_PREVFRAME,"\n\r    m_idframe == %d",m_idFrame);
+
+    if(m_idFrame > 1) {
+        m_idFrame--;
+        unsigned char* tmpTable = get_frame(1);
 
+        if((tmpTable[0]!=0) && (tmpTable[1]!=0) && (tmpTable[2]!=0) && (tmpTable[3]!=0)) //{
+            temp=true;
+        //m_idFrame++;//get_frame(m_idFrame);
+        //}
+        else
+            m_idFrame++;
+
+        //}
+    }
+    debug(DEBUG_HOMEMADE_PREVFRAME,"\n\r    m_idframe == %d",m_idFrame);
+    debug(DEBUG_HOMEMADE_PREVFRAME,"\n\r    out Prev Frame");
     return temp;
 }
\ No newline at end of file

--- a/source/Motrice/homemadeSequence.h	Thu Apr 23 19:28:42 2015 +0000
+++ b/source/Motrice/homemadeSequence.h	Mon Apr 27 20:41:21 2015 +0000
@@ -7,6 +7,13 @@
 
 #ifndef HOMEMADESEQUENCE_H_
 #define HOMEMADESEQUENCE_H_
+
+#define DEBUG_HOMEMADE_GETFRAME 1
+#define DEBUG_HOMEMADE_NEXTFRAME 0
+#define DEBUG_HOMEMADE_PREVFRAME 0
+
+#include "debug.h"
+
 class homemadeSequence
 {
     //////////////////////////////
@@ -26,6 +33,7 @@
     char m_idFrame;
 
     unsigned char m_posLeg[4];
+    
 
     void seqUpDown(bool downUP,char idOperation,char idLeg);
     void seqTurn(bool leftRIGHT,char idOperation,char idLeg);

--- a/source/Motrice/mouvement.cpp	Thu Apr 23 19:28:42 2015 +0000
+++ b/source/Motrice/mouvement.cpp	Mon Apr 27 20:41:21 2015 +0000
@@ -58,42 +58,40 @@
 }
 void Faculter_motrice::exec(void)
 {
-#ifdef DEBUG
-    m_com->printf("Flag in exec [%i  :: %i ] \n\r",m_ForceStop,m_seq->get_Sequence());
-#endif
+    debug(DEBUG_MOUVEMENT,"\n\r In Faculter Mott");
+    debug(DEBUG_MOUVEMENT,"\n\r  Flag in exec [%i  :: %i ] \n\r",m_ForceStop,m_seq->get_Sequence());
     if((!m_ForceStop)&&(m_seq->get_Sequence() != 0)) {
         unsigned char* tempLeg;
 
 
 
         switch(m_seq->get_Sequence()) {
-            case 1:
+            default:
                 tempLeg=m_seq->get_frame(m_arr_D->id());
                 m_arr_D->move(tempLeg[0],tempLeg[1],tempLeg[2],tempLeg[3]);
                 //...//
                 if(m_seq->next_frame() == false) {
                     m_ForceStop=true;
-#ifdef DEBUG
-                    m_com->printf("    Flag next impossible \n\r",m_ForceStop,m_seq->get_Sequence());
-#endif
+
+                    debug(DEBUG_EXEC,"    Flag next impossible \n\r",m_ForceStop,m_seq->get_Sequence());
+
                 }
-                #ifdef DEBUG
                 else
-                    m_com->printf("    Flag next possible \n\r",m_ForceStop,m_seq->get_Sequence());
-#endif
+                    debug(DEBUG_EXEC,"    Flag next possible \n\r",m_ForceStop,m_seq->get_Sequence());
+
                 break;
         }
         //char buffer[50];
         //scanf(buffer,"%s T%d\n\r",m_arr_D->toString(),DELAITESTE);
-        m_com->printf("%s T%d\n\r",m_arr_D->toString(),DELAITESTE);
-
+        //m_com->printf("%s T%d\n\r",m_arr_D->toString(),DELAITESTE); //move to sendSequence()
+        
+        debug(DEBUG_MOUVEMENT,"\n\r   %s T%d\n\r",m_arr_D->toString(),DELAITESTE);
+        sendSequence();
         /*
                     tempLeg=m_seq->get_frame(m_arr_D->id());
         m_com->printf("This program is %d .\n", tempLeg[0]);*/
     }
-#ifdef DEBUG
-    m_com->printf("Flag out exec [%i  :: %i ] \n\r",m_ForceStop,m_seq->get_Sequence());
-#endif
+debug(DEBUG_MOUVEMENT,"\n\r Out Faculter Mott");
 }
 /*void Faculter_motrice::moveLeft (void)
 {
@@ -132,4 +130,34 @@
     m_com->printf("#0L #1L #2L #3L #4L #5L #6L #7L #8L #9L #10L #11L #12L #13L #14L #15L #16L #17L #18L #19L #20L #21L #22L #23L #24L #25L #26L #27L #28L #29L #30L #31L #32L\n\r");
     m_ForceStop=true;
     m_CriticalStop=true;
+}
+
+void Faculter_motrice::sendSequence(void)
+{
+    debug(DEBUG_SENDSEQ,"\n\r   in sendSeq\n\r"); 
+    m_com->printf("%s T%d\n\r",m_arr_D->toString(),DELAITESTE);
+    debug(DEBUG_SENDSEQ,"\n\r   %s T%d",m_arr_D->toString(),DELAITESTE);
+    
+    m_com->printf("%s T%d\n\r",m_arr_G->toString(),DELAITESTE);
+    debug(DEBUG_SENDSEQ,"\n\r   %s T%d",m_arr_G->toString(),DELAITESTE);    
+
+    m_com->printf("%s T%d\n\r",m_arr_mil_D->toString(),DELAITESTE);
+    debug(DEBUG_SENDSEQ,"\n\r   %s T%d",m_arr_mil_D->toString(),DELAITESTE);
+    
+    m_com->printf("%s T%d\n\r",m_arr_mil_G->toString(),DELAITESTE);
+    debug(DEBUG_SENDSEQ,"\n\r   %s T%d",m_arr_mil_G->toString(),DELAITESTE);
+
+    m_com->printf("%s T%d\n\r",m_avv_mil_D->toString(),DELAITESTE);
+    debug(DEBUG_SENDSEQ,"\n\r   %s T%d",m_avv_mil_D->toString(),DELAITESTE);
+    
+    m_com->printf("%s T%d\n\r",m_avv_mil_G->toString(),DELAITESTE);
+    debug(DEBUG_SENDSEQ,"\n\r   %s T%d",m_avv_mil_G->toString(),DELAITESTE);
+
+    m_com->printf("%s T%d\n\r",m_avv_D->toString(),DELAITESTE);
+    debug(DEBUG_SENDSEQ,"\n\r   %s T%d",m_avv_D->toString(),DELAITESTE);
+
+    m_com->printf("%s T%d\n\r",m_avv_G->toString(),DELAITESTE);
+    debug(DEBUG_SENDSEQ,"\n\r   %s T%d",m_avv_G->toString(),DELAITESTE);
+    
+    debug(DEBUG_SENDSEQ,"\n\r\n\r   out sendSeq");
 }
\ No newline at end of file

--- a/source/Motrice/mouvement.h	Thu Apr 23 19:28:42 2015 +0000
+++ b/source/Motrice/mouvement.h	Mon Apr 27 20:41:21 2015 +0000
@@ -24,10 +24,13 @@
 #define MOUVEMENT_H_
 
 #define DELAITESTE 1000
-#define DEBUG
+#define DEBUG_MOUVEMENT 1
+#define DEBUG_EXEC 1
+#define DEBUG_SENDSEQ 1
 
 #include "mbed.h"
 //#include <string>
+#include "debug.h"
 //#include <stdio.h>
 #include "Patte.h"
 #include "homemadeSequence.h"
@@ -64,7 +67,7 @@
 // char m_SequenceChosen;
 // A enlever au plus vite car sa prend beaucoup d'espace //
 
-
+   void sendSequence(void);
 public:
 #ifdef DEBUG
     char get_idSeq(void){return m_seq->get_Sequence();}
@@ -83,30 +86,39 @@
     void crit_stop(void);
     
     void moveLeft (void) {
+        m_ForceStop=false;
         m_seq->set_Sequence(9);
     }
     void moveRight(void){
+        m_ForceStop=false;
         m_seq->set_Sequence(10);
     }
     void moveUp   (void){
+        m_ForceStop=false;
         m_seq->set_Sequence(2);
     }
     void moveDown (void){
+        m_ForceStop=false;
         m_seq->set_Sequence(3);
     }
     void moveFront(void){
+        m_ForceStop=false;
         m_seq->set_Sequence(6);
     }
     void moveBack (void){
+        m_ForceStop=false;
         m_seq->set_Sequence(7);
     }
     void turnLeft (void){
+        m_ForceStop=false;
         m_seq->set_Sequence(4);
     }
     void trunRight(void){
+        m_ForceStop=false;
         m_seq->set_Sequence(5);
     }
     void calibre  (void){
+        m_ForceStop=false;
         m_seq->set_Sequence(1);
     }
     //void repositioner(char idLeg);

--- a/source/Task/TTask.h	Thu Apr 23 19:28:42 2015 +0000
+++ b/source/Task/TTask.h	Mon Apr 27 20:41:21 2015 +0000
@@ -22,12 +22,15 @@
 
 protected:
     static TTask *ptrThis;
-    //CtrlBridge* m_CtrlBridge;
+    string m_ListDesModules;
+    CtrlBridge* m_CtrlBridge;
 
 public:
     TTask(int priority=0) {
         m_priority=priority;
         m_priorityCount=0;
+        m_CtrlBridge = m_CtrlBridge->getInstance();
+        
     }
     virtual ~TTask() {
     }

--- a/source/Task/TTaskCritique.cpp	Thu Apr 23 19:28:42 2015 +0000
+++ b/source/Task/TTaskCritique.cpp	Mon Apr 27 20:41:21 2015 +0000
@@ -3,7 +3,7 @@
 
 TTaskCritique::TTaskCritique(int priority):TTask(priority)
 {
-    m_CtrlBridge = m_CtrlBridge->getInstance();
+    //m_CtrlBridge = m_CtrlBridge->getInstance();
 
     m_CtrlBridge->initCom();
     m_ListDesModules = m_CtrlBridge->findModule(0,0,0,0); //get all modules

--- a/source/Task/TTaskCritique.h	Thu Apr 23 19:28:42 2015 +0000
+++ b/source/Task/TTaskCritique.h	Mon Apr 27 20:41:21 2015 +0000
@@ -12,13 +12,13 @@
 
 class TTaskCritique : public TTask
 {
-    string m_ListDesModules;
+    //string m_ListDesModules;
     bool tymy;
     
     void forceShutDown(bool offON);
     void criticalTreatment(char adresse);
-    protected:
-    CtrlBridge* m_CtrlBridge;
+    //protected:
+    //CtrlBridge* m_CtrlBridge;
     virtual void task(void);
     
     public: