geoffrey/cdf2018-principal
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Travail inachevé avec Arduino

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This commit is contained in:
Geoffrey Frogeye 2018-03-26 10:06:32 +02:00
parent 5c1ccbce93
commit af080ac4bf
9 changed files with 84 additions and 25 deletions
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1
chef/src/AFsignals.h Symbolic link
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@ -0,0 +1 @@
../../arduino/AFsignals.h

16
chef/src/debug.c
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@ -21,14 +21,20 @@ void* TaskDebug(void* pdata)
void printDebugInfos(struct A2CI_DBGs* debug)
{
printf("← Position actuelle (%f; %f) (%f°)", debug->actuel.x, debug->actuel.y, debug->actuel.o);
printf(", destination : ");
// Position
printf("← + % .6g; % .6g % .6g°", debug->actuel.x, debug->actuel.y, debug->actuel.o);
// Frequence de calcul de la position
printf(" % 5d☼", debug->nbCalcPos);
// Delta codeuses
printf(", %5d↿↾%-5d", debug->deltaCoder.dL, debug->deltaCoder.dR);
// Destination
printf(", ");
if (debug->movement == C2AD_BRAKE) {
printf("ne pas bouger\n");
printf("⇞ \n");
} else if (debug->movement == C2AD_FREE) {
printf("là où le vent l'emporte\n");
printf("↕ \n");
} else {
printf("(%f; %f) (%f°)\n", debug->destination.x, debug->destination.y, debug->destination.o);
printf("↑ % .6g; % .6g % .6g°\n", debug->destination.x, debug->destination.y, debug->destination.o);
}
}

6
chef/src/premier.c
View file

@ -8,7 +8,7 @@
#include "movement.h"
#include "debug.h"
#define TEMPSMAX 10
#define TEMPSMAX 60
void* TaskParcours(void *pdata)
{
@ -42,8 +42,8 @@ int main()
/* printf("En attente de la tirette...\n"); // TODO */
printf("C'est parti !\n");
pthread_t tParcours;
pthread_create(&tParcours, NULL, TaskParcours, NULL);
/* pthread_t tParcours; */
/* pthread_create(&tParcours, NULL, TaskParcours, NULL); */
sleep(TEMPSMAX);