Revision 6:035ba44c12de, committed 2017-06-09

Comitter:

Cachan1

Date:

Fri Jun 09 11:02:09 2017 +0000

Parent:

5:46c1400c2ac4

Commit message:

Projet vierge

Changed in this revision

--- a/main.cpp	Fri Jun 09 01:44:37 2017 +0000
+++ b/main.cpp	Fri Jun 09 11:02:09 2017 +0000
@@ -456,333 +456,51 @@
         do {
             Led1 = 0;
             Pc.printf ("\n\n\n\n\rProgramme de test\n\n\rEntrez le code du test a effectuer :\n\n");
-            Pc.printf ("\r1- Capteurs Ultra Son (les 3)\n");
-            Pc.printf ("\r2- Boussole et I2C\n");
-            Pc.printf ("\r3- Capteurs GP2 (les 4)\n");
-            Pc.printf ("\r4- Capteurs CNY70 (les 3)\n");
-            Pc.printf ("\r5- VBAT\n");
-            Pc.printf ("\r6- Moteur Gauche -- NON CODE --\n");
-            Pc.printf ("\r7- Moteur Droit -- NON CODE --\n");
-            Pc.printf ("\r8- Servomoteur\n");
-            Pc.printf ("\r9- PIXY (CMUCAM5)\n\r");
+            Pc.printf ("\r1- Automate de Kenzo\n");
+            Pc.printf ("\r2- Automate de Jonas\n");
+            Pc.printf ("\r3- Test 1\n");
+            Pc.printf ("\r4- Test 2\n");
             MENU_choix = Pc.getc ();
-        } while (((MENU_choix-'0')<1) || ((MENU_choix-'0')>9));
+        } while (((MENU_choix-'0')<1) || ((MENU_choix-'0')>4));
 
         switch (MENU_choix-'0') {
 
             case 1 :
-                Pc.printf ("\n\n\rTest des captreurs Ultrason\n");
+                Pc.printf ("\n\n\rAutomate de Kenzo\n");
                 Pc.printf ("\rAppuyez sur Entree pour quitter\n");
                 do {
 
-                    if (FlagTickLed) {
-                        Led1 = !Led1;
-                        FlagTickLed = 0;
-                    }
-
-                    // Gestion des US
-                    if (((Tick%150)==0) && FlagTick) {
-                        Trig1 = 1;
-                        wait_us(20);
-                        Trig1 = 0;
-                        FlagTick = 0;
-                    }
-
-                    if (((Tick%150)==50) && FlagTick) {
-                        Trig2 = 1;
-                        wait_us(20);
-                        Trig2 = 0;
-                        FlagTick = 0;
-                    }
-
-                    if (((Tick%150)==100) && FlagTick) {
-                        Trig3 = 1;
-                        wait_us(20);
-                        Trig3 = 0;
-                        FlagTick = 0;
-                    }
-
-                    if (FlagUS1==1) {
-                        Pc.printf ("\rUS 1 = %04d mm", (int)DistUS1);
-                        FlagUS1 = 0;
-                    }
-
-                    if (FlagUS2==1) {
-                        Pc.printf ("\r\t\t\tUS 2 = %04d mm", (int)DistUS2);
-                        FlagUS2 = 0;
-                    }
-
-                    if (FlagUS3==1) {
-                        Pc.printf ("\r\t\t\t\t\t\tUS 3 = %04d mm", (int)DistUS3);
-                        FlagUS3 = 0;
-                    }
-                } while(!Pc.readable());
-                MENU_choix = Pc.getc();
-                break;
-
-            case 2 :
-                Pc.printf ("\n\n\rBoussole\n");
-                Pc.printf ("\rAppuyez sur Entree pour quitter\n");
-
-                Pc.printf ("\n\rVerif du bus I2C :");
-                I2C_check = Bus_I2C.write (BOUSSOLE_adress,BOUSSOLE_status,1,false);
-                if (I2C_check==0) {
-                    Pc.printf (" OK\n");
-                    Bus_I2C.write(BOUSSOLE_adress,BOUSSOLE_status, 1, true);
-                    Bus_I2C.read (BOUSSOLE_adress,I2C_registerValue,4);
-                    Pc.printf ("\rVersion Firmware boussole : %03d\n", I2C_registerValue[0]);
-                } else {
-                    Pc.printf (" FAIL\n");
-                }
-
-                BOUSSOLE_periode = PWMB.period();
-                Pc.printf ("\rVerif de la PWM :");
-                if ((BOUSSOLE_periode > 0.11) || (BOUSSOLE_periode < 0.06)) {
-                    Pc.printf (" FAIL\n\n");
-                } else {
-                    Pc.printf (" OK\n\n");
-                    BOUSSOLE_check = 0;
-                }
-
-                do {
-                    if (FlagTickLed) {
-                        Led1 = !Led1;
-                        FlagTickLed = 0;
-                    }
-
-                    if (((Tick%150)==0) && FlagTick) {
-                        FlagTick = 0;
-                        if (BOUSSOLE_check==0) {
-                            CAP_PWM = ((PWMB.pulsewidth()*1000)-1)*10;
-                            Pc.printf ("\r PWM = %4.1lf", CAP_PWM);
-                        }
-                        if (I2C_check==0) {
-                            Bus_I2C.write(BOUSSOLE_adress,BOUSSOLE_status, 1, true);
-                            Bus_I2C.read (BOUSSOLE_adress,I2C_registerValue,4);
-                            CAP_I2C = (double)(((unsigned short)I2C_registerValue[2]<<8)+(unsigned short)I2C_registerValue[3])/10.0;
-                            Pc.printf ("\r\t\t I2C = %4.1lf", CAP_I2C);
-                        }
-                    }
-                } while(!Pc.readable());
-                MENU_choix = Pc.getc();
-                break;
-
-            case 3 :
-                Pc.printf ("\n\n\rGP2xx\n");
-                Pc.printf ("\rAppuyez sur Entree pour quitter\n");
-                do {
-                    if (FlagTickLed) {
-                        Led1 = !Led1;
-                        FlagTickLed = 0;
-
-                        SD1_val = SD1;
-                        SD2_val = SD2;
-                        LD1_val = LD1;
-                        LD2_val = LD2;
-
-                        if (SD1_val < 0.06) {
-                            SD1_val = 0;
-                            SD1_dist = 40;
-                        } else {
-                            SD1_dist = 11.611/(SD1_val*3.3-0.0237);
-                            if (SD1_dist > 40) SD1_dist = 40;
-                        }
-
-                        if (SD2_val < 0.06) {
-                            SD2_val = 0;
-                            SD2_dist = 40;
-                        } else {
-                            SD2_dist = 11.611/(SD2_val*3.3-0.0237);
-                            if (SD2_dist > 40) SD2_dist = 40;
-                        }
-
-                        if (LD1_val < 0.1) {
-                            LD1_val = 0;
-                            LD1_dist = 150;
-                        } else {
-                            LD1_dist = 59.175/(LD1_val*3.3-0.0275);
-                            if (LD1_dist > 150) LD1_dist = 150;
-                        }
-
-                        if (LD2_val < 0.1) {
-                            LD2_val = 0;
-                            LD2_dist = 150;
-                        } else {
-                            LD2_dist = 59.175/(LD2_val*3.3-0.0275);
-                            if (LD2_dist > 150) LD2_dist = 150;
-                        }
-
-                        Pc.printf ("\r SD1 = %3.1lf cm - SD2 = %3.1lf cm - LD1 = %4.1lf cm - LD2 = %4.1lf cm", SD1_dist, SD2_dist, LD1_dist, LD2_dist);
                     }
                 } while(!Pc.readable());
                 MENU_choix = Pc.getc();
                 break;
-
-            case 4 :
-                Pc.printf ("\n\n\rCNY70\n");
-                Pc.printf ("\rAppuyez sur Entree pour quitter\n");
-                do {
-                    if (FlagTickLed) {
-                        Led1 = !Led1;
-                        FlagTickLed = 0;
-
-                        CNY1_val = CNY1;
-                        CNY2_val = CNY2;
-                        CNY3_val = CNY3;
-
-                        Pc.printf ("\r CNY1 = %3.2lf V\t CNY2 = %3.2lf V\t CNY3 = %3.2lf V", CNY1_val*3.3, CNY2_val*3.3, CNY3_val*3.3);
-                    }
-                } while(!Pc.readable());
-                MENU_choix = Pc.getc();
-                break;
-
-            case 5 :
-                Pc.printf ("\n\n\rVbat\n");
+                
+             case 2 :
+                Pc.printf ("\n\n\rAutomate de Jonas\n");
                 Pc.printf ("\rAppuyez sur Entree pour quitter\n");
                 do {
-                    if (FlagTickLed) {
-                        Led1 = !Led1;
-                        FlagTickLed = 0;
 
-                        Vbat_val = Vbat;
-                        Pc.printf ("\rVbat = %5.3lf V", Vbat_val*3.3*4.3);
-                    }
-                } while(!Pc.readable());
-                MENU_choix = Pc.getc();
-                break;
-
-            case 6 :
-                Pc.printf ("\n\n\rMoteur Gauche\n");
-                Pc.printf ("\rAppuyez sur Entree pour quitter\n");
-                do {
-                    if (FlagTickLed) {
-                        Led1 = !Led1;
-                        FlagTickLed = 0;
-                    }
-                } while(!Pc.readable());
-                MENU_choix = Pc.getc();
-                break;
-
-            case 7 :
-                Pc.printf ("\n\n\rMoteur Droit\n");
-                Pc.printf ("\rAppuyez sur Entree pour quitter\n");
-                do {
-                    if (FlagTickLed) {
-                        Led1 = !Led1;
-                        FlagTickLed = 0;
-                        wait (0.1);
                     }
                 } while(!Pc.readable());
                 MENU_choix = Pc.getc();
                 break;
-
-            case 8 :
-                Pc.printf ("\n\n\rServo Moteur\n");
+                 case 3 :
+                Pc.printf ("\n\n\rTest 1\n");
                 Pc.printf ("\rAppuyez sur Entree pour quitter\n");
                 do {
-                    if (FlagTickLed) {
-                        Led1 = !Led1;
-                        FlagTickLed = 0;
-                    }
 
-                    if (((Tick%250)==0) && FlagTick) {
-                        if (SERVO_dir == S_monte) {
-                            if (SERVO_angle >= SERVO_angleMAX) {
-                                SERVO_dir = S_descente;
-                                SERVO_angle = SERVO_angleMAX;
-                            } else {
-                                SERVO_angle += 5;
-                            }
-                        } else {
-                            if (SERVO_angle <= SERVO_angleMIN) {
-                                SERVO_dir = S_monte;
-                                SERVO_angle = SERVO_angleMIN;
-                            } else {
-                                SERVO_angle -= 5;
-                            }
-                        }
-                        SERVO_pos = (lWord)(SERVO_angle*50/9) + 1000;
-                        Servo.pulsewidth_us(SERVO_pos);
-                        Pc.printf ("\rAngle = %4.1lf", SERVO_angle);
                     }
                 } while(!Pc.readable());
                 MENU_choix = Pc.getc();
                 break;
-
-            case 9 :
-                Pc.printf ("\n\n\rPixy\n");
+                
+                case 4 :
+                Pc.printf ("\n\n\rTest 2\n");
                 Pc.printf ("\rAppuyez sur Entree pour quitter\n");
-
-                if (Pixy_check == 0)    Pc.printf ("\n\rPIXY is ALIVE\n");
-                else                    Pc.printf ("\n\rPIXY don't talk\n");
-
                 do {
-                    if (FlagPixy) {
-
-                        if (FlagPixyOverflow) {
-                            Pc.printf ("\rSome Data were lost\n");
-                            FlagPixyOverflow = 0;
-                        }
-                        for (PIXY_objet = 0; PIXY_objet < Pixy_NMObjet; PIXY_objet++) {
-                            Pc.printf ("\rNMobj #%hd/%hd : sig = %hd : X=%5hd, Y=%5hd (W=%5hd, H=%5hd)\n", PIXY_objet+1, Pixy_NMObjet, Pixy_NMFIFO[PIXY_rNMObjet].NMbloc.signature, Pixy_NMFIFO[PIXY_rNMObjet].NMbloc.x, Pixy_NMFIFO[PIXY_rNMObjet].NMbloc.y, Pixy_NMFIFO[PIXY_rNMObjet].NMbloc.width, Pixy_NMFIFO[PIXY_rNMObjet].NMbloc.height);
-
-                            if (PIXY_rNMObjet<19)   PIXY_rNMObjet++;
-                            else                    PIXY_rNMObjet = 0;
-                        }
-                        Pixy_NMObjet = 0;
-
-                        for (PIXY_objet = 0; PIXY_objet < Pixy_CCObjet; PIXY_objet++) {
-                            Pc.printf ("\rCCobj #%hd/%hd : sig = %hd : X=%5hd, Y=%5hd (W=%5hd, H=%5hd)\n", PIXY_objet+1, Pixy_CCObjet, Pixy_CCFIFO[PIXY_rCCObjet].CCbloc.signature, Pixy_CCFIFO[PIXY_rCCObjet].CCbloc.x, Pixy_CCFIFO[PIXY_rCCObjet].CCbloc.y, Pixy_CCFIFO[PIXY_rCCObjet].CCbloc.width, Pixy_CCFIFO[PIXY_rCCObjet].CCbloc.height);
 
-                            if (PIXY_rCCObjet<19)   PIXY_rCCObjet++;
-                            else                    PIXY_rCCObjet = 0;
-                        }
-                        val_W_balle = 0;
-                        val_H_balle = 0;
-                        val_carre_balle = 0;
-                        max_val_W_balle = 0;
-                        indice_balle = 0;
-                        for(i=0;i<14;i++){
-                            val_W_balle=Pixy_NMFIFO[i].NMbloc.width;
-                            val_H_balle=Pixy_NMFIFO[i].NMbloc.height;
-                            
-                            val_carre_balle = val_H_balle/val_W_balle;
-                            
-                            val_x_balle =Pixy_NMFIFO[i].NMbloc.x;
-                            
-                            
-                                if(val_W_balle>max_val_W_balle){
-                                max_val_W_balle=val_W_balle;
-                                indice_balle=i;
-                                if(val_x_balle>130 && val_x_balle<170){
-                                    En = 1;
-                                    SensG=0;
-                                    SensD=1;
-                                    Pwm_MG=0.5;
-                                    Pwm_MD=0.5;
-                                    }
-                                else{
-                                    En = 0;
-                                    }
-                                
-                                }
-                        }
-Pc.printf("\rNMobj sig = %hd : X=%5hd,Y=%5hd (W=%5hd, H=%5hd)\n",Pixy_NMFIFO[indice_balle].NMbloc.signature,Pixy_NMFIFO[indice_balle].NMbloc.x,Pixy_NMFIFO[indice_balle].NMbloc.y,Pixy_NMFIFO[indice_balle].NMbloc.width,Pixy_NMFIFO[indice_balle].NMbloc.height);
-
-                        Pixy_CCObjet = 0;
-                        Pc.printf("\n\r");
-                        FlagPixy = 0;
-                        wait_ms(500);
-                    }
-
-                    if (FlagTickLed) {
-                        Led1 = !Led1;
-                        FlagTickLed = 0;
                     }
                 } while(!Pc.readable());
                 MENU_choix = Pc.getc();
                 break;
-
-        }
-    }
-}
\ No newline at end of file
+                
\ No newline at end of file