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authorFlorent Duchon2013-05-02 18:41:42 +0200
committerFlorent Duchon2013-05-02 22:52:50 +0200
commit6015e0c83183d0641ea151dbd379d2d2df08bad2 (patch)
tree1856c6a391fe1b844add6af124383b568407c1c4 /digital/beacon
parentd2a008921c898358807c82894f575bf68a953779 (diff)
digital/beacon: rework of debug task
Diffstat (limited to 'digital/beacon')
-rw-r--r--digital/beacon/src/debug_avr.c36
1 files changed, 21 insertions, 15 deletions
diff --git a/digital/beacon/src/debug_avr.c b/digital/beacon/src/debug_avr.c
index a4805157..7e34de1d 100644
--- a/digital/beacon/src/debug_avr.c
+++ b/digital/beacon/src/debug_avr.c
@@ -193,19 +193,25 @@ void debug_task(void)
uprintf("------------------------- debug TASK -------------------------\r\n");
uprintf("## Network\r\n");
uprintf("Status : 0x%x - ",network_get_state());
-#ifdef TYPE_COOR
- uprintf("X = %d --- ",position_get_coord(OPPONENT_1,X));
- uprintf("Y = %d --- ",position_get_coord(OPPONENT_1,Y));
- uprintf("Trust = %d\r\n",position_get_trust(OPPONENT_1));
-#else
- uprintf("## Calibration\r\n");
- uprintf("State : %d\r\n",calibration_get_state());
- uprintf("## Servo\r\n");
- uprintf("State : [1]=%d [2]=%d - ",servo_get_state(SERVO_1),servo_get_state(SERVO_2));
- uprintf("Value : [1]=%d [2]=%d\r\n",servo_get_value(SERVO_1),servo_get_value(SERVO_2));
- uprintf("## Codewheel\r\n");
- uprintf("State = %d - Raw = %d - Degree = %f\r\n",codewheel_get_state(),codewheel_get_value(),codewheel_convert_angle_raw2degrees(codewheel_get_value()));
- uprintf("## Motor\r\n");
- uprintf("State : %d ---- speed = %d\r\n",motor_get_state(),OCR0A);
-#endif
+ if(get_uid() == 0)
+ {
+ uprintf("Beacon[1] = %f --- ",position_get_beacon_angle(POV_BEACON_1));
+ uprintf("Beacon[2] = %f --- ",position_get_beacon_angle(POV_BEACON_2));
+ uprintf("Beacon[3] = %f --- ",position_get_beacon_angle(POV_BEACON_3));
+ uprintf("X = %d --- ",position_get_coord(OPPONENT_1,X));
+ uprintf("Y = %d --- ",position_get_coord(OPPONENT_1,Y));
+ uprintf("Trust = %d\r\n",position_get_trust(OPPONENT_1));
+ }
+ else
+ {
+ uprintf("## Calibration\r\n");
+ uprintf("State : %d\r\n",calibration_get_state());
+ uprintf("## Servo\r\n");
+ uprintf("State : [1]=%d [2]=%d - ",servo_get_state(SERVO_1),servo_get_state(SERVO_2));
+ uprintf("Value : [1]=%d [2]=%d\r\n",servo_get_value(SERVO_1),servo_get_value(SERVO_2));
+ uprintf("## Codewheel\r\n");
+ uprintf("State = %d - Raw = %d - Degree = %f\r\n",codewheel_get_state(),codewheel_get_value(),codewheel_convert_angle_raw2degrees(codewheel_get_value()));
+ uprintf("## Motor\r\n");
+ uprintf("State : %d ---- speed = %d\r\n",motor_get_state(),OCR0A);
+ }
} \ No newline at end of file