From 6015e0c83183d0641ea151dbd379d2d2df08bad2 Mon Sep 17 00:00:00 2001 From: Florent Duchon Date: Thu, 2 May 2013 18:41:42 +0200 Subject: digital/beacon: rework of debug task --- digital/beacon/src/debug_avr.c | 36 +++++++++++++++++++++--------------- 1 file changed, 21 insertions(+), 15 deletions(-) (limited to 'digital') 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 -- cgit v1.2.3