From 0ef2f592a4264293db5384202ac5d76c15aa7f68 Mon Sep 17 00:00:00 2001 From: cohensol Date: Wed, 9 May 2007 18:41:12 +0000 Subject: Modification de l'es ajout des commandes des capteurs --- n/es-2007/src/Makefile | 2 +- n/es-2007/src/main.c | 21 +++++++++++---------- 2 files changed, 12 insertions(+), 11 deletions(-) diff --git a/n/es-2007/src/Makefile b/n/es-2007/src/Makefile index a819f51..74256f5 100644 --- a/n/es-2007/src/Makefile +++ b/n/es-2007/src/Makefile @@ -1,7 +1,7 @@ BASE = ../../avr AVR_PROGS = es es_SOURCES = main.c sensor_rvb.c sniff_rvb.c timer_1.c ascenseur.c \ - servo_motor.c sharp.c lcd.c ack.c + servo_motor.c sharp.c lcd.c ack.c capteurs.c MODULES = proto uart utils adc twi CONFIGFILE = avrconfig.h # atmega8, atmega8535, atmega128... diff --git a/n/es-2007/src/main.c b/n/es-2007/src/main.c index 44d4ca6..26bfde9 100644 --- a/n/es-2007/src/main.c +++ b/n/es-2007/src/main.c @@ -41,6 +41,7 @@ #include "lcd.h" /* Communication with the LCD card */ #include "ack.h" /* Ack module */ #include "ascenseur.h" +#include "capteurs.h" /*Captors sensors */ /* Statistics for RVB sensors */ uint8_t sensor_rvb_stat_enable[RVB_MAX_SENSOR], sensor_rvb_stats[RVB_MAX_SENSOR]; @@ -140,20 +141,20 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args) sniff_rvb_set_ref_color (compt, args[2]); break; /* Print stats of the colour seen by the sensor */ - case c ('A', 3): - temp_16b = v8_to_v16 (args[0], args[1]); - for (compt = 0; compt < RVB_MAX_SENSOR; compt++) - if (temp_16b & _BV(compt)) - sniff_rvb_stat_enable[compt] = sniff_rvb_stats[compt] = - args[2]; + case c ('A', 1): + if(isRightHSActive()) args[0] = 1; + else args[0] = 0; break; + /* Print stats for ball */ - case c ('B', 1): - sniff_ball_stats = sniff_ball_stat_enable = args[0]; + case c ('B',1 ): + if(isLeftHSActive()) args[0] = 1; + else args[0] = 0; break; /* Print stats for front RVB Sniff */ case c ('C', 1): - sniff_rvb_front_enable = sniff_rvb_front_stats = args[0]; + if(isBackSideActive()) args[0] = 1; + else args[0] = 0; break; /* RVB Hole sensor */ case c ('D', 1): @@ -210,7 +211,7 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args) case c ('a', 3): ascenseur_bouge (args[0], args[1], args[2]); break; - + /* Unknown commands */ default: proto_send0 ('?'); -- cgit v1.2.3