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-rw-r--r--digital/beacon/src/debug_avr.c19
1 files changed, 12 insertions, 7 deletions
diff --git a/digital/beacon/src/debug_avr.c b/digital/beacon/src/debug_avr.c
index cc2b5d58..1b0e0dfb 100644
--- a/digital/beacon/src/debug_avr.c
+++ b/digital/beacon/src/debug_avr.c
@@ -34,6 +34,7 @@
#include "network.h"
#include "motor.h"
#include "misc.h"
+#include "position.h"
HAL_UsartDescriptor_t appUsartDescriptor; // USART descriptor (required by stack)
HAL_AppTimer_t debugTimer; // TIMER descripor used by the DEBUG task
@@ -126,7 +127,7 @@ void usartRXCallback(uint16_t bytesToRead)
calibration_start_stop_task();
break;
case 'q':
- calibration_set_laser_flag(SET);
+// calibration_set_laser_flag(SET);
break;
case 'r':
reset_avr();
@@ -208,15 +209,19 @@ void debug_task(void)
uprintf("Status : 0x%x - ",network_get_status());
uprintf("LQI = %d - ",network_get_lqi());
uprintf("RSSI = %d - \r\n",network_get_rssi());
-#ifdef TYPE_END
+#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("Raw = %d - Degree = %f\r\n",codewheel_get_value(),codewheel_convert_angle_raw2degrees(codewheel_get_value()));
- uprintf("## Calibration\r\n");
- uprintf("State : %d\r\n",calibration_get_state());
- uprintf("## Calibration\r\n");
- uprintf("State : %d\r\n",motor_get_state());
+ 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
}