Exemple #1
0
int IFK_LCD_SensorChangeHandler(CPhidgetInterfaceKitHandle IFK, void *userptr, 
		int Index, int Value)
{
	char display[100];
	if(Mesure_Batterie==1 && Index==volt_sensor)
	{
		clock_gettime(CLOCK_MONOTONIC, &now);
		temps1_batterie=now.tv_sec+1.e-9*now.tv_nsec;
		CONSOM_WATTH+=VOLT*CURRENT*(temps1_batterie-temps_batterie);
		VOLT=Value*VOLT_PER_UNIT;
		printf("Voltage: %f V, Courant: %f A, Consommation: %f\n",VOLT,CURRENT,
				CONSOM_WATTH);
		temps_batterie=temps1_batterie;
		sprintf(display,"Temps: %6.2f",temps1_batterie-temps2_batterie);
		CPhidgetTextLCD_setDisplayString (txt_lcd, 1,display);
	}
	if(Mesure_Batterie==1 && Index==amp_sensor)
	{
		clock_gettime(CLOCK_MONOTONIC, &now);
		temps1_batterie=now.tv_sec+1.e-9*now.tv_nsec;
		CONSOM_WATTH+=VOLT*CURRENT*(temps1_batterie-temps_batterie);
		CURRENT=(Value/13.2)-37.8787;
		printf("Voltage: %f V, Courant: %f A, Consommation: %f\n",VOLT,CURRENT,
				CONSOM_WATTH);
		temps_batterie=temps1_batterie;
		sprintf(display,"Temps: %6.2f",temps1_batterie-temps2_batterie);
		CPhidgetTextLCD_setDisplayString (txt_lcd, 1,display);
	}
	return 0;
}
Exemple #2
0
void LCD::setText(std::string text, int line)
{
    (line==0 ? l0 : l1) = text;
    std::stringstream strText;
    strText << text;
    char* charText = strdup(strText.str().c_str());
    CPhidgetTextLCD_setDisplayString (txt_lcd, line, charText);
}
Exemple #3
0
int textlcd_simple()
{
	int result;
	const char *err;

	//Declare an TextLCD handle
	CPhidgetTextLCDHandle txt_lcd = 0;

	//create the TextLCD object
	CPhidgetTextLCD_create(&txt_lcd);

	//Set the handlers to be run when the device is plugged in or opened from software, unplugged or closed from software, or generates an error.
	CPhidget_set_OnAttach_Handler((CPhidgetHandle)txt_lcd, AttachHandler, NULL);
	CPhidget_set_OnDetach_Handler((CPhidgetHandle)txt_lcd, DetachHandler, NULL);
	CPhidget_set_OnError_Handler((CPhidgetHandle)txt_lcd, ErrorHandler, NULL);

	//open the TextLCD for device connections
	CPhidget_open((CPhidgetHandle)txt_lcd, -1);

	//get the program to wait for an TextLCD device to be attached
	printf("Waiting for TextLCD to be attached....\n");
	if((result = CPhidget_waitForAttachment((CPhidgetHandle)txt_lcd, 10000)))
	{
		CPhidget_getErrorDescription(result, &err);
		printf("Problem waiting for attachment: %s\n", err);
		return 0;
	}

	//Display the properties of the attached textlcd device
	display_properties(txt_lcd);

	//read TextLCD event data
	printf("Reading.....\n");

	//Begin simulation of capabilities

	//Step 1: Write a simple message to the first row
	printf("Writing to first row. Press any key to continue\n");
	getchar();

	CPhidgetTextLCD_setDisplayString (txt_lcd, 0, "Row 1");

	//Step 2: write a simple message to the second row
	printf("Writing to second row. Press any key to continue\n");
	getchar();

	CPhidgetTextLCD_setDisplayString (txt_lcd, 1, "Row 2");

	//Step 3: turn up, turn down, and set back to default the contrast
	printf("Adjusting contrast up. Press any key to continue\n");
	getchar();

	CPhidgetTextLCD_setContrast (txt_lcd, 255); //valid range is 0 - 255, default is 0 normal viewable seems to be around 100

	printf("Restoring default contrast. Press any key to continue\n");
	getchar();

	CPhidgetTextLCD_setContrast (txt_lcd, 110);

	//Step 4: Turn on the cursor
	printf("Turn on cursor. Press any key to continue\n");
	getchar();

	CPhidgetTextLCD_setCursorOn (txt_lcd, 1);

	//Step 5: turn on the cursor blink
	printf("Turn on cursor blink. Press any key to continue\n");
	getchar();

	CPhidgetTextLCD_setCursorOn (txt_lcd, 0);

	CPhidgetTextLCD_setCursorBlink (txt_lcd, 1);

	//End simulation
	printf("Press any key to end\n");
	getchar();

	CPhidgetTextLCD_setCursorBlink (txt_lcd, 0);
	CPhidgetTextLCD_setDisplayString (txt_lcd, 0, "");
	CPhidgetTextLCD_setDisplayString (txt_lcd, 1, "");

	//since user input has been read, this is a signal to terminate the program so we will close the phidget and delete the object we created
	printf("Closing...\n");
	CPhidget_close((CPhidgetHandle)txt_lcd);
	CPhidget_delete((CPhidgetHandle)txt_lcd);

	//all done, exit
	return 0;
}
Exemple #4
0
int test_interfacekit()
{
	int i,j,kit,k1,k2,macX,macY,macZ,ierr,result;
	int speed_percent[2],light_value,GREEN,RED,YELLOW;
	double accX,accY,accZ,acc_calX,acc_calY,acc_calZ;
	double tiltX,tiltY,tilt_calX,tilt_calY;
	double amean[3];
	const char *err_str;

	//creation du handler pour le kit interface 1 puis 
	//ouverture du kit interface
	printf("Attaching Interface kit 1\n");
	if(Create_KIT1()!=1)goto exit;
	printf("Interface kit is attached\n");

	printf("Do you want to attach other kit ?\n");
	printf("Kit 2              1\n");
	printf("Kit 3              2\n");
	printf("Kit LCD            3\n");
	printf("All kits          10\n");
	scanf("%d",&kit);
	if(kit==1 ||kit==10)
	{
		printf("Attaching Interface kit 2\n");
		if(Create_KIT2()!=1)goto exit;
		printf("Interface kit 2 is attached\n");
	}
	if(kit==2 ||kit==10)
	{
		printf("Attaching Interface kit 3\n");
		if(Create_KIT3()!=1)goto exit;
		printf("Interface kit 3 is attached\n");

		CPhidgetInterfaceKit_setOutputState(IFK3,sensor_rear_left, 1);
		CPhidgetInterfaceKit_setOutputState(IFK3,sensor_rear_right, 1);
		CPhidgetInterfaceKit_setOutputState(IFK3,sensor_front_left, 1);
		CPhidgetInterfaceKit_setOutputState(IFK3,sensor_front_right, 1);
		CPhidgetInterfaceKit_setOutputState(IFK3,sensor_side_2, 1);
		CPhidgetInterfaceKit_setOutputState(IFK3,sensor_side_4, 1);
		CPhidgetInterfaceKit_setOutputState(IFK3,sensor_side_8, 1);
		CPhidgetInterfaceKit_setOutputState(IFK3,sensor_side_10, 1);
		CPhidgetInterfaceKit_setSensorChangeTrigger(
				(CPhidgetInterfaceKitHandle)IFK3,
				sensor_rear_left, 1);
		CPhidgetInterfaceKit_setSensorChangeTrigger(
				(CPhidgetInterfaceKitHandle)IFK3,
				sensor_rear_right, 1);
		CPhidgetInterfaceKit_setSensorChangeTrigger(
				(CPhidgetInterfaceKitHandle)IFK3,
				sensor_front_left, 0);
		CPhidgetInterfaceKit_setSensorChangeTrigger(
				(CPhidgetInterfaceKitHandle)IFK3,
				sensor_front_right, 0);
		CPhidgetInterfaceKit_setSensorChangeTrigger(
				(CPhidgetInterfaceKitHandle)IFK3,
				sensor_side_2, 0);
		CPhidgetInterfaceKit_setSensorChangeTrigger(
				(CPhidgetInterfaceKitHandle)IFK3,
				sensor_side_4, 0);
		CPhidgetInterfaceKit_setSensorChangeTrigger(
				(CPhidgetInterfaceKitHandle)IFK3,
				sensor_side_8, 0);
		CPhidgetInterfaceKit_setSensorChangeTrigger(
				(CPhidgetInterfaceKitHandle)IFK3,
				sensor_side_10, 0);
	}
	if(kit==3|| kit==10)
	{
		printf("Attaching Text LCD \n");
		if(Create_Text_LCD()!=1)goto exit;
		printf("Text LCD attached\n");
		printf("Attaching LCD kit\n");
		if(Create_KITLCD()!=1)goto exit;
		printf("LCD kit attached\n");
	}
	//creation du handler pour la carte de controle des embrayages
	if(embrayage_number!=-1)
	{
		CPhidgetMotorControl_create(&EmbrayageControl);
		CPhidget_open((CPhidgetHandle)EmbrayageControl,embrayage_number);
	}
	if(encoder1_number!=-1)
	{
		CPhidgetEncoder_create(&ENCODER1);
		CPhidgetEncoder_set_OnPositionChange_Handler (ENCODER1,
				ENCODER1_PositionChangeHandler
				, NULL);
		CPhidget_open((CPhidgetHandle)ENCODER1,encoder1_number);
	}
	if(encoder2_number!=-1)
	{
		CPhidgetEncoder_create(&ENCODER2);
		CPhidgetEncoder_set_OnPositionChange_Handler (ENCODER2,
				ENCODER2_PositionChangeHandler
				, NULL);
		CPhidget_open((CPhidgetHandle)ENCODER2,encoder2_number);
	}
	if(motorcontrol_number!=-1)
	{
		CPhidgetMotorControl_create(&motorControl);
		CPhidget_open((CPhidgetHandle)motorControl,motorcontrol_number);
	}
	if(ir_receiver1!=-1)
	{
		CPhidgetIR_create(&ir1);
		CPhidget_set_OnAttach_Handler((CPhidgetHandle)ir1, AttachHandlerIR,NULL);
		CPhidget_set_OnDetach_Handler((CPhidgetHandle)ir1, DetachHandlerIR,NULL);
		CPhidget_set_OnError_Handler((CPhidgetHandle)ir1, ErrorHandlerIR,NULL);
		CPhidgetIR_set_OnCode_Handler(ir1, CodeHandler, NULL);
		CPhidget_open((CPhidgetHandle)ir1, ir_receiver1);
		printf("Waiting for PhidgetIR to be attached.... \n");
		if((result = CPhidget_waitForAttachment((CPhidgetHandle)ir1, 10000)))
		{
			CPhidget_getErrorDescription(result, &err_str);
			printf("Problem waiting for attachment IR1: %s\n", err_str);
			return 0;
		}
	}
	if(ir_receiver2!=-1)
	{
		CPhidgetIR_create(&ir2);
		CPhidget_set_OnAttach_Handler((CPhidgetHandle)ir2, AttachHandlerIR,NULL);
		CPhidget_set_OnDetach_Handler((CPhidgetHandle)ir2, DetachHandlerIR,NULL);
		CPhidget_set_OnError_Handler((CPhidgetHandle)ir2, ErrorHandlerIR,NULL);
		CPhidgetIR_set_OnCode_Handler(ir2, CodeHandler, NULL);
		CPhidget_open((CPhidgetHandle)ir2, ir_receiver2);
		printf("Waiting for PhidgetIR to be attached.... \n");
		if((result = CPhidget_waitForAttachment((CPhidgetHandle)ir2, 10000)))
		{
			CPhidget_getErrorDescription(result, &err_str);
			printf("Problem waiting for attachment IR2: %s\n", err_str);
			return 0;
		}
	}
	if(ir_receiver3!=-1)
	{
		CPhidgetIR_create(&ir3);
		CPhidget_set_OnAttach_Handler((CPhidgetHandle)ir3, AttachHandlerIR,NULL);
		CPhidget_set_OnDetach_Handler((CPhidgetHandle)ir3, DetachHandlerIR,NULL);
		CPhidget_set_OnError_Handler((CPhidgetHandle)ir3, ErrorHandlerIR,NULL);
		CPhidgetIR_set_OnCode_Handler(ir3, CodeHandler, NULL);
		CPhidget_open((CPhidgetHandle)ir3, ir_receiver3);
		printf("Waiting for PhidgetIR to be attached.... \n");
		if((result = CPhidget_waitForAttachment((CPhidgetHandle)ir3, 10000)))
		{
			CPhidget_getErrorDescription(result, &err_str);
			printf("Problem waiting for attachment IR3: %s\n", err_str);
			return 0;
		}
	}

	while(1)
	{
		printf("exit:                    0\n");
		printf("Embrayage:               1\n");
		printf("Buzzer,stop,inhibit      2\n");
		printf("Encoder:                 3\n");
		printf("Moteur:                  4\n");
		printf("Capteur distance:        5\n");
		printf("Capteur de contact:      6\n");
		printf("Capteur de lumiere:      7\n");
		printf("Capteur de force poignet:8\n");
		printf("Radiocommande:           9\n");
		printf("Colonne lumineuse:       10\n");
		printf("Joystick:                11\n");
		printf("etat batterie,LCD        12\n");
		printf("accelerometre            13\n");
		printf("recepteur IR             14\n");

		scanf("%d",&i);
		if(i==0)goto exit;
		//embrayage
		if(i==1)
		{
			j=-1;
			while(j!=0)
			{
				printf("clutch motor 1:        1\n");
				printf("clutch motor 2:        2\n");
				printf("unclutch motor 1:      3\n");
				printf("unclutch motor 2:      4\n");
				printf("clutch motor 1 and 2:  5\n");
				printf("unclutch motor 1 and 2:6\n");
				printf("exit                  :0\n");
				scanf("%d",&j);
				if(j==0)continue;
				if(j==1)
				{
					printf("%% de clutch entre 0 et 100 \n");
					scanf("%d",&k1);
					CPhidgetMotorControl_setVelocity (EmbrayageControl, 0,k1);
				}
				if(j==3)
				{
					CPhidgetMotorControl_setVelocity (EmbrayageControl, 0,0);
				}
				if(j==2)
				{
					printf("%% de clutch entre 0 et 100 \n");
					scanf("%d",&k1);
					CPhidgetMotorControl_setVelocity (EmbrayageControl,1,k1);
				}
				if(j==4)
				{
					CPhidgetMotorControl_setVelocity (EmbrayageControl, 1,0);
				}
				if(j==5)
				{
					printf("%% de clutch entre 0 et 100 pour embrayage 1 et 2\n");
					scanf("%d",&k1);
					scanf("%d",&k2);
					CPhidgetMotorControl_setVelocity (EmbrayageControl,0,k1);
					CPhidgetMotorControl_setVelocity (EmbrayageControl,0,k2);
				}
				if(j==6)
				{
					Embraye_Debraye(0);
				}
			}
		}
		//buzzer, stop, inhibit
		if(i==2)
		{
			j=-1;
			while(j!=0)
			{
				printf("exit                  :0\n");
				printf("run buzzer:           1\n");
				printf("stop buzzer:          2\n");
				printf("etat bouton stop:     3\n");
				printf("etat bouton inhibit:  4\n");
				scanf("%d",&j);
				if(j==0){Mesure_Stop=-1;continue;}
				if(j==1)
					CPhidgetInterfaceKit_setOutputState(IFK,buzzer_number, 1);
				if(j==2)
					CPhidgetInterfaceKit_setOutputState(IFK,buzzer_number, 0);
				if(j==3)
				{
					CPhidgetInterfaceKit_getInputState(IFK,inhibit2_number,&k1);
					printf("Bouton stop: %d\n",k1);
					Mesure_Stop=1;
				}
				if(j==4)
				{
					CPhidgetInterfaceKit_getInputState(IFK,inhibit1_number,&k1);
					printf("Bouton inhibit: %d\n",k1);
					Mesure_Stop=1;
				}
			}
		}
		//codeur
		if(i==3)
		{
			j=-1;
			while(j!=0)
			{
				printf("exit                 0\n");
				printf("get encoder 1:       1\n");
				printf("get encoder 2:       2\n");
				printf("get encoder 1,2:     3\n");
				scanf("%d",&j);
				if(j==0)continue;
				if(j==1)
				{
					wheelPos[0]=8*atan2(1.,1.)*10*encoderPos[0]/
						(encoder1_reduction*encoder1_pulse_perturn);
					printf("position encoder 1: %d roue:%f\n",encoderPos[0],
							wheelPos[0]);
				}
				if(j==2)
				{
					wheelPos[1]=8*atan2(1.,1.)*10*encoderPos[1]/
						(encoder2_reduction*encoder2_pulse_perturn);
					printf("position encoder 2: %d roue:%f\n",encoderPos[1],
							wheelPos[1]);
				}
				if(j==3)
				{
					wheelPos[0]=8*atan2(1.,1.)*10*encoderPos[0]/
						(encoder1_reduction*encoder1_pulse_perturn);
					wheelPos[1]=8*atan2(1.,1.)*10*encoderPos[1]/
						(encoder2_reduction*encoder2_pulse_perturn);
					printf("position encoder 1: %d roue:%f\n",encoderPos[0],
							wheelPos[0]);
					printf("position encoder 2: %d roue:%f\n",encoderPos[1],
							wheelPos[1]);
				}
			}
		}
		//moteur
		if(i==4)
		{
			j=-1;
			while(j!=0)
			{
				printf("exit                0\n");
				printf("control motor 1:    1\n");
				printf("control motor 2:    2\n");
				printf("control motor 1,2:  3\n");
				scanf("%d",&j);
				if(j==0)continue;
				if(j==1)
				{
					CPhidgetMotorControl_setAcceleration (motorControl, 0, 50.00);
					speed_percent[0]=-1;
					while(speed_percent[0]<0 || speed_percent[0]>100)
					{
						printf("vitesse en %%, entier ?\n");
						scanf("%d",&speed_percent[0]);
						if(speed_percent[0]<0 || speed_percent[0]>100)
						{
							printf("incorrect speed\n");
							continue;
						}
					}
					CPhidgetMotorControl_setVelocity (motorControl, 0,
							speed_percent[0]);
				}
				if(j==2)
				{
					CPhidgetMotorControl_setAcceleration (motorControl, 1, 50.00);
					speed_percent[1]=-1;
					while(speed_percent[1]<0 || speed_percent[1]>100)
					{
						printf("vitesse en %%, entier ?\n");
						scanf("%d",&speed_percent[1]);
						if(speed_percent[1]<0 || speed_percent[1]>100)
						{
							printf("incorrect speed\n");
							continue;
						}
					}
					CPhidgetMotorControl_setVelocity (motorControl, 1,
							speed_percent[1]);
				}
				if(j==3)
				{
					CPhidgetMotorControl_setAcceleration (motorControl, 0, 50.00);
					CPhidgetMotorControl_setAcceleration (motorControl, 1, 50.00);
					speed_percent[0]=-1;
					while(speed_percent[0]<0 || speed_percent[0]>100)
					{
						printf("vitesse 1 en %%, entier ?\n");
						scanf("%d",&speed_percent[0]);
						if(speed_percent[0]<0 || speed_percent[0]>100)
						{
							printf("incorrect speed\n");
							continue;
						}
					}
					speed_percent[1]=-1;
					while(speed_percent[1]<0 || speed_percent[1]>100)
					{
						printf("vitesse 2 en %%, entier ?\n");
						scanf("%d",&speed_percent[1]);
						if(speed_percent[1]<0 || speed_percent[1]>100)
						{
							printf("incorrect speed\n");
							continue;
						}
					}
					CPhidgetMotorControl_setVelocity (motorControl, 0,
							speed_percent[0]);
					CPhidgetMotorControl_setVelocity (motorControl, 1,
							speed_percent[1]);
				}
			}
		}
		//capteur de distance
		if(i==5)
		{

			j=-1;
			while(j!=0)
			{
remesure:
				for(k1=0;k1<10;k1++)
				{
					amin[k1]=10000.;
					amax[k1]=-10000.;
				}
				for(k1=0;k1<2;k1++)
				{
					amin_IR[k1]=10000.;
					amax_IR[k1]=-10000.;
				}
				printf("exit                       0\n");
				printf("IR                         1\n");
				printf("US                         2\n");
				printf("Tous                       3\n");
				printf("duree mesure (defaut:%d s) 4\n",Time_Mesure);
				printf("IR rear left              10\n");
				printf("IR rear right             11\n");
				printf("US front right             12\n");
				printf("US front left             13\n");
				printf("US side right front       14\n");
				printf("US side right rear        15\n");
				printf("US side left rear         16\n");
				printf("US side left front        17\n");
				printf("IR up left            20\n");
				printf("IR up left            21\n");
				scanf("%d",&j);
				if(j==0){Mesure_Capteur=-1;continue;}
				if(j==1){Mesure_Capteur=0;sleep(Time_Mesure);Mesure_Capteur=-1;}
				if(j==2){Mesure_Capteur=1;sleep(Time_Mesure);Mesure_Capteur=-1;}
				if(j==3){Mesure_Capteur=2;sleep(Time_Mesure);Mesure_Capteur=-1;}
				if(j>=10){Mesure_Capteur=j;sleep(Time_Mesure);Mesure_Capteur=-1;}
				if(j==4)
				{
					printf("duree entiere de mesure?\n");
					scanf("%d",&Time_Mesure);
					goto remesure;
				}
			}
		}
		//capteur de contact
		if(i==6)
		{
			j=-1;
			Kontact1_old=Kontact2_old=-1;
			CPhidgetInterfaceKit_getInputState(IFK,contact_front_left,&Kontact1);
			CPhidgetInterfaceKit_getInputState(IFK,contact_front_right,&Kontact2);
			if(Kontact1!=Kontact1_old||Kontact2!=Kontact2_old)
			{
				if(Kontact1==0 && contact_front_left_type==1)
					printf("contact front, left: NO CONTACT\n");
				if(Kontact1==1 && contact_front_left_type==1)
					printf("contact front, left: CONTACT\n");
				if(Kontact1==0 && contact_front_left_type==0)
					printf("contact front, left: CONTACT\n");
				if(Kontact1==1 && contact_front_left_type==0)
					printf("contact front, left: NO CONTACT\n");

				if(Kontact2==0 && contact_front_right_type==1)
					printf("contact front, right: NO CONTACT\n");
				if(Kontact2==1 && contact_front_right_type==1)
					printf("contact front, right: CONTACT\n");
				if(Kontact2==0 && contact_front_right_type==0)
					printf("contact front, right: CONTACT\n");
				if(Kontact2==1 && contact_front_right_type==0)
					printf("contact front, right: NO CONTACT\n");
				Kontact1_old=Kontact1;
				Kontact2_old=Kontact2;
			}
			printf("exit                       0\n");
			while(j!=0)
			{
				scanf("%d",&j);
			}
		}
		//lumiere
		if(i==7)
		{
			j=-1;


			while(j!=0)
			{
remesure_light:
				printf("exit                       0\n");
				printf("mesure                     1\n");
				printf("duree mesure (defaut:%d s) 2\n",Time_Mesure);
				scanf("%d",&j);
				if(j==0){Mesure_Light=-1;continue;}
				if(j==1)
				{
					CPhidgetInterfaceKit_getSensorValue(IFK,light_port,
							&light_value);
					printf("light: %d\n",light_value);
					Mesure_Light=1;
					sleep(Time_Mesure);
					Mesure_Light=-1;
				}
				if(j==2)
				{
					printf("duree entiere de mesure?\n");
					scanf("%d",&Time_Mesure);
					goto remesure_light;
				}
			}
		}
		//force
		if(i==8)
		{
			j=-1;
			while(j!=0)
			{
remesure_force:
				printf("exit                       0\n");
				printf("mesure                     1\n");
				printf("duree mesure (defaut:%d s) 2\n",Time_Mesure);
				scanf("%d",&j);
				if(j==0){Mesure_Force=-1;continue;}
				if(j==1)
				{
					CPhidgetInterfaceKit_getSensorValue(IFK,forceL,
							&light_value);
					printf("force left: %f",light_value*5/1000.);
					CPhidgetInterfaceKit_getSensorValue(IFK,forceR,
							&light_value);
					printf("force right: %f\n",light_value*5/1000.);
					Mesure_Force=1;
					sleep(Time_Mesure);
					Mesure_Force=-1;
				}
				if(j==2)
				{
					printf("duree entiere de mesure?\n");
					scanf("%d",&Time_Mesure);
					goto remesure_force;
				}
			}
		}
		//radiocommande
		if(i==9)
		{
			printf("Allumez l'emetteur puis le recepteur\n");
			printf("Marche avant,arriere,gauche,droit par manette gauche\n");
			printf("Ramasse cle par manette droite\n");
			printf("tapez 1 quand pret\n");
			scanf("%d",&j);
			for(k1=1;k1<4;k1++)
			{
				FORWARD_RC[k1]=forward_rc[k1];
				TURN_RC[k1]=turn_rc[k1];
			}
			while(j!=0)
			{
remesure_radio:
				printf("exit                       0\n");
				printf("test commande              1\n");
				printf("duree test (defaut:%d s) 2\n",Time_Mesure_Radio);
				scanf("%d",&j);
				if(j==0){Mesure_Radio=-1;continue;}
				if(j==1)
				{
					Mesure_Radio=1;
					sleep(Time_Mesure);
					Mesure_Radio=-1;
				}
				if(j==2)
				{
					printf("duree entiere de mesure?\n");
					scanf("%d",&Time_Mesure);
					goto remesure_radio;
				}
			}
		}
		//colone lumineuse
		if(i==10)
		{
			j=-1;
			//	  CPhidgetInterfaceKit_getOutputState(IFK2,port_24V_number,&k1);
			//	  printf("output %d:%d\n",port_24V_number,k1);
			//mise en route du 24V
			Init_Colonne_24V();

			GREEN=colonne_lumineuse[2];
			YELLOW=colonne_lumineuse[3];
			RED=colonne_lumineuse[4];
			/*
				 CPhidgetInterfaceKit_getOutputState(IFK2,port_24V_number,&k1);
				 printf("output %d:%d\n",port_24V_number,k1);
				 while(k1==0)
				 {
				 CPhidgetInterfaceKit_setOutputState(IFK2,port_24V_number,0);
				 sleep(1);
				 CPhidgetInterfaceKit_setOutputState(IFK2,port_24V_number,1);
				 sleep(1);
				 CPhidgetInterfaceKit_getOutputState(IFK2,port_24V_number,&k1);
				 printf("output %d:%d\n",port_24V_number,k1);
				 }
				 */
			while(j!=0)
			{
				printf("exit                       0\n");
				printf("allumage vert         : 1\n");
				printf("extinction vert       : 2\n");
				printf("allumage jaune        : 3\n");
				printf("extinction jaune      : 4\n");
				printf("allumage rouge        : 5\n");
				printf("extinction rouge      : 6\n");
				scanf("%d",&j);
				if(j==0)
				{
					CPhidgetInterfaceKit_setOutputState(IFK2,GREEN,0);
					CPhidgetInterfaceKit_setOutputState(IFK2,RED,0);
					CPhidgetInterfaceKit_setOutputState(IFK2,YELLOW,0);
					Stop_Colonne_24V();
					continue;
				}
				if(j==1)CPhidgetInterfaceKit_setOutputState(IFK2,GREEN,1);
				if(j==2)CPhidgetInterfaceKit_setOutputState(IFK2,GREEN,0);
				if(j==3)CPhidgetInterfaceKit_setOutputState(IFK2,YELLOW,1);
				if(j==4)CPhidgetInterfaceKit_setOutputState(IFK2,YELLOW,0);
				if(j==5)CPhidgetInterfaceKit_setOutputState(IFK2,RED,1);
				if(j==6)CPhidgetInterfaceKit_setOutputState(IFK2,RED,0);
			}
		}
		//joystick
		if(i==11)
		{
			j=-1;
			for(k1=0;k1<3;k1++)
			{
				mid_joystick[k1]=(value_joystick[k1][0]+value_joystick[k1][1])/2.;
				width_joystick[k1]=value_joystick[k1][1]-value_joystick[k1][0];
			}
			while(j!=0)
			{
				printf("exit                       0\n");
				printf("mesure joystick            1\n");
				scanf("%d",&j);
				if(j==0){Mesure_Joystick=-1;continue;}
				if(j==1){Mesure_Joystick=1;}
			}
		}
		//batterie
		if(i==12)
		{
			j=-1;
			while(j!=0)
			{
				CPhidgetTextLCD_setContrast (txt_lcd, 110);
				CPhidgetTextLCD_setDisplayString (txt_lcd, 0, "Welcome to ANG");
				printf("Le LCD doit afficher le message 'Welcome to ANG'\n");
				printf("exit                       0\n");
				printf("mesure batterie            1\n");
				scanf("%d",&j);
				if(j==0){Mesure_Batterie=-1;continue;}
				if(j==1)
				{
					CPhidgetInterfaceKit_getSensorValue(IFK_LCD,volt_sensor,
							&light_value);
					VOLT=light_value*VOLT_PER_UNIT;
					CPhidgetInterfaceKit_getSensorValue(IFK_LCD,amp_sensor,
							&light_value);
					CURRENT=(light_value/13.2)-37.8787;
					CONSOM_WATT=VOLT*CURRENT;
					printf("Voltage: %f Current: %f %f Watt\n",VOLT,CURRENT,
							CONSOM_WATT);
					clock_gettime(CLOCK_MONOTONIC, &now);
					temps_batterie=temps1_batterie=now.tv_sec+1.e-9*now.tv_nsec;
					temps2_batterie=temps_batterie;
					Mesure_Batterie=1;
				}
			}
		}
		//accelerometre
		if(i==13)
		{

			j=-1;
			while(j!=0)
			{
remesure_acc:
				for(k1=0;k1<3;k1++)
				{
					amin_acc[k1]=10000.;
					amax_acc[k1]=-10000.;
				}
				printf("exit                       0\n");
				printf("mesure individuelle        1\n");
				printf("calibration                2\n");
				printf("duree mesure (defaut:%d s) 3\n",Time_Mesure);
				scanf("%d",&j);
				if(j==0){Mesure_Accelero=-1;continue;}
				if(j==2)
				{
					printf("laissez le deambulateur au repose pour 10s\n");
					amean[0]=amean[1]=amean[2]=0;
					for(k1=0;k1<10;k1++)
					{
						CPhidgetInterfaceKit_getSensorValue(IFK,accelero_X,
								&light_value);
						amean[0]+=light_value/10.;
						CPhidgetInterfaceKit_getSensorValue(IFK,accelero_Y,
								&light_value);
						amean[1]+=light_value/10.;
						CPhidgetInterfaceKit_getSensorValue(IFK,accelero_Z,
								&light_value);
						amean[2]+=light_value/10.;
						sleep(1);
					}
					printf("Mesure moyenne %f %f %f\n",amean[0],amean[1],amean[2]);
					goto remesure_acc;
				}
				if(j==1)
				{
					CPhidgetInterfaceKit_getSensorValue(IFK,accelero_X,
							&macX);
					CPhidgetInterfaceKit_getSensorValue(IFK,accelero_Y,
							&macY);
					CPhidgetInterfaceKit_getSensorValue(IFK,accelero_Z,
							&macZ);
					Get_Acceleration(&accX,&accY,&accZ,&tiltX,&tiltY,
							&acc_calX,&acc_calY,&acc_calZ,&tilt_calX,
							&tilt_calY,macX,macY,macZ);
					printf("Acceleration non calibree: %f %f %f\n",accX,accY,accZ);
					printf("Tilt x: %f  y: %f\n",tiltX,tiltY);
					if(has_accelero_calibration==1)
					{
						printf("Acceleration calibree: %f %f %f\n",acc_calX,
								acc_calY,acc_calZ);
						printf("Tilt calibre x: %f  y: %f\n",tilt_calX,tilt_calY);
					}
					Mesure_Accelero=1;sleep(Time_Mesure);Mesure_Accelero=-1;
				}
				if(j==3)
				{
					printf("duree entiere de mesure?\n");
					scanf("%d",&Time_Mesure);
					goto remesure_acc;
				}
			}
		}
		//recepteur IR
		if(i==14)
		{
			if(nb_touche==0)
			{
				printf("donnez le nom du fichier touche\n");
				scanf("%s",file_touche);
				j=Read_IR_File(file_touche,CODE_IR,&nb_touche);
				if(j==-1)
				{
					printf("Pas de fichier touche\n");
					continue;
				}
				if(j==-2)
				{
					printf("Erreur lecture fichier touche\n");
					continue;
				}
			}
			j=-1;
			while(j!=0)
			{
				printf("exit                       0\n");
				printf("nouveau fichier touche     1\n");
				printf("attente action             2\n");
				scanf("%d",&j);
				if(j==0){Mesure_IRR=-1;continue;}
				if(j==1)
				{
					printf("donnez le nom du fichier touche\n");
					scanf("%s",file_touche);
					ierr=Read_IR_File(file_touche,CODE_IR,&nb_touche);
					if(ierr==-1)
					{
						printf("Pas de fichier touche\n");
						continue;
					}
					if(ierr==-2)
					{
						printf("Erreur lecture fichier touche\n");
						continue;
					}
				}
				if(j==2)
				{
					Mesure_IRR=1;
				}
			}
		}
	}

exit:
	CPhidget_close((CPhidgetHandle)IFK);
	CPhidget_delete((CPhidgetHandle)IFK);

	return 0;
}