int Create_KIT2()
/*-----------------
creation du handler pour le kit interface 2
------------------*/
{
int err1;
const char *errStr;
CPhidgetInterfaceKit_create(&IFK2);
CPhidgetInterfaceKit_set_OnSensorChange_Handler(IFK2,
IFK2_SensorChangeHandler,
NULL);
CPhidget_open((CPhidgetHandle)IFK2,kit_number2);
//wait 5 seconds for attachment
if((err1 = CPhidget_waitForAttachment((CPhidgetHandle)IFK2, 5000))
!= EPHIDGET_OK)
{
CPhidget_getErrorDescription(err1, &errStr);
printf("Error waiting for attachment IFK2: (%d): %s\n",err1,errStr);
return 0;
}
CPhidgetInterfaceKit_setSensorChangeTrigger(
(CPhidgetInterfaceKitHandle)IFK2,
IR_sensor_rear_left, 0);
CPhidgetInterfaceKit_setSensorChangeTrigger(
(CPhidgetInterfaceKitHandle)IFK2,
IR_sensor_rear_right, 0);
return 1;
}
int IFK_AttachHandler(CPhidgetHandle IFK, void *userptr)
{
CPhidgetInterfaceKit_setSensorChangeTrigger((CPhidgetInterfaceKitHandle)IFK,
0, 0);
CPhidgetInterfaceKit_setSensorChangeTrigger((CPhidgetInterfaceKitHandle)IFK,
accelero_Y,3);
printf("Attach handler ran!\n");
return 0;
}
VALUE interfacekit_change_trigger_set(VALUE self, VALUE index, VALUE rate_thresh) {
PhidgetInfo *info = device_info(self);
InterfaceKitInfo *ifkit_info = info->type_info;
// If ratiometric state is not uniform, raise an exception
if (!interfacekit_ratiometric_state_is_uniform(ifkit_info))
interfacekit_raise_ratiometric_not_uniform();
if (TYPE(index) != T_FIXNUM)
rb_raise(rb_eTypeError, MSG_SENSOR_INDEX_MUST_BE_FIXNUM);
if (TYPE(rate_thresh) != T_FIXNUM)
rb_raise(rb_eTypeError, MSG_CHANGE_TRIG_VALUE_MUST_BE_FIXNUM);
int index_int = FIX2INT(index);
if ((ifkit_info->analog_input_count == 0) || (index_int > (ifkit_info->analog_input_count-1)))
rb_raise(rb_eTypeError, MSG_SENSOR_INDEX_TOO_HIGH);
int rate_thresh_int = FIX2INT(rate_thresh);
// These limits are specified in the phidget documentation (and, just kind of make sense)
if ((rate_thresh_int < 1) || (rate_thresh_int > 1000))
rb_raise(rb_eTypeError, MSG_CHANGE_TRIG_EXCEEDS_LIMIT);
ensure(CPhidgetInterfaceKit_setSensorChangeTrigger(
(CPhidgetInterfaceKitHandle)info->handle, index_int, rate_thresh_int));
ifkit_info->data_rates[index_int] = 0;
ifkit_info->sensor_change_triggers[index_int] = rate_thresh_int;
return rate_thresh;
}
// display the properties and create the ifkit model. Should really refactor...
int PhidgetConnector::display_properties(CPhidgetInterfaceKitHandle phid) {
int serialNo, version, numInputs, numOutputs, numSensors, triggerVal, ratiometric, i;
const char* ptr;
CPhidget_getDeviceType((CPhidgetHandle)phid, &ptr);
CPhidget_getSerialNumber((CPhidgetHandle)phid, &serialNo);
CPhidget_getDeviceVersion((CPhidgetHandle)phid, &version);
CPhidgetInterfaceKit_getInputCount(phid, &numInputs);
CPhidgetInterfaceKit_getOutputCount(phid, &numOutputs);
CPhidgetInterfaceKit_getSensorCount(phid, &numSensors);
CPhidgetInterfaceKit_getRatiometric(phid, &ratiometric);
ifKitModels.push_back(new IFKitModel(serialNo, numSensors));
printf("%s\n", ptr);
printf("Serial Number: %10d\nVersion: %8d\n", serialNo, version);
printf("# Digital Inputs: %d\n# Digital Outputs: %d\n", numInputs, numOutputs);
printf("# Sensors: %d\n", numSensors);
printf("Ratiometric: %d\n", ratiometric);
for(i = 0; i < numSensors; i++) {
CPhidgetInterfaceKit_setSensorChangeTrigger(phid, i, 0);
CPhidgetInterfaceKit_getSensorChangeTrigger (phid, i, &triggerVal);
printf("Sensor#: %d > Sensitivity Trigger: %d\n", i, triggerVal);
}
return 0;
}
/*!
* \brief set digital output state or sensor trigger level
* \param req requested parameters
* \param res returned parameters
*/
bool set_values(
phidgets::interface_kit::Request &req,
phidgets::interface_kit::Response &res)
{
switch(req.value_type)
{
case 1: { // set digital output
CPhidgetInterfaceKit_setOutputState (phid, req.index, req.value);
ROS_INFO("Output %d State %d", req.index, req.value);
break;
}
case 2: { // set sensor trigger level
CPhidgetInterfaceKit_setSensorChangeTrigger(phid, req.index, req.value);
ROS_INFO("Sensor %d Trigger level %d", req.index, req.value);
break;
}
}
res.ack = 1;
return(true);
}
int Create_KITLCD()
/*-----------------
creation du handler pour le kit LCD
------------------*/
{
int err2;
const char *errStr;
CPhidgetInterfaceKit_create(&IFK_LCD);
CPhidgetInterfaceKit_set_OnSensorChange_Handler(IFK_LCD,
IFK_LCD_SensorChangeHandler,
NULL);
CPhidgetInterfaceKit_setSensorChangeTrigger (IFK_LCD, 1, 1);
CPhidget_open((CPhidgetHandle)IFK_LCD,lcd_display_number);
//wait 5 seconds for attachment
if((err2 = CPhidget_waitForAttachment((CPhidgetHandle)IFK_LCD, 5000))
!= EPHIDGET_OK)
{
CPhidget_getErrorDescription(err2, &errStr);
printf("Error waiting for attachment kit LCD: (%d): %s\n",err2,errStr);
return 0;
}
return 1;
}
int interfacekit_simple()
{
int result, numSensors, i;
const char *err;
//Declare an InterfaceKit handle
CPhidgetInterfaceKitHandle ifKit = 0;
//create the InterfaceKit object
CPhidgetInterfaceKit_create(&ifKit);
//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)ifKit, AttachHandler, NULL);
CPhidget_set_OnDetach_Handler((CPhidgetHandle)ifKit, DetachHandler, NULL);
CPhidget_set_OnError_Handler((CPhidgetHandle)ifKit, ErrorHandler, NULL);
//Registers a callback that will run if an input changes.
//Requires the handle for the Phidget, the function that will be called, and an arbitrary pointer that will be supplied to the callback function (may be NULL).
CPhidgetInterfaceKit_set_OnInputChange_Handler (ifKit, InputChangeHandler, NULL);
//Registers a callback that will run if the sensor value changes by more than the OnSensorChange trig-ger.
//Requires the handle for the IntefaceKit, the function that will be called, and an arbitrary pointer that will be supplied to the callback function (may be NULL).
CPhidgetInterfaceKit_set_OnSensorChange_Handler (ifKit, SensorChangeHandler, NULL);
//Registers a callback that will run if an output changes.
//Requires the handle for the Phidget, the function that will be called, and an arbitrary pointer that will be supplied to the callback function (may be NULL).
CPhidgetInterfaceKit_set_OnOutputChange_Handler (ifKit, OutputChangeHandler, NULL);
//open the interfacekit for device connections
CPhidget_open((CPhidgetHandle)ifKit, -1);
//get the program to wait for an interface kit device to be attached
printf("Waiting for interface kit to be attached....");
if((result = CPhidget_waitForAttachment((CPhidgetHandle)ifKit, 10000)))
{
CPhidget_getErrorDescription(result, &err);
printf("Problem waiting for attachment: %s\n", err);
return 0;
}
//Display the properties of the attached interface kit device
display_properties(ifKit);
//read interface kit event data
printf("Reading.....\n");
//keep displaying interface kit data until user input is read
printf("Press any key to go to next step\n");
getchar();
printf("Modifying sensor sensitivity triggers....\n");
//get the number of sensors available
CPhidgetInterfaceKit_getSensorCount(ifKit, &numSensors);
//Change the sensitivity trigger of the sensors
for(i = 0; i < numSensors; i++)
{
CPhidgetInterfaceKit_setSensorChangeTrigger(ifKit, i, 100); //we'll just use 10 for fun
}
//read interface kit event data
printf("Reading.....\n");
//keep displaying interface kit data until user input is read
printf("Press any key to go to next step\n");
getchar();
printf("Toggling Ratiometric....\n");
CPhidgetInterfaceKit_setRatiometric(ifKit, 0);
//read interface kit event data
printf("Reading.....\n");
//keep displaying interface kit data until user input is read
printf("Press any key to end\n");
getchar();
//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)ifKit);
CPhidget_delete((CPhidgetHandle)ifKit);
//all done, exit
return 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;
}
