Révision 141
Ajouté par casotty il y a plus de 6 ans
| branch/sotty/Emb_App/programme_principal_etud.c | ||
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// correspondant au nom du v?hicule si le nom se termine par '*'
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void tourelle();
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void rotation_tourelle();
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short position_tourelle();
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void main()
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{
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| ... | ... | |
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LED_J=0;
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dly_tsk(100);
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}*/
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tourelle();
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rotation_tourelle();
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}
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void acqui()
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}
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void tourelle()
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void rotation_tourelle()
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{
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CanFrame comm;
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comm.data.id = 'T';
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comm.data.rtr = 0; //Ecriture
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comm.data.val = 120; //Rotation de 12?/s
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while(position_tourelle()<300){ //Rotation de la tourelle tant que sa position est < ? 300 (sur 1023)
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comm.data.id = 'T';
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comm.data.rtr = 0; //Ecriture
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comm.data.val = 120; //Rotation de 12?/s
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snd_dtq(CanTx, comm.msg);
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dly_tsk(1000);
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}
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comm.data.val = 0; //Rotation nulle
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snd_dtq(CanTx, comm.msg);
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dly_tsk(1000);
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}
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comm.data.val = 0; //Rotation nulle
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snd_dtq(CanTx, comm.msg);
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}
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short position_tourelle()
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{
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CanFrame requete, reponse;
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short angle;
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requete.data.id = 'R'; //Position tourelle
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requete.data.rtr = 1; //Lecture
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snd_dtq(CanTx, requete.msg);
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rcv_dtq(CanRx, &reponse.msg);
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angle = reponse.data.val;
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return angle;
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}
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Formats disponibles : Unified diff
Obtention de la poisiton de la tourelle effective