Révision 150
Ajouté par gamatteozz il y a plus de 6 ans
| branch/matteozzi/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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unsigned short alpha=0;
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unsigned short retour=0;
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unsigned short consigne;
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CanFrame comm;
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CanFrame requete, reponse;
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unsigned short vitesse;
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void asservissement(consigne){
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requete.data.id='R';
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requete.data.rtr=1;
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snd_dtq(CanTx, requete.msg);
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rcv_dtq(CanRx, &reponse.msg);
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retour=reponse.data.val;
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if(consigne!=retour)
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{
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comm.data.id='T';
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comm.data.rtr=0;
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comm.data.val=consigne-retour;
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snd_dtq(CanTx, comm.msg);
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}
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else
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{
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comm.data.id='T';
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comm.data.rtr=0;
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comm.data.val=0;
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snd_dtq(CanTx, comm.msg);
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}
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}
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void commande(vitesse){
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comm.data.id='V';
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comm.data.rtr=0;
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comm.data.val=vitesse;
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snd_dtq(CanTx, comm.msg);
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}
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void main()
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{
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CanFrame comm;
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CanFrame requete, reponse;
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ports_mcu();
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lcd_init();
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| ... | ... | |
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dly_tsk(100);
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LED_J=0;
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dly_tsk(100);
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requete.data.id='R';
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requete.data.rtr=1;
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snd_dtq(CanTx, requete.msg);
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rcv_dtq(CanRx, &reponse.msg);
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alpha=reponse.data.val;
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if(alpha>450)
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{
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comm.data.id='T';
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comm.data.rtr=0;
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comm.data.val=0;
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snd_dtq(CanTx, comm.msg);
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dly_tsk(10);
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}
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else
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{
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comm.data.id='T';
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comm.data.rtr=0;
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comm.data.val=100;
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snd_dtq(CanTx, comm.msg);
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dly_tsk(10);
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}
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asservissement(450);
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commande(20);
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}
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}
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Formats disponibles : Unified diff
fonction asservissement faite et fonction de vitesse en cours