Révision 152
Ajouté par stpouotong il y a plus de 6 ans
| trunk/tp_info6/Emb_App/programme_principal_etud.c | ||
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} CanFrame;*/
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short alpha;
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short erreur;
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short cmd;
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void rot_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; //Indique une ecriture
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comm.data.val = 160;
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comm.data.val = cmd;
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snd_dtq(CanTx, comm.msg);
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dly_tsk(100);
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/*dly_tsk(100);
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comm.data.val = 120;
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snd_dtq(CanTx, comm.msg);
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snd_dtq(CanTx, comm.msg);*/
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}
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void pos_tourelle()
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rcv_dtq(CanRx, &reponse.msg);
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alpha = reponse.data.val;
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}
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void Asserv0()
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{
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short consigne=450;
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short k=1;
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erreur = consigne - alpha;
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cmd = erreur*k;
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//snd_dtq(CanTx, cmd.msg);
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}
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void main()
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{
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LED_J=1;
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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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rot_tourelle();
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dly_tsk(100);
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pos_tourelle();
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Asserv0();
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rot_tourelle();
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}
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}
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Formats disponibles : Unified diff
implentation de la fonction Asserv0 ok