Révision 156
Ajouté par anfichot1 il y a plus de 6 ans
| branch/fichot/Emb_App/programme_principal_etud.c | ||
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//'I'/73/Ox49 : D?finition du nom du v?hicule. Doit d?buter par le caract?re '#' et entraine le chargement de la configuration de piste
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// correspondant au nom du v?hicule si le nom se termine par '*'
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int cons=450;
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int retour=0;
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int k=5;
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int valeur=20;
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int vitesse=80;
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int consigne =450;
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int val_simu=0;
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int k=5;
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int vitesse=80;
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int valeur = 0;
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CanFrame vit_roue;
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void ComMoteur(){
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void demarrer()
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{
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vit_roue.data.id='V';
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vit_roue.data.rtr=0;
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vit_roue.data.val=vitesse;
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snd_dtq (CanTx,vit_roue.msg);
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vit_roue.data.rtr=0;
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vit_roue.data.val=vitesse;
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snd_dtq (CanTx,vit_roue.msg);
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}
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void asserv()
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{
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CanFrame comm;
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CanFrame req;
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CanFrame reponse;
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while(1){
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CanFrame comm;
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CanFrame req;
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CanFrame reponse;
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while(1){
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req.data.id='R';
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req.data.rtr=1;
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snd_dtq (CanTx,req.msg);
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retour=periph[ADDR('R')].val;
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snd_dtq (CanTx,req.msg);
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val_simu=periph[ADDR('R')].val;
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comm.data.id='T';
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comm.data.rtr=0;
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comm.data.val=valeur;
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snd_dtq (CanTx,comm.msg);
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if(retour!=cons) valeur=k*(cons-retour);
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}
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if( val_simu != consigne)
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{
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valeur=k*(consigne - val_simu);
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}
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}
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}
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void main()
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{
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ports_mcu();
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lcd_init();
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periph_init();
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periph_nom("#AutoTest*");
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can_init();
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clavier_init(1);
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capture_init();
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sta_cyc(ID_acqui);
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// sta_tsk(ID_periph_rx);
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while(1)
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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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asserv();
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ComMoteur();
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}
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}
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void acqui()
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{
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LED_V=!LED_V;
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void main()
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{
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ports_mcu();
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lcd_init();
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periph_init();
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periph_nom("#AutoTest*");
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can_init();
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clavier_init(1);
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capture_init();
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demarrer();
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asserv();
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while(1){
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}
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}
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void acqui()
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{
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LED_V=!LED_V;
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}
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Formats disponibles : Unified diff
fin de séance 1, asservissement quasi-fini