Révision 168
Ajouté par tibacher il y a plus de 6 ans
| branch/bacher/Emb_App/SessionM32C_E8a_system.hsf | ||
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWndInstanceKey0" "{WK_00000001_PDMR}EmbM32C87AppSessionM32C_E8a_system"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_EVAL_DENORMAL_MODE" "0"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_EVAL_ROUND_MODE" "0"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_0" "0000000000000001"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_1" "0000000000000625"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_0" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_1" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_10" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_11" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_12" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_13" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_14" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_15" "0000000000000512"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF325D"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000A50"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000854"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "00000000000000FF"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "00000000000000C0"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_15" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF002A"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000700"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_21" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_22" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_23" "0000000000000000"
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| ... | ... | |
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_31" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_32" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_33" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_34" "000000000000036A"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_34" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_35" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_4" "0000000000000007"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000FE0000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000A50"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_7" "0000000000000512"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_4" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_7" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_8" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_9" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_COUNT" "36"
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| ... | ... | |
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000_SCOPE" "Global,"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "distance, 1, 0, P, Col, Dec, MA"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001_SCOPE" "Current Scope,"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "2"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002" "vit_roue.data.val, 2, 0, P, Col, Dec, MA"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002_SCOPE" "Current Scope,"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003" "comm.data.val, 10, 0, P, Col, Hex, N"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003_SCOPE" "Current Scope,"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "4"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth0" "120"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth1" "150"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth12" "200"
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| ... | ... | |
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0
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[WINDOW_POSITION_STATE_DATA_VD1]
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"Help" "TOOLBAR 0" 59419 2 4 "0.00" 0 0 0 0 0 17 0 "" "0.0"
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"{WK_00000001_CmdLine}" "WINDOW" 59422 0 1 "0.08" 365 0 0 350 200 17 0 "32771|32772|32778|<<separator>>|32773|32774|<<separator>>|32820|<<separator>>|32801|32824" "0.0"
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"{WK_00000001_CmdLine}" "WINDOW" 59422 0 1 "0.07" 365 0 0 350 200 17 0 "32771|32772|32778|<<separator>>|32773|32774|<<separator>>|32820|<<separator>>|32801|32824" "0.0"
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"{WK_00000001_DISASSEMBLY}" "WINDOW" 0 0 0 "0.00" 0 -4 -30 948 486 9 0 "" "0.0"
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"{WK_00000001_EVENT}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 0 "0.12" 365 0 0 350 200 18 0 "32774|32775|32777|<<separator>>|32780|<<separator>>" "0.0"
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"{WK_00000001_MEMORY}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 1 "0.23" 365 2 -1 350 200 2065 0 "42202|42203|42204|42233|<<separator>>|42206|42205|42230|42229|42207|<<separator>>|42208|42209|42210|49076|42228|42227|<<separator>>|42231|42232|42234|42235|<<separator>>|42211|<<separator>>|32796|32797" "0.0"
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| ... | ... | |
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[WINDOW_Z_ORDER]
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"E:\tp_info6_2018_bacher\tp_info6\Emb_App\programme_principal_etud.c"
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"E:\tp_info6_2018_bacher\tp_info6\Emb_App\crt0mr.a30"
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"E:\tp_info6_2018_bacher\tp_info6\bsp\uart0.c"
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"E:\tp_info6_2018_bacher\tp_info6\Emb_App\conf_noyau.cfg"
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"E:\tp_info6_2018_bacher\tp_info6\bsp\periph.c"
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"E:\tp_info6_2018_bacher\tp_info6\bsp\uart0.c"
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"E:\tp_info6_2018_bacher\tp_info6\Emb_App\Debug\mr308.inc"
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[TARGET_NAME]
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"M32C E8a SYSTEM" "" 0
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| ... | ... | |
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[FLASH_DETAILS]
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"" 0 0 "" 0 "" 0 0 "" 0 0 0 0 0 0 0 "" "" "" "" ""
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[BREAKPOINTS]
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"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 91429216 1 "{00000000-0000-0000-C000-000000000046}" ""
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"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 91139432 1 "{00000000-0000-0000-C000-000000000046}" ""
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[END]
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| branch/bacher/Emb_App/programme_principal_etud.c | ||
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int cons=450; //contient la consigne
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int retour=0; //contient la valeur retourner par le p?riph
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int k=5; //contient le gain du correcteur de la boucle de r?gulation de la tourelle
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int k=3; //contient le gain du correcteur de la boucle de r?gulation de la tourelle
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int k2=1; //contient le gain du correcteur de l'angle des roues
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int vitesse=80; //vitesse en ligne droite
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int vitesse_virage=30; //vitesse dans les virages
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| ... | ... | |
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void demarre()
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{
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dly_tsk(5000);
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dly_tsk(2000);
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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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| ... | ... | |
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}
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int calcul_virage(int a){
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if(a>0&&a<50)
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//return -a/2+80;
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return (a*a)/100+a+80;
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if (a>-10 && a<10){
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return vitesse;}
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else if(a>0&&a<50)
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return -a/2+80;
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//return (a*a)/100-a+vitesse;
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else if(a<0&&a>-50)
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//return a/2+80;
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return (a*a)/100-a+80;
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return a/2+80;
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//return (a*a)/100+a+vitesse;
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else if (a<-100||a>100){
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return 30;
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return vitesse_virage;
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}
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else{
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return ((-(a*a)/100)+vitesse);
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}
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else return ((-(a*a)/100)+vitesse);
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/*if (a<0){
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return ((a*a)/200+a+vitesse);
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}
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else{
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return ((a*a)/200-a+vitesse);
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if (a>-50 && a<50) return vitesse;
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else return vitesse_virage; */
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}
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void mes_dist(){
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CanFrame req;
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Formats disponibles : Unified diff
Amélioration changement vitesse_virage