Révision 171
Ajouté par rococcallo il y a plus de 6 ans
| branch/Coccallotto/Emb_App/programme_principal_etud.c | ||
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void main()
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{
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commande=400;
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commande=450;
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ports_mcu();
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lcd_init();
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periph_init();
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| ... | ... | |
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while(1)
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{
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commande=k*(commande-alpha);
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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=(commande-reponse.data.val);
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comm.data.id='T';
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comm.data.rtr=0;
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comm.data.val=alpha;
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snd_dtq (CanTx,comm.msg);
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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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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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comm.data.id='V';
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comm.data.rtr=0;
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comm.data.val=40;
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}
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Formats disponibles : Unified diff
asservisement tourelle commandable, maintenant il faut messurer la distances