Révision 172
Ajouté par rococcallo il y a plus de 6 ans
| branch/Coccallotto/Emb_App/programme_principal_etud.c | ||
|---|---|---|
|
short alpha;
|
||
|
const k;
|
||
|
short commande;
|
||
|
short distance;
|
||
|
k=1;
|
||
|
|
||
|
CanFrame comm;
|
||
| ... | ... | |
|
comm.data.val=alpha;
|
||
|
snd_dtq (CanTx,comm.msg);
|
||
|
|
||
|
requete.data.id='U';
|
||
|
requete.data.rtr=1;
|
||
|
snd_dtq (CanTx,requete.msg);
|
||
|
rcv_dtq (CanRx,&reponse.msg);
|
||
|
distance=(reponse.data.val);
|
||
|
|
||
|
comm.data.id='V';
|
||
|
comm.data.rtr=0;
|
||
|
comm.data.val=0;
|
||
|
snd_dtq (CanTx,comm.msg);
|
||
|
|
||
|
|
||
|
LED_J=1;
|
||
Formats disponibles : Unified diff
mesure de la distance ok, maintenant création de l'asservisement des roues