Révision 179
Ajouté par aueuphrasi il y a plus de 6 ans
| branch/euphrasie_auguste/Emb_App/SessionM32C_E8a_system.ini | ||
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[Target]
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M32C E8a SYSTEM=Renesas Communications
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[USER_DATA]
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RESET=ff0028
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RESET=ff0036
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| branch/euphrasie_auguste/Emb_App/programme_principal_etud.c | ||
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void periph_command(char addr, short valeur);
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short periph_requete(char addr);
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void initialisation(void);
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void assser_tourelle(void);
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void asser_roue_vitesse(void);
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void decode_int(void);
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short i;
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short touche;
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short clavier;
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short consigne_T = 450;
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float k_T = 2.0;
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short commande_T;
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short ang_T;
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short distance_centre = 710;
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float k_D = 0.8;
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short distance_centre = 500;
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float k_D = 1.10;
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short commande_D;
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short dist_mur_droit;
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float dist_mur_droit;
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float k_V = 0.05;
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float k_V = 0.15;
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short commande_V_max = 40;
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short commande_V;
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short commande_V;
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unsigned short etat_feux;
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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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periph_command('V', 25);
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{
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initialisation();
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for(i=0;i<25;i++){
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assser_tourelle();
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dly_tsk(10);
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}
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while((periph_requete('M') >> 15) == 0 ); // attente feux vert
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while(1)
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{
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assser_tourelle();
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assser_tourelle();
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asser_roue_vitesse();
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dly_tsk(50);
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dly_tsk(50);
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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 decode_int(void){
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//short i = 0;
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//while(touche != '#'){
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vrcv_dtq(QdmTouche,&touche);
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clavier = touche-48;
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//i++;
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//}
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}
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void asser_roue_vitesse(void){
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dist_mur_droit = periph_requete('U');
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if(dist_mur_droit > 2500){ dist_mur_droit = distance_centre;}
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dist_mur_droit = periph_requete('U')*sin((3.1415f*(periph_requete('R')))/1800.0f);
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if((dist_mur_droit > 1500) || (dist_mur_droit < -1500)){ dist_mur_droit = distance_centre;}
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commande_D = k_D * (dist_mur_droit - distance_centre);
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periph_command('D', commande_D);
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if(commande_D < 0) commande_D = commande_D * (-1);
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commande_V = commande_V_max - k_V * (dist_mur_droit - distance_centre);
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commande_V = commande_V_max - (k_V * commande_D);
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periph_command('V', commande_V);
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}
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| ... | ... | |
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void initialisation(void){
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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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}
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void acqui()
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{
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LED_V=!LED_V;
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consigne_T = ad00;
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commande_V_max = ad01/10;
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}
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void assser_tourelle(void){
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ang_T = periph_requete('R');
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commande_T = k_T * (consigne_T - ang_T);
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| ... | ... | |
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UINT flag;
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requete.data.id = addr;
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requete.data.rtr = 1;
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periph[ADDR(addr)].ev = 0x01;
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periph[ADDR(addr)].ev = 0x01;//***
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snd_dtq (CanTx,requete.msg);
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wai_flg(ev_periph, 0x01, TWF_ANDW, &flag);
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periph[ADDR(addr)].ev = 0x00;//***
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pos = periph[ADDR(addr)].val;
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return pos;
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}
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Formats disponibles : Unified diff
Ajout depart au feux vert
Lecture potentiometre pour position tourelle et vitesse max
Lecture clavier
amelioration asservissement vitesse et roues