Révision 198
Ajouté par anfichot1 il y a plus de 6 ans
| branch/fichot/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=ff0020
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RESET=ff0016
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| 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 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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int k=2;
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int vitesse = 50;
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void demarrer()
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CanFrame vit_roue; //canal de commande de la vitesse
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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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}
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}*/
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void asserv()
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void rot_tourelle()
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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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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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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( val_simu != consigne)
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comm.data.id = 'T';
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comm.data.rtr = 0;
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comm.data.val = 120;
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snd_dtq(CanTx, comm.msg);
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}
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short pos_tourelle(){
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CanFrame req, reponse;
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short angle;
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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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rcv_dtq(CanRx, &reponse.msg);
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angle = reponse.data.val;
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return angle;
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}
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void asserv(VP_INT stacd){
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CanFrame comm;
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while(1){
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comm.data.id = 'T';
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comm.data.rtr = 0;
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comm.data.val = k*(450 - position_tourelle());
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snd_dtq(CanTx, comm.msg);
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}
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}
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short distance_telemetre(void){
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CanFrame requete, reponse;
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short distance;
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requete.data.id = 'U';
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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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if(reponse.data.id != 'U' )
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{
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valeur=k*(consigne - val_simu);
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rcv_dtq(CanRx, &reponse.msg);
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}
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}
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distance = reponse.data.val;
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return distance;
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}
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void angle_roue(short angle){
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CanFrame comm;
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comm.data.id = 'D';
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comm.data.rtr = 0;
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comm.data.val = 0;
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snd_dtq(CanTx, comm.msg);
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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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periph_nom("#fich*");
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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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//demarrer();
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rot_tourelle();
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pos_tourelle();
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asserv();
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distance_telemetre();
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while(1){
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}
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}
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Formats disponibles : Unified diff
asservissement tourelle, distance_telemetre fini