Révision 207
Ajouté par gamatteozz il y a plus de 6 ans
| branch/matteozzi/Emb_App/programme_principal_etud.c | ||
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comm.data.val=K*(cons_angl-ang_lu);
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snd_dtq(CanTx, comm.msg);
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}
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dly_tsk(50);
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}
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void commande(vitesse){ //commande de la vitesse
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| ... | ... | |
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snd_dtq(CanTx, comm.msg);
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}
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/*void virage(){
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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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retour=reponse.data.val; */
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void dist_tel(){
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while(1){
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| ... | ... | |
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wai_flg(ev_periph, 0x02, TWF_ANDW, &flag);
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distance=periph[ADDR('U')].val; //recupere la valeur de l'angle dans retour
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comm.data.id='D'; //demande de la requete T
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comm.data.rtr=0; //commande d'ecriture car rtr=0
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comm.data.val=1*(distance-780);
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snd_dtq(CanTx, comm.msg);
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}
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}
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| ... | ... | |
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sta_cyc(ID_acqui);
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sta_tsk(ID_periph_rx);
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sta_tsk(ID_tourelle);
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sta_tsk(ID_distance);
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sta_tsk(ID_distance);
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commande(0);
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dly_tsk(1000);
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while(1)
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{
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LED_J=1;
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LED_J=0;
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commande(0);
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commande(10);
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}
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}
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Formats disponibles : Unified diff
piste verte passer avec une vitesse faible