Révision 210
Ajouté par audercoux il y a plus de 6 ans
| branch/decroux/Emb_App/programme_principal_etud.c | ||
|---|---|---|
|
|
||
|
|
||
|
|
||
|
|
||
|
// Tache qui met la tourelle a 45degres
|
||
|
void asservissement_tourelle(void)
|
||
|
{
|
||
| ... | ... | |
|
commRoues.data.rtr=0; //Indique une requete d'?criture
|
||
|
commRoues.data.val= k*(dis-700); // Correction de la disance
|
||
|
snd_dtq(CanTx, commRoues.msg);
|
||
|
|
||
|
|
||
|
}
|
||
|
|
||
| ... | ... | |
|
capture_init();
|
||
|
|
||
|
sta_cyc(ID_acqui);
|
||
|
sta_tsk(ID_periph_rx);
|
||
|
|
||
|
sta_tsk(ID_periph_rx);
|
||
|
asservissement_tourelle();
|
||
|
dly_tsk(1000);
|
||
|
while(1)
|
||
|
{
|
||
|
|
||
|
asservissement_tourelle();
|
||
|
distance = mesure_distance();
|
||
|
asservissement_roues(distance);
|
||
|
//Commande en vitesse
|
||
|
dly_tsk(100);
|
||
|
distance= mesure_distance();
|
||
|
asservissement_roues(distance);
|
||
|
//Commande en vitesse
|
||
|
commVit.data.id='V';
|
||
|
commVit.data.rtr=0;
|
||
|
commVit.data.val=5;
|
||
|
commVit.data.val=7;
|
||
|
snd_dtq (CanTx,commVit.msg);
|
||
|
LED_J=1;
|
||
|
dly_tsk(100);
|
||
|
LED_J=0;
|
||
|
dly_tsk(100);
|
||
|
|
||
|
|
||
|
LED_J=0;
|
||
|
dly_tsk(100);
|
||
|
}
|
||
|
}
|
||
|
|
||
Formats disponibles : Unified diff
Passage de la piste verte mais lentement