Révision 251
Ajouté par anfichot1 il y a plus de 6 ans
| branch/fichot/Emb_App/programme_principal_etud.c | ||
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// correspondant au nom du v?hicule si le nom se termine par '*'
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int k=2;
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int k=4;
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int k2=1;
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int vitesse = 10;
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int vitesse = 30;
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| ... | ... | |
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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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dly_tsk(100);
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}
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void asserv_tourelle()
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| ... | ... | |
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{
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CanFrame comm;
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CanFrame req, reponse;
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unsigned short consigne = 770;
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unsigned short consigne = 715;
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unsigned short distance;
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short rot;
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while(1){
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req.data.id = 'U';
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req.data.rtr = 1;
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req.data.id = 'U';
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req.data.rtr = 1;
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snd_dtq(CanTx, req.msg);
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periph[ADDR('U')].val;
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distance = periph[ADDR('U')].val; //r?ponse de distance
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comm.data.id = 'D';
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comm.data.rtr = 0;
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comm.data.val = k2*(distance-consigne);
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snd_dtq(CanTx, comm.msg);
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dly_tsk(100);
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snd_dtq(CanTx, req.msg);
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periph[ADDR('U')].val;
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distance = periph[ADDR('U')].val;
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rot = k2*(distance-consigne);
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if (distance <= 1000 && distance >= 400 )
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{
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comm.data.id='D'; comm.data.rtr=0; comm.data.val=rot;
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snd_dtq (CanTx,comm.msg);
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}
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else
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{
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comm.data.id='D'; comm.data.rtr=0; comm.data.val=0;
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snd_dtq (CanTx,comm.msg);
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}
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dly_tsk(20);
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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_asserv_tourelle);
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dly_tsk(1000);
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sta_tsk(ID_asserv2);
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dly_tsk(2000);
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while(1){
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Formats disponibles : Unified diff
piste bleue et verte réussie (mais pas optimiser au meilleur)