Index: branch/noisette/Emb_App.tws
===================================================================
--- branch/noisette/Emb_App.tws	(revision 254)
+++ branch/noisette/Emb_App.tws	(revision 255)
@@ -18,8 +18,8 @@
 "E:\tp_info6_2018_noisette\tp_info6\Emb_App\programme_principal_etud.c" 
 [WORKSPACE_FILE_STATES]
 "E:\tp_info6_2018_noisette\tp_info6\Emb_App\conf_noyau.cfg" 0 0 790 335 0 7 
-"E:\tp_info6_2018_noisette\tp_info6\Emb_App\crt0mr.a30" -8 -30 956 523 1 1 
-"E:\tp_info6_2018_noisette\tp_info6\Emb_App\programme_principal_etud.c" 0 0 956 523 0 0 
+"E:\tp_info6_2018_noisette\tp_info6\Emb_App\crt0mr.a30" 0 0 956 523 0 1 
+"E:\tp_info6_2018_noisette\tp_info6\Emb_App\programme_principal_etud.c" -8 -30 956 523 1 0 
 "E:\tp_info6_2018_noisette\tp_info6\bsp\can.c" 0 0 956 523 0 2 
 "E:\tp_info6_2018_noisette\tp_info6\bsp\clavier.c" 100 100 790 335 0 4 
 "E:\tp_info6_2018_noisette\tp_info6\bsp\dma0.c" 125 125 790 335 0 5 
Index: branch/noisette/Emb_App/SessionM32C_E8a_system.hsf
===================================================================
--- branch/noisette/Emb_App/SessionM32C_E8a_system.hsf	(revision 254)
+++ branch/noisette/Emb_App/SessionM32C_E8a_system.hsf	(revision 255)
@@ -149,10 +149,10 @@
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_13" "0000000000000000" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_14" "0000000000000000" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_15" "0000000000000512" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF056C" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF057B" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000C0C" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "000000000000082E" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000C0E" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000830" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000000" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "0000000000004044" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_21" "0000000000000000" 
@@ -173,7 +173,7 @@
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_35" "0000000000000000" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_4" "0000000000000008" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000000000" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000C2A" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000C2C" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_7" "0000000000000512" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_8" "0000000000000000" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_9" "0000000000000000" 
@@ -209,7 +209,9 @@
 "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000_SCOPE" "Global," 
 "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "distance_tourelle, 1, 0, P, Col, Dec, MA" 
 "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001_SCOPE" "Current Scope," 
-"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "2" 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002" "couleur, 1, 0, P, Col, Dec, MA" 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002_SCOPE" "Current Scope," 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "3" 
 "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth0" "120" 
 "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth1" "150" 
 "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth12" "200" 
@@ -311,11 +313,11 @@
 [WINDOW_POSITION_STATE_DATA_VD3]
 [WINDOW_POSITION_STATE_DATA_VD4]
 [WINDOW_Z_ORDER]
+"E:\tp_info6_2018_noisette\tp_info6\Emb_App\programme_principal_etud.c" 
+"E:\tp_info6_2018_noisette\tp_info6\Emb_App\conf_noyau.cfg" 
 "E:\tp_info6_2018_noisette\tp_info6\Emb_App\crt0mr.a30" 
-"E:\tp_info6_2018_noisette\tp_info6\Emb_App\programme_principal_etud.c" 
+"E:\tp_info6_2018_noisette\tp_info6\bsp\periph.c" 
 "E:\tp_info6_2018_noisette\tp_info6\bsp\uart0.c" 
-"E:\tp_info6_2018_noisette\tp_info6\bsp\periph.c" 
-"E:\tp_info6_2018_noisette\tp_info6\Emb_App\conf_noyau.cfg" 
 "E:\tp_info6_2018_noisette\tp_info6\bsp\can.c" 
 "E:\tp_info6_2018_noisette\tp_info6\bsp\dma0.c" 
 "E:\tp_info6_2018_noisette\tp_info6\bsp\clavier.c" 
@@ -366,5 +368,5 @@
 [FLASH_DETAILS]
 "" 0 0 "" 0 "" 0 0 "" 0 0 0 0 0 0 0 "" "" "" "" "" 
 [BREAKPOINTS]
-"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 91165208 1 "{00000000-0000-0000-C000-000000000046}" "" 
+"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 93196960 1 "{00000000-0000-0000-C000-000000000046}" "" 
 [END]
Index: branch/noisette/Emb_App/programme_principal_etud.c
===================================================================
--- branch/noisette/Emb_App/programme_principal_etud.c	(revision 254)
+++ branch/noisette/Emb_App/programme_principal_etud.c	(revision 255)
@@ -120,6 +120,7 @@
 //'I'/73/Ox49 : Définition du nom du véhicule. Doit débuter par le caractère '#' et entraine le chargement de la configuration de piste
 //				correspondant au nom du véhicule si le nom se termine par '*'
 int alpha;
+int couleur;
 int consigne_tourelle;
 int consigne_distance;
 unsigned short k;
@@ -130,6 +131,19 @@
 UINT flag;
 CanFrame comm, requete, reponse, req;
 
+/*void trous(){
+	while(1){
+			req.data.id='C';
+			req.data.rtr=1;
+			periph[ADDR('C')].ev=0x0007;
+			snd_dtq(CanTx,req.msg);
+			wai_flg(ev_periph,0x0007,TWF_ANDW,&flag);
+			couleur=periph[ADDR('C')].val;
+			
+				
+	}	
+}	*/
+
 void asserv_tourelle()
 {
 		while(1){
@@ -147,10 +161,11 @@
 			comm.data.val=consigne_tourelle;
 			snd_dtq(CanTx, comm.msg);
 		}
-		dly_tsk(10);
+		dly_tsk(100);
 }
 
 void asserv_virage() {
+	
 	while(1) {
 		req.data.id='U';
 		req.data.rtr=1;
@@ -166,8 +181,9 @@
 		comm.data.rtr=0;
 		comm.data.val=-consigne_distance;
 		snd_dtq(CanTx, comm.msg);
-		dly_tsk(10);
+		
 	}	
+	dly_tsk(100);
 }
 
 void command(vitesse){
@@ -175,7 +191,7 @@
 		comm.data.rtr=0;
 		comm.data.val=vitesse;
 		snd_dtq(CanTx, comm.msg);
-		dly_tsk(10);
+		dly_tsk(200);
 }
 
 void main()
@@ -194,6 +210,7 @@
 	sta_cyc(ID_acqui);
 	sta_tsk(ID_periph_rx);
 	sta_tsk(ID_asserv_tourelle);
+//	sta_tsk(ID_trous);
 	
 	dly_tsk(2500);
 	sta_tsk(ID_asserv_virage);
@@ -208,7 +225,7 @@
 		
 		
 
-		command(50);
+		command(45);
 		
     }
 }
Index: branch/noisette/Emb_App/conf_noyau.cfg
===================================================================
--- branch/noisette/Emb_App/conf_noyau.cfg	(revision 254)
+++ branch/noisette/Emb_App/conf_noyau.cfg	(revision 255)
@@ -54,12 +54,15 @@
 	exinf	= 0x0;
 };
 
+
+
+
 task[]{
 	entry_address	= asserv_virage();
 	name	= ID_asserv_virage;
 	stack_size	= 256;
 	stack_section	= stack;
-	priority	= 3;
+	priority	= 4;
 	initial_start	= OFF;
 	exinf	= 0x0;
 };
Index: branch/noisette/Emb_App/EmbM32C87App.tps
===================================================================
--- branch/noisette/Emb_App/EmbM32C87App.tps	(revision 254)
+++ branch/noisette/Emb_App/EmbM32C87App.tps	(revision 255)
@@ -18,7 +18,7 @@
 "SessionM32C_E8a_system" 
 [GENERAL_DATA_PROJECT]
 [GENERAL_DATA_CONFIGURATION_Debug]
-"PROJECT_FILES_MODIFIED_DATA_TAG" "FALSE" 
+"PROJECT_FILES_MODIFIED_DATA_TAG" "TRUE" 
 [SESSIONS_Debug]
 "DefaultSession" 
 "SessionM32C_E8a_system" 
