Révision 265
Ajouté par casotty il y a plus de 6 ans
| branch/sotty/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=ff0030
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RESET=ff0032
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| branch/sotty/Emb_App/programme_principal_etud.c | ||
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short distance_mur = 0;
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short angle_tourelle = 450;
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const short vit_max = 30;
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short vit_roue = 15;
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short K_roue = 1;
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short ang_roue = 0;
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| ... | ... | |
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}
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sta_tsk(ID_asserv_roue);
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for(k=1 ; k<30 ; k++) {
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for(k=1 ; k<=vit_max ; k++) {
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vit_roue = k;
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dly_tsk(100);
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}
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| ... | ... | |
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}
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void maj_variables(void){
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static int k;
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//Angle des roues
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distance_mur = distance_telemetre()*sin(3.1415*angle_tourelle/1800.0);
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if(distance_mur > 1200) { //Trou dans le mur
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if(distance_mur > 1000 || distance_mur < 0) { //Trou dans le mur
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ang_roue = 0;
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}
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else {
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ang_roue = K_roue*(distance_mur-500);
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}
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capteur = send_requete(INFO_CAPTEUR);
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if(capteur == 0x6301){
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if(capteur == 0x6301){ //Capteur perso avant bosse rouge
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ang_roue = 0;
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vit_roue = 50;
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vit_roue = 45;
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}
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if(capteur == 0x4203){ //Capteur apres bosse rouge
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vit_roue = 10;
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}
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if(capteur == 0x6304){ // Capteur perso apres bosse rouge
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for(k=vit_roue ; k<=vit_max ; k++) {
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vit_roue = k;
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}
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}
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}
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Formats disponibles : Unified diff
Passage de la piste rouge