Index: branch/diagne/Emb_App.tws
===================================================================
--- branch/diagne/Emb_App.tws	(revision 292)
+++ branch/diagne/Emb_App.tws	(revision 293)
@@ -7,13 +7,19 @@
 [GENERAL_DATA]
 [BREAKPOINTS]
 [OPEN_WORKSPACE_FILES]
+"E:\tp_info6_2018_diagne\tp_info6\tp_info6\bsp\periph.c" 
+"E:\tp_info6_2018_diagne\tp_info6\tp_info6\bsp\uart0.c" 
 "E:\tp_info6_2018_diagne\tp_info6\tp_info6\Emb_App\conf_noyau.cfg" 
 "E:\tp_info6_2018_diagne\tp_info6\tp_info6\Emb_App\crt0mr.a30" 
+"E:\tp_info6_2018_diagne\tp_info6\tp_info6\Emb_App\Debug\mr308.inc" 
 "E:\tp_info6_2018_diagne\tp_info6\tp_info6\Emb_App\programme_principal_etud.c" 
 [WORKSPACE_FILE_STATES]
+"E:\tp_info6_2018_diagne\tp_info6\tp_info6\Emb_App\Debug\mr308.inc" 100 100 1054 351 0 4 
 "E:\tp_info6_2018_diagne\tp_info6\tp_info6\Emb_App\conf_noyau.cfg" 125 125 1054 351 0 1 
-"E:\tp_info6_2018_diagne\tp_info6\tp_info6\Emb_App\crt0mr.a30" 150 150 1054 351 0 2 
-"E:\tp_info6_2018_diagne\tp_info6\tp_info6\Emb_App\programme_principal_etud.c" -8 -30 1220 539 1 0 
+"E:\tp_info6_2018_diagne\tp_info6\tp_info6\Emb_App\crt0mr.a30" -8 -30 1220 539 1 2 
+"E:\tp_info6_2018_diagne\tp_info6\tp_info6\Emb_App\programme_principal_etud.c" 0 0 1220 539 0 0 
+"E:\tp_info6_2018_diagne\tp_info6\tp_info6\bsp\periph.c" 150 150 1054 351 0 6 
+"E:\tp_info6_2018_diagne\tp_info6\tp_info6\bsp\uart0.c" 75 75 1054 351 0 3 
 [LOADED_PROJECTS]
 "EmbM32C87App" 
 [END]
Index: branch/diagne/Emb_App/SessionM32C_E8a_system.hsf
===================================================================
--- branch/diagne/Emb_App/SessionM32C_E8a_system.hsf	(revision 292)
+++ branch/diagne/Emb_App/SessionM32C_E8a_system.hsf	(revision 293)
@@ -141,20 +141,20 @@
 "{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWndInstanceKey0" "{WK_00000001_PDMR}EmbM32C87AppSessionM32C_E8a_system" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_EVAL_DENORMAL_MODE" "0" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_EVAL_ROUND_MODE" "0" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_0" "0000000000000000" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_1" "0000000000000000" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_0" "0000000000004044" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_1" "0000000000000020" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_10" "0000000000000000" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_11" "0000000000000000" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_12" "0000000000000000" 
 "{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" "0000000000000000" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF0016" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000000000" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000000" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000700" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000000" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "0000000000000000" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_15" "0000000000000512" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF0582" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000BF8" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000828" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000001" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "0000000000004044" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_21" "0000000000000000" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_22" "0000000000000000" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_23" "0000000000000000" 
@@ -169,12 +169,12 @@
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_31" "0000000000000000" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_32" "0000000000000000" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_33" "0000000000000000" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_34" "0000000000000000" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_34" "000000000000036A" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_35" "0000000000000000" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_4" "0000000000000000" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_4" "000000000000000A" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000000000" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000000" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_7" "0000000000000000" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000C24" 
+"{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" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_COUNT" "36" 
@@ -207,7 +207,11 @@
 "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH" "c,buff,n,rx,flag," 
 "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000" "alpha, 1, 0, P, Col, Dec, MA" 
 "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000_SCOPE" "Current Scope," 
-"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "1" 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "pos, 10, 0, P, Col, Hex, N" 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001_SCOPE" "Current Scope," 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002" "longueur, 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" 
@@ -277,8 +281,8 @@
 0 
 [WINDOW_POSITION_STATE_DATA_VD1]
 "Help" "TOOLBAR 0" 59419 2 4 "0.00" 0 0 0 0 0 17 0 "" "0.0" 
-"{WK_00000001_CmdLine}" "WINDOW" 59422 0 3 "0.09" 365 0 0 350 200 17 0 "32771|32772|32778|<<separator>>|32773|32774|<<separator>>|32820|<<separator>>|32801|32824" "0.0" 
-"{WK_00000001_DISASSEMBLY}" "WINDOW" 0 0 0 "0.00" 0 -4 -30 948 486 9 0 "" "0.0" 
+"{WK_00000001_CmdLine}" "WINDOW" 59422 0 3 "0.08" 365 0 0 350 200 17 0 "32771|32772|32778|<<separator>>|32773|32774|<<separator>>|32820|<<separator>>|32801|32824" "0.0" 
+"{WK_00000001_DISASSEMBLY}" "WINDOW" 0 0 0 "0.00" 0 125 125 1054 351 10 0 "" "0.0" 
 "{WK_00000001_EVENT}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 0 "0.13" 365 0 0 350 200 18 0 "32774|32775|32777|<<separator>>|32780|<<separator>>" "0.0" 
 "{WK_00000001_MEMORY}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 1 "0.23" 365 2 -1 350 200 2065 0 "42202|42203|42204|42233|<<separator>>|42206|42205|42230|42229|42207|<<separator>>|42208|42209|42210|49076|42228|42227|<<separator>>|42231|42232|42234|42235|<<separator>>|42211|<<separator>>|32796|32797" "0.0" 
 "{WK_00000001_OUTPUT}" "WINDOW" 59422 0 2 "0.79" 365 0 0 350 200 18 0 "36756|36757|36758|36759|<<separator>>|36746|36747|<<separator>>|39531|<<separator>>|39500|39534|<<separator>>|36687" "0.0" 
@@ -309,9 +313,13 @@
 [WINDOW_POSITION_STATE_DATA_VD3]
 [WINDOW_POSITION_STATE_DATA_VD4]
 [WINDOW_Z_ORDER]
+"E:\tp_info6_2018_diagne\tp_info6\tp_info6\Emb_App\crt0mr.a30" 
 "E:\tp_info6_2018_diagne\tp_info6\tp_info6\Emb_App\programme_principal_etud.c" 
-"E:\tp_info6_2018_diagne\tp_info6\tp_info6\Emb_App\crt0mr.a30" 
 "E:\tp_info6_2018_diagne\tp_info6\tp_info6\Emb_App\conf_noyau.cfg" 
+"E:\tp_info6_2018_diagne\tp_info6\tp_info6\bsp\uart0.c" 
+"E:\tp_info6_2018_diagne\tp_info6\tp_info6\bsp\periph.c" 
+"E:\tp_info6_2018_diagne\tp_info6\tp_info6\Emb_App\Debug\Disassembly" 
+"E:\tp_info6_2018_diagne\tp_info6\tp_info6\Emb_App\Debug\mr308.inc" 
 [TARGET_NAME]
 "M32C E8a SYSTEM" "" 0 
 [STATUSBAR_STATEINFO_VD1]
@@ -358,5 +366,5 @@
 [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 122414488 1 "{00000000-0000-0000-C000-000000000046}" "" 
+"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 99088656 1 "{00000000-0000-0000-C000-000000000046}" "" 
 [END]
Index: branch/diagne/Emb_App/programme_principal_etud.c
===================================================================
--- branch/diagne/Emb_App/programme_principal_etud.c	(revision 292)
+++ branch/diagne/Emb_App/programme_principal_etud.c	(revision 293)
@@ -123,6 +123,7 @@
 
 short alpha;
 short vitesse, longueur;
+short distance, new_distance;
 
 void Asserv0(){	
 	
@@ -143,7 +144,7 @@
 			//Vitesse de la tourelle
 			comm.data.id='T'; 
 			comm.data.rtr=0;
-	 		comm.data.val=450-alpha; // Pour un gain de 1, on regule pour avoir 45degrés
+	 		comm.data.val=(450-alpha); // Pour un gain de 1, on regule pour avoir 45degrés (angle du telemetre)
 			snd_dtq(CanTx,comm.msg);
 			dly_tsk(100);
 		}	
@@ -156,20 +157,33 @@
 		UINT flag;	
 		while(1)
 		{	
-			req.data.id='U'; //lecture angle de la tourelle
+			req.data.id='U'; //lecture distance mesurée par le télémetre
 			req.data.rtr=1; //requête de lecture
 			snd_dtq(CanRx, req.msg);
+			
 			//Attente de la réponse
-			//rcv_dtq(CanRx, &reponse.msg);
-			periph[ADDR('U')].ev=0x01;
+			
+			periph[ADDR('U')].ev=0x02;
 			snd_dtq(CanTx,req.msg);
-			wai_flg(ev_periph, 0x01, TWF_ANDW,&flag);
-			alpha=periph[ADDR('U')].val;
+			wai_flg(ev_periph, 0x02, TWF_ANDW,&flag);
+			distance=periph[ADDR('U')].val;
 			
-			//Vitesse de la tourelle
-			comm.data.id='D'; 
+			//Orientation des roues
+			
+			comm.data.id='D'; //commande angle des roues
 			comm.data.rtr=0;
-	 		comm.data.val=-(450-alpha); // Pour un gain de 1, on regule pour avoir 45degrés
+			//Pour la piste verte: comm.data.val= -(450-distance)
+	 		
+			//Pour eviter les trous de la piste bleue et garder le vehicule au milieu de la piste		
+			
+			if (distance >1000){ 			//On compare la distance mesurée par le telemtetre
+				new_distance=715;
+			}
+			else {
+				new_distance=distance;
+			}
+			comm.data.val=1*(new_distance-715); //	On la garde bien au milieu de la piste
+				
 			snd_dtq(CanTx,comm.msg);
 			dly_tsk(100);
 		}
Index: branch/diagne/Emb_App/EmbM32C87App.tps
===================================================================
--- branch/diagne/Emb_App/EmbM32C87App.tps	(revision 292)
+++ branch/diagne/Emb_App/EmbM32C87App.tps	(revision 293)
@@ -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" 
