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Révision 296

Ajouté par melepogam il y a plus de 6 ans

modification parametre piste vert,bleu,rouge
reflexion piste noir

Voir les différences:

branch/lepogam/Emb_App/SessionM32C_E8a_system.ini
[Target]
M32C E8a SYSTEM=Renesas Communications
[USER_DATA]
RESET=ff0034
RESET=ff0038
branch/lepogam/Emb_App/SessionM32C_E8a_system.hsf
"{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" "0000000000FF3297"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF3383"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000A42"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000846"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000004"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000A5A"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "000000000000085E"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "00000000000000C0"
"{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_34" "000000000000036A"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_35" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_4" "0000000000000004"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000000512"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000A42"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "00000000001200FE"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000A5A"
"{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"
......
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH" "c,buff,n,rx,flag,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000" "alpha, 2, 0, P, Col, Hex, 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" "couleur, 2, 0, P, Col, Hex, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002" "consigne_vitesse, 2, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002_SCOPE" "Global,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003" "npiste, 2, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0004" "vitesse_min, 2, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0004_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "5"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth0" "120"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth1" "150"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth12" "200"
......
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 1 "0.08" 365 0 0 350 200 17 0 "32771|32772|32778|<<separator>>|32773|32774|<<separator>>|32820|<<separator>>|32801|32824" "0.0"
"{WK_00000001_CmdLine}" "WINDOW" 59422 0 1 "0.07" 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_EVENT}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 0 "0.11" 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"
......
[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 90544424 1 "{00000000-0000-0000-C000-000000000046}" ""
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 101587000 1 "{00000000-0000-0000-C000-000000000046}" ""
[END]
branch/lepogam/Emb_App/programme_principal_etud.c
unsigned int couleur=0; // vert -> ligne droie
unsigned int npiste=0;
unsigned int distance_ref=700;
unsigned int distance_ref_init=700;
unsigned int consigne=450;
unsigned int consigne_init=450;
unsigned int consigne_vitesse=34;
unsigned int vitesse_min=24;
unsigned int valeur_t=0;
......
switch(npiste){
case(256) : //verte
consigne_vitesse =60;
vitesse_min =35;
distance_ref = 880;
consigne_vitesse =60; //60
vitesse_min =35; //35
distance_ref_init = 820; // d?cal?e ? gauche 820
go=1;
break;
case(512) : //bleue
consigne_vitesse =40;
vitesse_min =22;
distance_ref = 700;
consigne_vitesse =50; //48 ok 21'19, max 50
vitesse_min =30;//26 ok 21,19, max 30
distance_ref_init = 700; // centr?e 700
go=1;
break;
case(768) : //rouge
consigne_vitesse =34;
vitesse_min =24;
distance_ref = 700;
consigne_vitesse =46; //40 ok 26,19
vitesse_min =20; // 20 ok 26'19
distance_ref_init = 700;
go=1;
break;
case(1024) : //noir
consigne_vitesse =25;
vitesse_min =25;
distance_ref = 700;
consigne_vitesse =22;
vitesse_min =22;
distance_ref_init = 700;
go=1;
break;
}
......
}
void asserv1(){ //asservissement tourelle
if(alpha!=consigne) valeur_t=k1*(consigne-alpha);
if(alpha!=consigne) valeur_t=k1*(consigne-alpha);
}
void asserv_roue(){
......
comm.data.id='D';
comm.data.rtr=0;
comm.data.val=valeur_r;
if(valeur_r>-100) comm.data.val=valeur_r;
else comm.data.val=-100;
snd_dtq (CanTx,comm.msg);
dly_tsk(10);
}
}
void asserv2(){ //asservissement roue
if(couleur==0x1c80) ; // bloc rouge grand valeur 2 avant saut
if(couleur==0x1c80 || couleur==0x18c8 ) ; // avant saut: bloc rouge grand valeur 2 et pr?-barille: petit bloc cyan 32 , bloc les roues
else if(couleur==0x18d0){
distance_ref=400;
if(distance!=distance_ref) valeur_r=-k2*(distance_ref-distance);
}
else {
distance_ref=distance_ref_init;
if(distance!=distance_ref) valeur_r=-k2*(distance_ref-distance);
}
}
......
}
void asserv3(){ //asservisement vitesse
if(couleur==0x1580 || couleur==0x1581 ) vitesse=consigne_vitesse; // vert=ligne droite
else if(couleur==0x1c80) vitesse=45; // vitesse saut
else if(couleur==0x1c88) vitesse=14; //vitesse apr?s saut, bloc rouge grand valeur 32 apr?s saut
else if(couleur==0x1c80) vitesse=45; // vitesse saut: bloc rouge grand valeur 2
else if(couleur==0x1c88) vitesse=vitesse_min; //vitesse apr?s saut: bloc rouge grand valeur 32
else if(couleur==0x1a90 || couleur==0x1890) vitesse=consigne_vitesse-8; //mise en place rail: grand bloc jaune 64 et piste courbe: petit bloc bleu(cyan) 64
else if(couleur==0x1a88) vitesse=consigne_vitesse+4; //rail apres mise en place: gand bloc jaune 32
else if(couleur==0x18d0 || couleur==0x18c8) vitesse=vitesse_min; //barille: petit bloc cyan 64 et pr?-barille: petit bloc cyan 32
else{
vitesse=vitesse_min; //virage
}

Formats disponibles : Unified diff