Index: branch/fichot/Emb_App/SessionM32C_E8a_system.ini
===================================================================
--- branch/fichot/Emb_App/SessionM32C_E8a_system.ini	(revision 351)
+++ branch/fichot/Emb_App/SessionM32C_E8a_system.ini	(revision 352)
@@ -25,4 +25,4 @@
 [Target]
 M32C E8a SYSTEM=Renesas Communications
 [USER_DATA]
-RESET=ff001e
+RESET=ff0022
Index: branch/fichot/Emb_App/programme_principal_etud.c
===================================================================
--- branch/fichot/Emb_App/programme_principal_etud.c	(revision 351)
+++ branch/fichot/Emb_App/programme_principal_etud.c	(revision 352)
@@ -123,13 +123,18 @@
 
 int k1=4;
 int k2=2;
-UINT flag;
+int k3 = 1;
 unsigned short capt=0;
 unsigned short stop = 0;
 unsigned short vitesse;
 int num_piste;                                                
 int rpiste;
+int saut =0;
+int angle_roue;
+int distance_v;
 
+  
+
 CanFrame vit_roue; 
 
 void demarrer(vitesse)
@@ -164,10 +169,11 @@
 		}
 }
 
+
 void asserv2()
 {
         CanFrame comm;
-		CanFrame req, reponse;
+		CanFrame req;
 		UINT flag;
 		short consigne = 710;
 		short distance;
@@ -187,13 +193,12 @@
                     comm.data.val = 0;
                     dly_tsk(10);
 				}
-				else{
-                                        
+				else{               
                 	req.data.id = 'U';
                     req.data.rtr = 1;
                     snd_dtq(CanTx, req.msg);
                     distance=periph[ADDR('U')].val; 
-                    //Asservissement
+                    
                     rot=k2*(distance-consigne);
                     comm.data.id='D';
                     comm.data.rtr = 0;
@@ -207,32 +212,26 @@
 }
 
 
-void capteur(){
-        CanFrame req;
-        CanFrame comm;
-        while (1){
-			stop = 0;
-        	req.data.id = 'C';
-            req.data.rtr = 1;
-            snd_dtq(CanTx, req.msg);
-            capt=periph[ADDR('C')].val;
-			stop = 0;
-            while(capt==0x7620){
-				stop = 1;
-				req.data.id = 'C';
-                req.data.rtr = 1;
-                snd_dtq(CanTx, req.msg);
-                capt=periph[ADDR('C')].val;
-                demarrer(50);
-                comm.data.id='D';
-                comm.data.rtr = 0;
-                comm.data.val = 0;
-                snd_dtq(CanTx,comm.msg);
-				dly_tsk(1000);
-			} 
-         dly_tsk(10);
+
+
+/*void saut_rouge (){
+        
+        while(1){
+                if(num_piste1 == 3){                         
+                        if( capteur == 0x7620 ){        
+                                dly_tsk(1000);
+                                saut = 1;
+                        }        
+                        else {
+                                saut = 0;
+                        }
+                }
+                dly_tsk(10);
         }
 }
+			
+			
+*/
 				
 void piste(){
         CanFrame requete;
@@ -258,15 +257,15 @@
     can_init();
     clavier_init(1);
     capture_init();
-	
+	sta_tsk(ID_periph_rx);
+	sta_tsk(ID_piste);
 	sta_cyc(ID_acqui);
-	sta_tsk(ID_periph_rx);
 	sta_tsk(ID_asserv_tourelle);
 	dly_tsk(1000);
 	sta_tsk(ID_asserv2);
-	sta_tsk(ID_capteur);
 	dly_tsk(2000);
 	demarrer(30);
+	
 	while(1){
 		
         dly_tsk(2000);	
Index: branch/fichot/Emb_App/conf_noyau.cfg
===================================================================
--- branch/fichot/Emb_App/conf_noyau.cfg	(revision 351)
+++ branch/fichot/Emb_App/conf_noyau.cfg	(revision 352)
@@ -2,7 +2,7 @@
 //
 //    kernel.cfg : building file for MR308 Ver.4.00
 //
-//    Generated by M3T-MR308 GUI Configurator at 2018/12/19 15:14:55
+//    Generated by M3T-MR308 GUI Configurator at 2018/12/19 17:27:37
 //
 ////////////////////////////////////////////////////////////////////////////////
 
@@ -9,7 +9,7 @@
 // system definition
 system{
 	stack_size	= 256;
-	priority	= 11;
+	priority	= 10;
 	system_IPL	 = 4;
 	message_pri	 = 1;
 	timeout	 = YES;
@@ -80,11 +80,11 @@
 	exinf	= 0x0;
 };
 task[]{
-	entry_address	= capteur();
-	name	= ID_capteur;
+	entry_address	= piste();
+	name	= ID_piste;
 	stack_size	= 256;
 	stack_section	= stack;
-	priority	= 11;
+	priority	= 4;
 	initial_start	= OFF;
 	exinf	= 0x0;
 };
Index: branch/fichot/Emb_App/conf_noyau.hcf
===================================================================
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