Projet

Général

Profil

« Précédent | Suivant » 

Révision 371

Ajouté par melepogam il y a plus de 6 ans

Passage piste noir ok

Voir les différences:

branch/lepogam/Emb_App.tws
[GENERAL_DATA]
[BREAKPOINTS]
[OPEN_WORKSPACE_FILES]
"E:\tp_info6_lepogam\bsp\periph.c"
"E:\tp_info6_lepogam\Emb_App\conf_noyau.cfg"
"E:\tp_info6_lepogam\Emb_App\crt0mr.a30"
"E:\tp_info6_lepogam\Emb_App\Debug\mr308.inc"
"E:\tp_info6_lepogam\Emb_App\programme_principal_etud.c"
[WORKSPACE_FILE_STATES]
"E:\tp_info6_lepogam\Emb_App\Debug\mr308.inc" 125 125 1430 351 0 3
"E:\tp_info6_lepogam\Emb_App\conf_noyau.cfg" 0 0 1430 351 0 1
"E:\tp_info6_lepogam\Emb_App\crt0mr.a30" 100 100 1430 351 0 2
"E:\tp_info6_lepogam\Emb_App\programme_principal_etud.c" 0 0 1596 539 0 0
"E:\tp_info6_lepogam\bsp\periph.c" -8 -30 1596 539 1 4
"E:\tp_info6_lepogam\Emb_App\conf_noyau.cfg" 25 25 1405 357 0 2
"E:\tp_info6_lepogam\Emb_App\crt0mr.a30" 0 0 1596 570 0 0
"E:\tp_info6_lepogam\Emb_App\programme_principal_etud.c" -8 -30 1596 539 1 1
[LOADED_PROJECTS]
"EmbM32C87App"
[END]
branch/lepogam/Emb_App/SessionM32C_E8a_system.ini
[Target]
M32C E8a SYSTEM=Renesas Communications
[USER_DATA]
RESET=ff0036
RESET=ff0038
branch/lepogam/Emb_App/SessionM32C_E8a_system.hsf
"{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_0" "0000000000000001"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_1" "0000000000000000"
"{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_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" "0000000000FF2FA8"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF33F1"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000B34"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000A5C"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000860"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "00000000000000F4"
"{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_27" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_28" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_29" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_3" "0000000000000001"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_3" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_30" "0000000000000000"
"{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" "000000000000036A"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_35" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_4" "0000000000000B4E"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000000B54"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000B40"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_4" "0000000000000004"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000FE00F2"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000A5C"
"{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"
......
[WINDOW_POSITION_STATE_DATA_VD3]
[WINDOW_POSITION_STATE_DATA_VD4]
[WINDOW_Z_ORDER]
"E:\tp_info6_lepogam\bsp\periph.c"
"E:\tp_info6_lepogam\Emb_App\programme_principal_etud.c"
"E:\tp_info6_lepogam\Emb_App\crt0mr.a30"
"E:\tp_info6_lepogam\Emb_App\conf_noyau.cfg"
"E:\tp_info6_lepogam\Emb_App\programme_principal_etud.c"
"E:\tp_info6_lepogam\Emb_App\Debug\mr308.inc"
[TARGET_NAME]
"M32C E8a SYSTEM" "" 0
[STATUSBAR_STATEINFO_VD1]
......
[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 103003056 1 "{00000000-0000-0000-C000-000000000046}" ""
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 102881960 1 "{00000000-0000-0000-C000-000000000046}" ""
[END]
branch/lepogam/Emb_App/programme_principal_etud.c
unsigned int consigne=450;
unsigned int consigne_vitesse=50;
unsigned int vitesse_min=30;
unsigned int vitesse_saut=45;
unsigned int valeur_t=0;
unsigned int valeur_r=0;
int go=0;
......
case(256) : //verte
consigne_vitesse =70; //60
vitesse_min =25; //35
distance_ref_init = 700; // d?cal?e ? gauche 820
vitesse_min =34; //35
distance_ref_init = 800; // d?cal?e ? gauche 820
go=1;
break;
case(512) : //bleue
consigne_vitesse =50; //48 ok 21'19, max 50
vitesse_min =30;//26 ok 21,19, max 30
consigne_vitesse =58; //58 ok 21'19, max 58
vitesse_min =30;//30 ok 21,19, max 30
distance_ref_init = 700; // centr?e 700
go=1;
break;
......
consigne_vitesse =46; //40 ok 26,19
vitesse_min =20; // 20 ok 26'19
distance_ref_init = 700;
vitesse_saut=45;
go=1;
break;
......
consigne_vitesse =22;
vitesse_min =22;
distance_ref_init = 700;
vitesse_saut=42;
go=1;
break;
}
......
}
void asserv1(){ //asservissement tourelle
if(alpha!=consigne) valeur_t=k1*(consigne-alpha);
if(couleur==0x18e0){ //pente piste noire petit bloc cyan 64
if(alpha!=610) valeur_t=k1*(610-alpha);
}
else {
if(alpha!=consigne) valeur_t=k1*(consigne-alpha);
}
}
void asserv_roue(){
......
}
void asserv2(){ //asservissement roue
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=925;
else if(couleur==0x18d0 || couleur==0x18c1){ // barille: petit bloc cyan 64 et piste caillou: petit bloc cyan 6
distance_ref=350;
if(distance!=distance_ref) valeur_r=-k2*(distance_ref-distance);
}
else if(couleur==0x18e0){
distance_ref=570;
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: bloc rouge grand valeur 2
else if(couleur==0x1c80) vitesse=vitesse_saut; // 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) vitesse=vitesse_min; //barille: petit bloc cyan 64 et pr?barille: petit bloc cyan 32
else if(couleur==0x18d0) vitesse=vitesse_min; //barille: petit bloc cyan 64
else if(couleur==0x18e0) vitesse=8; //pente piste: petit bloc cyan 128
else if(couleur==0x18c1) vitesse=15; //piste caillou: petit bloc cyan 6
else{
vitesse=vitesse_min; //virage
}
branch/lepogam/Emb_App/DefaultSession.hsf
[CONFIG_INFO_VD4]
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 "0.03" 195 0 0 350 200 17 0 "32771|32772|32778|<<separator>>|32773|32774|<<separator>>|32820|<<separator>>|32801|32824" "0.0"
"{WK_00000001_OUTPUT}" "WINDOW" 59422 0 0 "1.00" 195 0 0 350 200 18 0 "36756|36757|36758|36759|<<separator>>|36746|36747|<<separator>>|39531|<<separator>>|39500|39534|<<separator>>|36687" "0.0"
"{WK_00000002_WORKSPACE}" "WINDOW" 59420 0 0 "1.00" 284 0 0 350 200 18 0 "" "0.0"
......
[WINDOW_POSITION_STATE_DATA_VD3]
[WINDOW_POSITION_STATE_DATA_VD4]
[WINDOW_Z_ORDER]
"D:\laffont\Tp_Info14\Emb_App\programme_principal_etud.c"
"D:\laffont\Tp_Info14\Emb_App\uart0.c"
"D:\laffont\Tp_Info14\Emb_App\crt0mr.a30"
"D:\laffont\Tp_Info14\Emb_App\conf_noyau.cfg"
"D:\laffont\Tp_Info14\Emb_App\periph.c"
"D:\laffont\Tp_Info14\Emb_App\c_sec.inc"
"E:\tp_info6_lepogam\Emb_App\crt0mr.a30"
[TARGET_NAME]
"" "" 0
[STATUSBAR_STATEINFO_VD1]
branch/lepogam/Emb_App/EmbM32C87App.tps
"SessionM32C_E8a_system"
[GENERAL_DATA_PROJECT]
[GENERAL_DATA_CONFIGURATION_Debug]
"PROJECT_FILES_MODIFIED_DATA_TAG" "TRUE"
"PROJECT_FILES_MODIFIED_DATA_TAG" "FALSE"
[SESSIONS_Debug]
"DefaultSession"
"SessionM32C_E8a_system"

Formats disponibles : Unified diff