Révision 386
Ajouté par sabeaussan il y a plus de 6 ans
| branch/beaussant/Emb_App/crt0mr.a30 | ||
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; after reset,this program will start
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;-----------------------------------------------------------------
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__SYS_INITIAL:
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LDC #__Sys_Sp,ISP ; set initial ISP
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LDC #__Sys_Sp,ISP ; set initial ISPl
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MOV.B #2,0AH
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MOV.B #00,PMOD ; Set Processor Mode Register
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| branch/beaussant/Emb_App/programme_principal_etud.c | ||
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//CanFrame touche;
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short consigne=450;
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int dist_obs=0;
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int dist_consigne=705;
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int dist_consigne=703;
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int cmpt;
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char kt=3;
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char kv=10;
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float kr=1.5;
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//char c;
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int in;
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FLGPTN flag;
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int is_stable=0;
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int dans;
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int est_stable=0;
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| ... | ... | |
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comm.data.id=id;
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comm.data.rtr=0;
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comm.data.val=val;
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snd_dtq (CanTx,comm.msg);
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snd_dtq(CanTx,comm.msg);
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}
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void main()
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{
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{
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ports_mcu();
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lcd_init();
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periph_init();
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periph_nom("#LeBolide*");
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can_init();
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clavier_init(1);
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capture_init();
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// sta_cyc(ID_acqui);
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capture_init();
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sta_tsk(ID_ctrlt);
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sta_tsk(ID_depart);
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sta_tsk(ID_periph_rx);
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sta_tsk(ID_periph_rx);
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while(1){};
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}
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int intervalle(int val,int borne)
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| ... | ... | |
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while(est_stable!=1){
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dist_obs=acquiFrame('U');
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if(dist_obs<1000){
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commandeR=-1*kr*(dist_consigne-dist_obs);
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envoieFrame('D',commandeR);
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est_stable=stable();
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commandeR=-1*kr*(dist_consigne-dist_obs);
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envoieFrame('D',commandeR);
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est_stable=stable();
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}
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dly_tsk(10);
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}
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| ... | ... | |
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val_capt=acquiFrame('C');
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val_capt=val_capt>>8;
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envoieFrame('V',commandeV);
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if((dist_obs<900 && val_capt!=99) || val_capt==106){
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if((dist_obs<900 && val_capt!=99 && dist_obs>0)){
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commandeR=-1*kr*(dist_consigne-dist_obs);
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envoieFrame('D',commandeR);
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dist_obs=acquiFrame('U');
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| ... | ... | |
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void asserv_vitesse(){
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while(1){
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dans=intervalle(commandeR,15);
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if(dans==1 && val_capt!=99){
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commandeV=60;
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kr=0.5;
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if(val_capt==99)
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{
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commandeV=45;
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kr==0;
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}
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else if(val_capt==66)
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else if(val_capt==106 || val_capt==66)
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{
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commandeV=15;
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commandeV=10;
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kr=0.8;
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}
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else if(dans==0 && val_capt!=99)
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else if(dans==1 && val_capt!=99)
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{
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commandeV=35;
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kr=1.5;
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commandeV=70;
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kr=0.7;
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}
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else if(val_capt==99 && commandeV!=10)
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else if(dans==0 && val_capt!=106)
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{
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commandeV=60;
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dly_tsk(300);
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commandeV=10;
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commandeV=30;
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kr=1.5;
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}
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dly_tsk(30);
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}
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}
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}
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/*int virage()
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{
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