Révision 42
Ajouté par axfont il y a plus de 6 ans
| branch/font/Emb_App/programme_principal_etud.c | ||
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// correspondant au nom du v?hicule si le nom se termine par '*'
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unsigned int alpha;
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unsigned int d;
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unsigned int k = 1;
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unsigned short pot;
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void lecture_telemetre(){
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CanFrame reponsed, requeted;
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//Lecture distance mesur?e
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requeted.data.id = 'U';
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requeted.data.rtr = 1;
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snd_dtq(CanTx, requeted.msg);
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void asserv() {
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rcv_dtq(CanRx, &reponsed.msg);
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d = reponsed.data.val;
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}
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void tsk_asserv1(){
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CanFrame comm, reponse, requete, m;
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CanFrame comm, reponse, requete;
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//Contr?le vitesse de rotation de la tourelle
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comm.data.id = 'T';
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comm.data.rtr = 0;
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//asservissement en vitesse
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comm.data.val = k * (ad00 - alpha);
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//Contr?le vitesse de rotation de la tourelle
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comm.data.id = 'T';
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comm.data.rtr = 0;
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//asservissement en vitesse
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comm.data.val = k * (900 - alpha);
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snd_dtq(CanTx, comm.msg);
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snd_dtq(CanTx, comm.msg);
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//Lecture de la position
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requete.data.id = 'R';
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requete.data.rtr = 1;
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snd_dtq(CanTx, requete.msg);
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rcv_dtq(CanRx, &reponse.msg);
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alpha = reponse.data.val;
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//Lecture de la position
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requete.data.id = 'R';
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requete.data.rtr = 1;
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snd_dtq(CanTx, requete.msg);
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rcv_dtq(CanRx, &reponse.msg);
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//if (reponse.data.id == 'R'){
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alpha = reponse.data.val;
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//}
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//d?marrage de la voiture
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/*comm.data.id = 'V';
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comm.data.rtr = 0;
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comm.data.val = 120;
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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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| ... | ... | |
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while(1)
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{
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asserv();
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sta_tsk(ID_tsk_asserv1);
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}
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}
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| branch/font/Emb_App/conf_noyau.cfg | ||
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exinf = 0x0;
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};
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task[]{
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entry_address = tsk_asserv1();
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name = ID_tsk_asserv1;
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stack_size = 512;
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stack_section = stack;
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priority = 4;
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initial_start = OFF;
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exinf = 0x0;
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};
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flag[]{
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name = ev_bus_fin_tr;
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initial_pattern = 0x0000;
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Formats disponibles : Unified diff
dernière modification