Révision 45
Ajouté par sevilain1 il y a plus de 6 ans
| branch/vilain_sebastien/Emb_App/programme_principal_etud.c | ||
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//'I'/73/Ox49 : D?finition du nom du v?hicule. Doit d?buter par le caract?re '#' et entraine le chargement de la configuration de piste
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// correspondant au nom du v?hicule si le nom se termine par '*'
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void commande_tourelle(short vit_rot);
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short lecture_angle();
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short asserv0(short consigne);
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short consigne = 900;
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short erreur;
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short vitesse = 120;
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void main()
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{
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{
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CanFrame requete, reponse;
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ports_mcu();
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lcd_init();
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periph_init();
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periph_nom("#AutoTest*");
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periph_nom("#Test*");
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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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// sta_tsk(ID_periph_rx);
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// sta_tsk(ID_periph_rx);
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requete.data.id = 'V';
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requete.data.rtr = 0;
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requete.data.val=30;
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snd_dtq(CanTx, requete.msg);
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while(1)
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{
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{
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erreur = asserv0(consigne);
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commande_tourelle(erreur);
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LED_J=1;
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dly_tsk(100);
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LED_J=0;
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| ... | ... | |
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LED_V=!LED_V;
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}
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void commande_tourelle(short vit_rot)
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{
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CanFrame comm;
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comm.data.id = 'T';
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comm.data.rtr = 0;
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comm.data.val = vit_rot;
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snd_dtq(CanTx, comm.msg);
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}
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short lecture_angle()
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{
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CanFrame requete, reponse;
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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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return (reponse.data.val);
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}
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short asserv0(short consigne)
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{
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int K = 2;
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short erreur;
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erreur = K*(consigne-lecture_angle());
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return erreur;
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}
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| branch/vilain_sebastien/Emb_App/conf_noyau.cfg | ||
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//
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// kernel.cfg : building file for MR308 Ver.4.00
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//
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// Generated by M3T-MR308 GUI Configurator at 2013/01/08 15:28:33
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// Generated by M3T-MR308 GUI Configurator at 2018/11/28 17:30:53
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//
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////////////////////////////////////////////////////////////////////////////////
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