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Révision 523

Ajouté par crzemeta il y a plus de 6 ans

Flash saute correctement sur piste rouge

Voir les différences:

branch/zemeta/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" "0000000000000044"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_0" "0000000000004044"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_1" "0000000000000020"
"{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" "0000000000FF0595"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF058C"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000C26"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000C24"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "000000000000095E"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000001"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "0000000000000044"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "0000000000004044"
"{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_23" "0000000000000000"
......
[WINDOW_POSITION_STATE_DATA_VD4]
[WINDOW_Z_ORDER]
"E:\tp_info6_2018_zemeta\tp_info6\Emb_App\programme_principal_etud.c"
"E:\tp_info6_2018_zemeta\tp_info6\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_zemeta\tp_info6\bsp\dma0.c"
"E:\tp_info6_2018_zemeta\tp_info6\bsp\uart0.c"
"E:\tp_info6_2018_zemeta\tp_info6\Emb_App\conf_noyau.cfg"
"E:\tp_info6_2018_zemeta\tp_info6\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_zemeta\tp_info6\bsp\uart0.c"
"E:\tp_info6_2018_zemeta\tp_info6\bsp\periph.c"
"E:\tp_info6_2018_zemeta\tp_info6\bsp\lcd.c"
"E:\tp_info6_2018_zemeta\tp_info6\Disassembly"
......
[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 93049200 1 "{00000000-0000-0000-C000-000000000046}" ""
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 92721520 1 "{00000000-0000-0000-C000-000000000046}" ""
[END]
branch/zemeta/Emb_App/programme_principal_etud.c
{
if (num_piste==768)
{
LED_R=0;
if(capt_detecte!=22019) // course normale
if(capt_detecte!=30212) // course normale
{
D=705;
consigne_tour=450;
......
comRoue = 0;
}
}
else if (capt_detecte==22019) // detection de ligne droite de saut
/* else */if (capt_detecte==30212) // detection de ligne droite de saut
{
LED_R=1;
D=500;
consigne_tour=900;
D=705;
consigne_tour=450;
if(appui_Bp!=1)
{
vitesse_roue = 45;
comRoue = 1 ;
comRoue = 0 ;
}
else if (appui_Bp)
{
......
}
}
if (capt_detecte==30463 || capt_detecte==16899 || capt_detecte==30216 ) // Decceleration apres saut
{
D=705;
consigne_tour=450;
if(appui_Bp!=1)
{
vitesse_roue = 10;
comRoue = -k2*error2 ;
}
else if (appui_Bp)
{
vitesse_roue = 0;
comRoue = 0;
}
}
}
dly_tsk(5);
}
......
{
while (1)
{
LED_R=0;
if(num_piste==256 || num_piste==512) // course normale
{
D=705; // PARTIE QUE JAI MODIFIER POUR TEST Dinit = 705 et consigne tourelle= 450 et Vitesses_roue=35 :CODE FONCTIONNEL
consigne_tour=-450;
consigne_tour=450;
/*if(appui_Bp!=1)
if(appui_Bp!=1)
{
comRoue = -k2*error2 ;
vitesse_roue = 1;
vitesse_roue = 35;
}
else if (appui_Bp)
{
vitesse_roue = 0;
comRoue = 0 ;
}*/
//**A EFFACER / TEST POUR ROULER TOUT PRET DU MUR
comRoue = k2*error2 ;
vitesse_roue = 20;
/*if(capt_detecte==22017)
{
D=100 ;
}
else if (capt_detecte!=22017)
{
D==250;
}*/
}
}
dly_tsk(10);
}
......
comRoue = 0 ;
}
if (num_piste==768/* || num_piste==1024*/)
if (num_piste==768 )
{
if(capt_detecte!=22019)
{
......
if (capt_detecte==30272 ||capt_detecte==22017 ) // d?part piste noire sur le cot? gauche
{
LED_R=1;
D=505;
consigne_tour=-450;
if(appui_Bp!=1)
......
if (capt_detecte==30224) // preparation au road riding ok
{
LED_R=1;
D=400;
consigne_tour=450;
if(appui_Bp!=1)
......
if (capt_detecte==30216) // preparation au road riding ok
{
LED_R=1;
D=230;
consigne_tour=450;
if(appui_Bp!=1)
......
if (capt_detecte==22018) // road riding
{
LED_R=1;
D=150;
consigne_tour=450;
if(appui_Bp!=1)
......
}
if (capt_detecte==30212) // SAut piste noire
{
LED_R=1;
D=705;
consigne_tour=450;
if(appui_Bp!=1)
......
if (capt_detecte==22020) // Zone de turbulence
{
//LED_R=1;
D=705;
consigne_tour=450;
if(appui_Bp!=1)

Formats disponibles : Unified diff