Révision 67
Ajouté par tibacher il y a plus de 6 ans
| branch/bacher/Emb_App/programme_principal_etud.c | ||
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int cons=450; //contient la consigne
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int retour=0; //contient la valeur retourner par le p?riph
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int k=1; //contient le gain du correcteur
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int k2=2;
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int k2=1;
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int valeur=0; //contient la valeur ? envoyer
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int distance=0;
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int cons_roue=700;
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| ... | ... | |
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dly_tsk(5000);
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vit_roue.data.id='V';
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vit_roue.data.rtr=0;
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vit_roue.data.val=40;
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vit_roue.data.val=33;
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snd_dtq (CanTx,vit_roue.msg);
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}
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| ... | ... | |
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comm.data.val=valeur;
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snd_dtq (CanTx,comm.msg); //on envoie la modification ? effectuer
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if(retour!=cons) valeur=k*(cons-retour);
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dly_tsk(5);
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}
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}
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| ... | ... | |
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snd_dtq(CanTx, req.msg);
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wai_flg (ev_periph, 0x02, TWF_ANDW, &flag);
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distance=periph[ADDR('U')].val;
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dly_tsk(50);
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if (periph[ADDR('U')].val>1000){
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}
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else {
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distance=periph[ADDR('U')].val;
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}
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dly_tsk(5);
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}
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}
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| ... | ... | |
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comm.data.rtr=0;
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comm.data.val=k2*(distance-cons_roue);
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snd_dtq(CanTx, comm.msg);
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dly_tsk(5);
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}
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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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Formats disponibles : Unified diff
Circuit bleu en 26.37s
vitesse = 33