Index: branch/maincent/tp_info6/Emb_App.tws
===================================================================
--- branch/maincent/tp_info6/Emb_App.tws	(revision 67)
+++ branch/maincent/tp_info6/Emb_App.tws	(revision 68)
@@ -8,14 +8,16 @@
 [BREAKPOINTS]
 [OPEN_WORKSPACE_FILES]
 "E:\info6_maincent\tp_info6\bsp\radiocommande.c" 
+"E:\info6_maincent\tp_info6\bsp\uart0.c" 
 "E:\info6_maincent\tp_info6\Emb_App\conf_noyau.cfg" 
 "E:\info6_maincent\tp_info6\Emb_App\crt0mr.a30" 
 "E:\info6_maincent\tp_info6\Emb_App\programme_principal_etud.c" 
 [WORKSPACE_FILE_STATES]
 "E:\info6_maincent\tp_info6\Emb_App\conf_noyau.cfg" 75 75 1428 347 0 3 
-"E:\info6_maincent\tp_info6\Emb_App\crt0mr.a30" 25 25 1430 351 0 1 
-"E:\info6_maincent\tp_info6\Emb_App\programme_principal_etud.c" -8 -30 1594 535 1 0 
+"E:\info6_maincent\tp_info6\Emb_App\crt0mr.a30" -8 -30 956 523 1 1 
+"E:\info6_maincent\tp_info6\Emb_App\programme_principal_etud.c" 0 0 1594 535 0 0 
 "E:\info6_maincent\tp_info6\bsp\radiocommande.c" 50 50 1430 351 0 2 
+"E:\info6_maincent\tp_info6\bsp\uart0.c" 100 100 1356 347 0 4 
 [LOADED_PROJECTS]
 "EmbM32C87App" 
 [END]
Index: branch/maincent/tp_info6/Emb_App/SessionM32C_E8a_system.hsf
===================================================================
--- branch/maincent/tp_info6/Emb_App/SessionM32C_E8a_system.hsf	(revision 67)
+++ branch/maincent/tp_info6/Emb_App/SessionM32C_E8a_system.hsf	(revision 68)
@@ -141,7 +141,7 @@
 "{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" "0000000000000008" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_0" "0000000000000000" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_1" "0000000000000000" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_10" "0000000000000000" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_11" "0000000000000000" 
@@ -148,13 +148,13 @@
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_12" "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" "0000000000FF04B9" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "00000000000009F0" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000812" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "00000000000000FF" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "00000000000040C8" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_15" "0000000000000000" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF0016" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000000000" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000000" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000700" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000000" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "0000000000000000" 
 "{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" 
@@ -169,12 +169,12 @@
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_31" "0000000000000000" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_32" "0000000000000000" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_33" "0000000000000000" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_34" "000000000000036A" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_34" "0000000000000000" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_35" "0000000000000000" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_4" "0000000000000002" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000FFFFFF" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000A0E" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_7" "0000000000000512" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_4" "0000000000000000" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000000000" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000000" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_7" "0000000000000000" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_8" "0000000000000000" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_9" "0000000000000000" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_COUNT" "36" 
@@ -207,7 +207,7 @@
 "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH" "c,buff,n,rx,flag," 
 "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000" "alpha, 1, 0, P, Col, Dec, MA" 
 "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000_SCOPE" "Current Scope," 
-"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "d, 1, 0, P, Col, Dec, MA" 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "distance, 1, 0, P, Col, Dec, MA" 
 "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001_SCOPE" "Current Scope," 
 "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "2" 
 "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth0" "120" 
@@ -279,11 +279,11 @@
 0 
 [WINDOW_POSITION_STATE_DATA_VD1]
 "Help" "TOOLBAR 0" 59419 2 4 "0.00" 0 0 0 0 0 17 0 "" "0.0" 
-"{WK_00000001_CmdLine}" "WINDOW" 59422 0 3 "0.09" 365 0 0 350 200 17 0 "32771|32772|32778|<<separator>>|32773|32774|<<separator>>|32820|<<separator>>|32801|32824" "0.0" 
+"{WK_00000001_CmdLine}" "WINDOW" 59422 0 3 "0.08" 365 0 0 350 200 17 0 "32771|32772|32778|<<separator>>|32773|32774|<<separator>>|32820|<<separator>>|32801|32824" "0.0" 
 "{WK_00000001_DISASSEMBLY}" "WINDOW" 0 0 0 "0.00" 0 -4 -30 948 486 9 0 "" "0.0" 
 "{WK_00000001_EVENT}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 1 "0.08" 365 0 0 350 200 18 0 "32774|32775|32777|<<separator>>|32780|<<separator>>" "0.0" 
 "{WK_00000001_MEMORY}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 1 "0.23" 365 2 -1 350 200 2065 0 "42202|42203|42204|42233|<<separator>>|42206|42205|42230|42229|42207|<<separator>>|42208|42209|42210|49076|42228|42227|<<separator>>|42231|42232|42234|42235|<<separator>>|42211|<<separator>>|32796|32797" "0.0" 
-"{WK_00000001_OUTPUT}" "WINDOW" 59422 0 0 "0.53" 365 0 0 350 200 18 0 "36756|36757|36758|36759|<<separator>>|36746|36747|<<separator>>|39531|<<separator>>|39500|39534|<<separator>>|36687" "0.0" 
+"{WK_00000001_OUTPUT}" "WINDOW" 59422 0 0 "0.54" 365 0 0 350 200 18 0 "36756|36757|36758|36759|<<separator>>|36746|36747|<<separator>>|39531|<<separator>>|39500|39534|<<separator>>|36687" "0.0" 
 "{WK_00000001_PDMR}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 4 "0.14" 365 0 0 350 200 18 0 "47300|47301|47302|47303|47304|47305|47314|47306|47307|47308|47311|47312|47313|42211|42509|42303" "0.0" 
 "{WK_00000001_REGISTERS}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59421 0 0 "1.00" 236 0 0 350 200 2065 0 "" "0.0" 
 "{WK_00000001_WATCH}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 2 "0.24" 365 0 0 350 200 18 0 "32781|32783|<<separator>>|32771|32772|32773|<<separator>>|32786|<<separator>>|32810|32811" "0.0" 
@@ -311,10 +311,11 @@
 [WINDOW_POSITION_STATE_DATA_VD3]
 [WINDOW_POSITION_STATE_DATA_VD4]
 [WINDOW_Z_ORDER]
+"E:\info6_maincent\tp_info6\Emb_App\crt0mr.a30" 
 "E:\info6_maincent\tp_info6\Emb_App\programme_principal_etud.c" 
+"E:\info6_maincent\tp_info6\bsp\radiocommande.c" 
+"E:\info6_maincent\tp_info6\bsp\uart0.c" 
 "E:\info6_maincent\tp_info6\Emb_App\conf_noyau.cfg" 
-"E:\info6_maincent\tp_info6\Emb_App\crt0mr.a30" 
-"E:\info6_maincent\tp_info6\bsp\radiocommande.c" 
 [TARGET_NAME]
 "M32C E8a SYSTEM" "" 0 
 [STATUSBAR_STATEINFO_VD1]
@@ -361,5 +362,5 @@
 [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 96994280 1 "{00000000-0000-0000-C000-000000000046}" "" 
+"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 91760712 1 "{00000000-0000-0000-C000-000000000046}" "" 
 [END]
Index: branch/maincent/tp_info6/Emb_App/programme_principal_etud.c
===================================================================
--- branch/maincent/tp_info6/Emb_App/programme_principal_etud.c	(revision 67)
+++ branch/maincent/tp_info6/Emb_App/programme_principal_etud.c	(revision 68)
@@ -141,7 +141,7 @@
         //Commande vitesse de la tourelle
         comm.data.id='T';
         comm.data.rtr=0; //indique une ?criture
-        comm.data.val=k*(450/*ou ad00*/-alpha);
+        comm.data.val=k*(450-alpha);
         snd_dtq(CanTx, comm.msg);
  		dly_tsk(50);
 	}      
@@ -173,8 +173,15 @@
         //Commande de l'angle de roue
         comm.data.id='D';
         comm.data.rtr=0; //indique une ?criture
-        comm.data.val=s*(distance-695);
-        snd_dtq(CanTx, comm.msg); 
+        if (distance > 5000)
+		{
+			comm.data.val=0;
+		}	
+		else
+		{
+			comm.data.val=s*(distance-706);
+        }
+  		snd_dtq(CanTx, comm.msg); 
 		dly_tsk(2);      
 	}
 }
@@ -182,7 +189,7 @@
 	while(1)
 	{
         CanFrame requete;
-		dly_tsk(8000);
+		dly_tsk(5000);
 		requete.data.id='V';
 		requete.data.rtr=0; 
 		requete.data.val=20;
