CRAC Team / Asservissement

Biblio à utiliser pour communiquer avec la carte moteur

Dependents:   Asserv_mot Asserv_mot

Asservissement.cpp@2:dc3ec8d77b6a, 2019-05-27 (annotated)

Committer:
kyxstark
Date:
Mon May 27 09:54:41 2019 +0000
Revision:
2:dc3ec8d77b6a
Parent:
1:162aa6608ffe 
v2019

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kyxstark 2:dc3ec8d77b6a 1
kkoichy 0:3a1f19e51eb2 2 #include "Asservissement.h"
kkoichy 0:3a1f19e51eb2 3
kkoichy 0:3a1f19e51eb2 4 /*********************************************************************************************************/
kkoichy 0:3a1f19e51eb2 5 /* FUNCTION NAME: SendRawId */
kkoichy 0:3a1f19e51eb2 6 /* DESCRIPTION : Envoie un message sans donnée, c'est-à-dire contenant uniquement un ID, sur le bus CAN */
kkoichy 0:3a1f19e51eb2 7 /*********************************************************************************************************/
kkoichy 0:3a1f19e51eb2 8 void SendRawId (unsigned short id)
kkoichy 0:3a1f19e51eb2 9 {
kkoichy 0:3a1f19e51eb2 10 CANMessage msgTx=CANMessage();
kkoichy 0:3a1f19e51eb2 11 msgTx.id=id;
kkoichy 0:3a1f19e51eb2 12 msgTx.len=0;
kyxstark 2:dc3ec8d77b6a 13 can.write(msgTx);
kyxstark 2:dc3ec8d77b6a 14 wait_us(200);
kkoichy 0:3a1f19e51eb2 15 }
kkoichy 0:3a1f19e51eb2 16
kkoichy 0:3a1f19e51eb2 17 /*********************************************************************************************/
kkoichy 0:3a1f19e51eb2 18 /* FUNCTION NAME: SendAck */
kkoichy 0:3a1f19e51eb2 19 /* DESCRIPTION : Envoyer un acknowledge */
kkoichy 0:3a1f19e51eb2 20 /*********************************************************************************************/
kkoichy 0:3a1f19e51eb2 21 void SendAck(unsigned short id, unsigned short from)
kkoichy 0:3a1f19e51eb2 22 {
kkoichy 0:3a1f19e51eb2 23 CANMessage msgTx=CANMessage();
kkoichy 0:3a1f19e51eb2 24 msgTx.id=id;
kkoichy 0:3a1f19e51eb2 25 msgTx.len=2;
kkoichy 0:3a1f19e51eb2 26 msgTx.format=CANStandard;
kkoichy 0:3a1f19e51eb2 27 msgTx.type=CANData;
kkoichy 0:3a1f19e51eb2 28 // from sur 2 octets
kkoichy 0:3a1f19e51eb2 29 msgTx.data[0]=(unsigned char)from;
kkoichy 0:3a1f19e51eb2 30 msgTx.data[1]=(unsigned char)(from>>8);
kkoichy 0:3a1f19e51eb2 31
kyxstark 2:dc3ec8d77b6a 32 can.write(msgTx);
kyxstark 2:dc3ec8d77b6a 33 }
kyxstark 2:dc3ec8d77b6a 34
kyxstark 2:dc3ec8d77b6a 35
kyxstark 2:dc3ec8d77b6a 36 void Send2Short(unsigned short id, unsigned short d1, unsigned short d2)
kyxstark 2:dc3ec8d77b6a 37 {
kyxstark 2:dc3ec8d77b6a 38 CANMessage msgTx=CANMessage();
kyxstark 2:dc3ec8d77b6a 39 msgTx.id=id;
kyxstark 2:dc3ec8d77b6a 40 msgTx.len=4;
kyxstark 2:dc3ec8d77b6a 41 msgTx.format=CANStandard;
kyxstark 2:dc3ec8d77b6a 42 msgTx.type=CANData;
kyxstark 2:dc3ec8d77b6a 43 // from sur 2 octets
kyxstark 2:dc3ec8d77b6a 44 msgTx.data[0]=(unsigned char)d1;
kyxstark 2:dc3ec8d77b6a 45 msgTx.data[1]=(unsigned char)(d1>>8);
kyxstark 2:dc3ec8d77b6a 46 msgTx.data[2]=(unsigned char)d2;
kyxstark 2:dc3ec8d77b6a 47 msgTx.data[3]=(unsigned char)(d2>>8);
kyxstark 2:dc3ec8d77b6a 48
kyxstark 2:dc3ec8d77b6a 49 can.write(msgTx);
kkoichy 0:3a1f19e51eb2 50 }
kkoichy 0:3a1f19e51eb2 51
kyxstark 2:dc3ec8d77b6a 52 void SendMsgCan(unsigned short id, unsigned char* data, int len)
kyxstark 2:dc3ec8d77b6a 53 {
kyxstark 2:dc3ec8d77b6a 54 CANMessage msgTx=CANMessage();
kyxstark 2:dc3ec8d77b6a 55 msgTx.id=id;
kyxstark 2:dc3ec8d77b6a 56 msgTx.len=len;
kyxstark 2:dc3ec8d77b6a 57 msgTx.format=CANStandard;
kyxstark 2:dc3ec8d77b6a 58 msgTx.type=CANData;
kyxstark 2:dc3ec8d77b6a 59 // from sur 2 octets
kyxstark 2:dc3ec8d77b6a 60 for(int i = 0; i<len; i++)
kyxstark 2:dc3ec8d77b6a 61 {
kyxstark 2:dc3ec8d77b6a 62 msgTx.data[i]=data[i];
kyxstark 2:dc3ec8d77b6a 63 }
kyxstark 2:dc3ec8d77b6a 64
kyxstark 2:dc3ec8d77b6a 65 can.write(msgTx);
kyxstark 2:dc3ec8d77b6a 66 }
kyxstark 2:dc3ec8d77b6a 67 void SendCharCan(unsigned short id, unsigned char data)
kyxstark 2:dc3ec8d77b6a 68 {
kyxstark 2:dc3ec8d77b6a 69 CANMessage msgTx=CANMessage();
kyxstark 2:dc3ec8d77b6a 70 msgTx.id=id;
kyxstark 2:dc3ec8d77b6a 71 msgTx.len=1;
kyxstark 2:dc3ec8d77b6a 72 msgTx.format=CANStandard;
kyxstark 2:dc3ec8d77b6a 73 msgTx.type=CANData;
kyxstark 2:dc3ec8d77b6a 74 msgTx.data[0]=data;
kyxstark 2:dc3ec8d77b6a 75
kyxstark 2:dc3ec8d77b6a 76 can.write(msgTx);
kyxstark 2:dc3ec8d77b6a 77 }
kyxstark 2:dc3ec8d77b6a 78
kyxstark 2:dc3ec8d77b6a 79
kyxstark 2:dc3ec8d77b6a 80
kkoichy 0:3a1f19e51eb2 81 /*********************************************************************************************/
kkoichy 0:3a1f19e51eb2 82 /* FUNCTION NAME: GoToPosition */
kkoichy 0:3a1f19e51eb2 83 /* DESCRIPTION : Transmission CAN correspondant à un asservissement en position (x,y,theta) */
kkoichy 0:3a1f19e51eb2 84 /*********************************************************************************************/
kkoichy 0:3a1f19e51eb2 85 void GoToPosition (unsigned short x,unsigned short y,signed short theta,signed char sens)
kkoichy 0:3a1f19e51eb2 86 {
kkoichy 0:3a1f19e51eb2 87 //id_to_expect=ACK_CONSIGNE;
kkoichy 0:3a1f19e51eb2 88
kkoichy 0:3a1f19e51eb2 89 CANMessage msgTx=CANMessage();
kkoichy 0:3a1f19e51eb2 90 msgTx.id=ASSERVISSEMENT_XYT; // tx nouvelle position en (x,y,theta)
kkoichy 0:3a1f19e51eb2 91 msgTx.len=7;
kkoichy 0:3a1f19e51eb2 92 msgTx.format=CANStandard;
kkoichy 0:3a1f19e51eb2 93 msgTx.type=CANData;
kkoichy 0:3a1f19e51eb2 94 // x sur 2 octets
kkoichy 0:3a1f19e51eb2 95 msgTx.data[0]=(unsigned char)x;
kkoichy 0:3a1f19e51eb2 96 msgTx.data[1]=(unsigned char)(x>>8);
kkoichy 0:3a1f19e51eb2 97 // y sur 2 octets
kkoichy 0:3a1f19e51eb2 98 msgTx.data[2]=(unsigned char)y;
kkoichy 0:3a1f19e51eb2 99 msgTx.data[3]=(unsigned char)(y>>8);
kkoichy 0:3a1f19e51eb2 100 // theta signé sur 2 octets
kkoichy 0:3a1f19e51eb2 101 msgTx.data[4]=(unsigned char)theta;
kkoichy 0:3a1f19e51eb2 102 msgTx.data[5]=(unsigned char)(theta>>8);
kkoichy 0:3a1f19e51eb2 103 msgTx.data[6]=sens;
kkoichy 0:3a1f19e51eb2 104
kyxstark 2:dc3ec8d77b6a 105 can.write(msgTx);
kkoichy 0:3a1f19e51eb2 106 }
kkoichy 0:3a1f19e51eb2 107
kkoichy 0:3a1f19e51eb2 108 /****************************************************************************************/
kkoichy 0:3a1f19e51eb2 109 /* FUNCTION NAME: Rotate */
kkoichy 0:3a1f19e51eb2 110 /* DESCRIPTION : Transmission CAN correspondant à une rotation */
kkoichy 0:3a1f19e51eb2 111 /****************************************************************************************/
kyxstark 2:dc3ec8d77b6a 112 void Rotate (signed short angle)
kkoichy 0:3a1f19e51eb2 113 {
kkoichy 0:3a1f19e51eb2 114 CANMessage msgTx=CANMessage();
kkoichy 0:3a1f19e51eb2 115 msgTx.id=ASSERVISSEMENT_ROTATION; // Tx rotation autour du centre du robot
kkoichy 0:3a1f19e51eb2 116 msgTx.len=2;
kkoichy 0:3a1f19e51eb2 117 msgTx.format=CANStandard;
kkoichy 0:3a1f19e51eb2 118 msgTx.type=CANData;
kkoichy 0:3a1f19e51eb2 119 // Angle signé sur 2 octets
kkoichy 0:3a1f19e51eb2 120 msgTx.data[0]=(unsigned char)angle;
kkoichy 0:3a1f19e51eb2 121 msgTx.data[1]=(unsigned char)(angle>>8);
kkoichy 0:3a1f19e51eb2 122
kyxstark 2:dc3ec8d77b6a 123 can.write(msgTx);
kkoichy 0:3a1f19e51eb2 124 }
kkoichy 0:3a1f19e51eb2 125
kkoichy 0:3a1f19e51eb2 126
kkoichy 0:3a1f19e51eb2 127 /*********************************************************************************************/
kkoichy 0:3a1f19e51eb2 128 /* FUNCTION NAME: GoStraight */
kkoichy 0:3a1f19e51eb2 129 /* DESCRIPTION : Transmission CAN correspondant à une ligne droite, avec ou sans recalage */
kkoichy 0:3a1f19e51eb2 130 /* recalage : 0 => pas de recalage */
kkoichy 0:3a1f19e51eb2 131 /* 1 => recalage en X */
kkoichy 0:3a1f19e51eb2 132 /* 2 => Recalage en Y */
kkoichy 0:3a1f19e51eb2 133 /* newValue : Uniquement en cas de recalage, indique la nouvelle valeur de l'odo */
kkoichy 0:3a1f19e51eb2 134 /* isEnchainement : Indique si il faut executer l'instruction en enchainement */
kkoichy 0:3a1f19e51eb2 135 /* 0 => non */
kkoichy 0:3a1f19e51eb2 136 /* 1 => oui */
kkoichy 0:3a1f19e51eb2 137 /* 2 => dernière instruction de l'enchainement */
kkoichy 0:3a1f19e51eb2 138 /*********************************************************************************************/
kkoichy 0:3a1f19e51eb2 139 void GoStraight (signed short distance,unsigned char recalage, unsigned short newValue, unsigned char isEnchainement)
kkoichy 0:3a1f19e51eb2 140 {
kkoichy 0:3a1f19e51eb2 141 CANMessage msgTx=CANMessage();
kkoichy 0:3a1f19e51eb2 142 msgTx.id=ASSERVISSEMENT_RECALAGE;
kkoichy 0:3a1f19e51eb2 143 msgTx.len=6;
kkoichy 0:3a1f19e51eb2 144 msgTx.format=CANStandard;
kkoichy 0:3a1f19e51eb2 145 msgTx.type=CANData;
kkoichy 0:3a1f19e51eb2 146 // x sur 2 octets
kkoichy 0:3a1f19e51eb2 147 msgTx.data[0]=(unsigned char)distance;
kkoichy 0:3a1f19e51eb2 148 msgTx.data[1]=(unsigned char)(distance>>8);
kkoichy 0:3a1f19e51eb2 149 //Recalage sur 1 octet
kkoichy 0:3a1f19e51eb2 150 msgTx.data[2]=recalage;
kkoichy 0:3a1f19e51eb2 151 //Valeur du recalage sur 2 octets
kkoichy 0:3a1f19e51eb2 152 msgTx.data[3]=(unsigned char)newValue;
kkoichy 0:3a1f19e51eb2 153 msgTx.data[4]=(unsigned char)(newValue>>8);
kkoichy 0:3a1f19e51eb2 154 //Enchainement sur 1 octet
kkoichy 0:3a1f19e51eb2 155 msgTx.data[5]=isEnchainement;
kkoichy 0:3a1f19e51eb2 156
kyxstark 2:dc3ec8d77b6a 157 can.write(msgTx);
kkoichy 0:3a1f19e51eb2 158 //wait_ms(500);
kkoichy 0:3a1f19e51eb2 159 }
kkoichy 0:3a1f19e51eb2 160
kkoichy 0:3a1f19e51eb2 161 /********************************************************************************************/
kkoichy 0:3a1f19e51eb2 162 /* FUNCTION NAME: BendRadius */
kkoichy 0:3a1f19e51eb2 163 /* DESCRIPTION : Transmission CAN correspondant à un rayon de courbure */
kkoichy 0:3a1f19e51eb2 164 /********************************************************************************************/
kkoichy 0:3a1f19e51eb2 165 void BendRadius (unsigned short rayon,signed short angle,signed char sens, unsigned char enchainement)
kkoichy 0:3a1f19e51eb2 166 {
kkoichy 0:3a1f19e51eb2 167 CANMessage msgTx=CANMessage();
kkoichy 0:3a1f19e51eb2 168 msgTx.id=ASSERVISSEMENT_COURBURE; // tx asservissement rayon de courbure
kkoichy 0:3a1f19e51eb2 169 msgTx.len=6;
kkoichy 0:3a1f19e51eb2 170 msgTx.format=CANStandard;
kkoichy 0:3a1f19e51eb2 171 msgTx.type=CANData;
kkoichy 0:3a1f19e51eb2 172 // Rayon sur 2 octets
kkoichy 0:3a1f19e51eb2 173 msgTx.data[0]=(unsigned char)rayon;
kkoichy 0:3a1f19e51eb2 174 msgTx.data[1]=(unsigned char)(rayon>>8);
kkoichy 0:3a1f19e51eb2 175 // Angle signé sur 2 octets
kkoichy 0:3a1f19e51eb2 176 msgTx.data[2]=(unsigned char)angle;
kkoichy 0:3a1f19e51eb2 177 msgTx.data[3]=(unsigned char)(angle>>8);
kkoichy 0:3a1f19e51eb2 178 // Sens signé sur 1 octet
kkoichy 0:3a1f19e51eb2 179 msgTx.data[4]=sens;
kkoichy 0:3a1f19e51eb2 180 // Enchainement sur 1 octet
kkoichy 0:3a1f19e51eb2 181 msgTx.data[5]=enchainement;
kkoichy 0:3a1f19e51eb2 182
kyxstark 2:dc3ec8d77b6a 183 can.write(msgTx);
kkoichy 0:3a1f19e51eb2 184 }
kkoichy 0:3a1f19e51eb2 185
kkoichy 0:3a1f19e51eb2 186 void SetOdometrie (unsigned short canId, unsigned short x,unsigned short y,signed short theta)
kkoichy 0:3a1f19e51eb2 187 {
kkoichy 0:3a1f19e51eb2 188 CANMessage msgTx=CANMessage();
kkoichy 0:3a1f19e51eb2 189 msgTx.id=canId;
kkoichy 0:3a1f19e51eb2 190 msgTx.format=CANStandard;
kkoichy 0:3a1f19e51eb2 191 msgTx.type=CANData;
kkoichy 0:3a1f19e51eb2 192 msgTx.len=6;
kkoichy 0:3a1f19e51eb2 193
kkoichy 0:3a1f19e51eb2 194 // x sur 2 octets
kkoichy 0:3a1f19e51eb2 195 msgTx.data[0]=(unsigned char)x;
kkoichy 0:3a1f19e51eb2 196 msgTx.data[1]=(unsigned char)(x>>8);
kkoichy 0:3a1f19e51eb2 197 // y sur 2 octets
kkoichy 0:3a1f19e51eb2 198 msgTx.data[2]=(unsigned char)y;
kkoichy 0:3a1f19e51eb2 199 msgTx.data[3]=(unsigned char)(y>>8);
kkoichy 0:3a1f19e51eb2 200 // theta signé sur 2 octets
kkoichy 0:3a1f19e51eb2 201 msgTx.data[4]=(unsigned char)theta;
kkoichy 0:3a1f19e51eb2 202 msgTx.data[5]=(unsigned char)(theta>>8);
kkoichy 0:3a1f19e51eb2 203
kyxstark 2:dc3ec8d77b6a 204 can.write(msgTx);
kkoichy 0:3a1f19e51eb2 205 }
kkoichy 0:3a1f19e51eb2 206
kkoichy 0:3a1f19e51eb2 207 /****************************************************************************************/
kkoichy 0:3a1f19e51eb2 208 /* FUNCTION NAME: setAsservissementEtat */
kkoichy 0:3a1f19e51eb2 209 /* DESCRIPTION : Activer ou désactiver l'asservissement */
kkoichy 0:3a1f19e51eb2 210 /****************************************************************************************/
kkoichy 0:3a1f19e51eb2 211 void setAsservissementEtat(unsigned char enable)
kkoichy 0:3a1f19e51eb2 212 {
kkoichy 0:3a1f19e51eb2 213 CANMessage msgTx=CANMessage();
kkoichy 0:3a1f19e51eb2 214 msgTx.id=ASSERVISSEMENT_ENABLE; // Tx rotation autour du centre du robot
kkoichy 0:3a1f19e51eb2 215 msgTx.len=1;
kkoichy 0:3a1f19e51eb2 216 msgTx.format=CANStandard;
kkoichy 0:3a1f19e51eb2 217 msgTx.type=CANData;
kkoichy 0:3a1f19e51eb2 218 // Angle signé sur 2 octets
kkoichy 0:3a1f19e51eb2 219 msgTx.data[0]=(unsigned char)((enable==0)?0:1);
kkoichy 0:3a1f19e51eb2 220
kyxstark 2:dc3ec8d77b6a 221 can.write(msgTx);
kkoichy 0:3a1f19e51eb2 222 }
kkoichy 0:3a1f19e51eb2 223
kkoichy 0:3a1f19e51eb2 224
kkoichy 0:3a1f19e51eb2 225 /****************************************************************************************/
kyxstark 2:dc3ec8d77b6a 226 /* FUNCTION NAME: SendSpeed accel decel */
kyxstark 2:dc3ec8d77b6a 227 /* DESCRIPTION : Envoie un asservissement paramètre retournant à une vitesse */
kyxstark 2:dc3ec8d77b6a 228 /****************************************************************************************/
kyxstark 2:dc3ec8d77b6a 229 void SendSpeedAccelDecel (unsigned short vitesse, unsigned short acceleration,unsigned short deceleration)
kyxstark 2:dc3ec8d77b6a 230 {
kyxstark 2:dc3ec8d77b6a 231 CANMessage msgTx=CANMessage();
kyxstark 2:dc3ec8d77b6a 232 msgTx.id=ASSERVISSEMENT_CONFIG;
kyxstark 2:dc3ec8d77b6a 233 msgTx.format=CANStandard;
kyxstark 2:dc3ec8d77b6a 234 msgTx.type=CANData;
kyxstark 2:dc3ec8d77b6a 235 msgTx.len=8;
kyxstark 2:dc3ec8d77b6a 236 msgTx.data[0]=(unsigned char)(vitesse&0x00FF);
kyxstark 2:dc3ec8d77b6a 237 msgTx.data[1]=(unsigned char)((vitesse&0xFF00)>>8);
kyxstark 2:dc3ec8d77b6a 238
kyxstark 2:dc3ec8d77b6a 239 msgTx.data[2]=(unsigned char)(acceleration&0x00FF);
kyxstark 2:dc3ec8d77b6a 240 msgTx.data[3]=(unsigned char)((acceleration&0xFF00)>>8);
kyxstark 2:dc3ec8d77b6a 241
kyxstark 2:dc3ec8d77b6a 242 msgTx.data[4]=(unsigned char)(deceleration&0x00FF);
kyxstark 2:dc3ec8d77b6a 243 msgTx.data[5]=(unsigned char)((deceleration&0xFF00)>>8);
kyxstark 2:dc3ec8d77b6a 244
kyxstark 2:dc3ec8d77b6a 245 msgTx.data[6]=(unsigned char)(acceleration&0x00FF);//cloto
kyxstark 2:dc3ec8d77b6a 246 msgTx.data[7]=(unsigned char)((acceleration&0xFF00)>>8);//cloto
kyxstark 2:dc3ec8d77b6a 247
kyxstark 2:dc3ec8d77b6a 248 can.write(msgTx);
kyxstark 2:dc3ec8d77b6a 249
kyxstark 2:dc3ec8d77b6a 250 }
kyxstark 2:dc3ec8d77b6a 251
kyxstark 2:dc3ec8d77b6a 252 /****************************************************************************************/
kkoichy 0:3a1f19e51eb2 253 /* FUNCTION NAME: SendSpeed */
kkoichy 0:3a1f19e51eb2 254 /* DESCRIPTION : Envoie un asservissement paramètre retournant à une vitesse */
kkoichy 0:3a1f19e51eb2 255 /****************************************************************************************/
kyxstark 2:dc3ec8d77b6a 256 void SendSpeed (unsigned short vitesse)
kyxstark 2:dc3ec8d77b6a 257 {
kyxstark 2:dc3ec8d77b6a 258 CANMessage msgTx=CANMessage();
kyxstark 2:dc3ec8d77b6a 259 msgTx.id=ASSERVISSEMENT_CONFIG_VIT;
kyxstark 2:dc3ec8d77b6a 260 msgTx.format=CANStandard;
kyxstark 2:dc3ec8d77b6a 261 msgTx.type=CANData;
kyxstark 2:dc3ec8d77b6a 262 msgTx.len=2;
kyxstark 2:dc3ec8d77b6a 263 msgTx.data[0]=(unsigned char)(vitesse&0x00FF);
kyxstark 2:dc3ec8d77b6a 264 msgTx.data[1]=(unsigned char)((vitesse&0xFF00)>>8);
kyxstark 2:dc3ec8d77b6a 265
kyxstark 2:dc3ec8d77b6a 266 can.write(msgTx);
kyxstark 2:dc3ec8d77b6a 267
kyxstark 2:dc3ec8d77b6a 268 }
kyxstark 2:dc3ec8d77b6a 269
kyxstark 2:dc3ec8d77b6a 270 /****************************************************************************************/
kyxstark 2:dc3ec8d77b6a 271 /* FUNCTION NAME: SendSpeed */
kyxstark 2:dc3ec8d77b6a 272 /* DESCRIPTION : Envoie un asservissement paramètre retournant à une vitesse */
kyxstark 2:dc3ec8d77b6a 273 /****************************************************************************************/
kyxstark 2:dc3ec8d77b6a 274 void SendAccel(unsigned short acceleration,unsigned short deceleration)
kkoichy 0:3a1f19e51eb2 275 {
kkoichy 0:3a1f19e51eb2 276 CANMessage msgTx=CANMessage();
kyxstark 2:dc3ec8d77b6a 277 msgTx.id=ASSERVISSEMENT_CONFIG_ACCEL;
kyxstark 2:dc3ec8d77b6a 278 msgTx.format=CANStandard;
kyxstark 2:dc3ec8d77b6a 279 msgTx.type=CANData;
kyxstark 2:dc3ec8d77b6a 280 msgTx.len=4;
kyxstark 2:dc3ec8d77b6a 281 msgTx.data[0]=(unsigned char)(acceleration&0x00FF);
kyxstark 2:dc3ec8d77b6a 282 msgTx.data[1]=(unsigned char)((acceleration&0xFF00)>>8);
kyxstark 2:dc3ec8d77b6a 283
kyxstark 2:dc3ec8d77b6a 284 msgTx.data[2]=(unsigned char)(deceleration&0x00FF);
kyxstark 2:dc3ec8d77b6a 285 msgTx.data[3]=(unsigned char)((deceleration&0xFF00)>>8);
kyxstark 2:dc3ec8d77b6a 286
kyxstark 2:dc3ec8d77b6a 287 can.write(msgTx);
kyxstark 2:dc3ec8d77b6a 288
kyxstark 2:dc3ec8d77b6a 289 }
kyxstark 2:dc3ec8d77b6a 290
kyxstark 2:dc3ec8d77b6a 291 /****************************************************************************************/
kyxstark 2:dc3ec8d77b6a 292 /* FUNCTION NAME: SendSpeedDecel */
kyxstark 2:dc3ec8d77b6a 293 /* DESCRIPTION : Envoie un asservissement paramètre retournant à une vitesse */
kyxstark 2:dc3ec8d77b6a 294 /****************************************************************************************/
kyxstark 2:dc3ec8d77b6a 295 /*
kyxstark 2:dc3ec8d77b6a 296 void SendSpeedDecel (unsigned short vitesse, unsigned short deceleration)
kyxstark 2:dc3ec8d77b6a 297 {
kyxstark 2:dc3ec8d77b6a 298 CANMessage msgTx=CANMessage();
kyxstark 2:dc3ec8d77b6a 299 msgTx.id=ASSERVISSEMENT_CONFIG_DECEL;
kkoichy 0:3a1f19e51eb2 300 msgTx.format=CANStandard;
kkoichy 0:3a1f19e51eb2 301 msgTx.type=CANData;
kkoichy 0:3a1f19e51eb2 302 msgTx.len=4;
kkoichy 0:3a1f19e51eb2 303 msgTx.data[0]=(unsigned char)(vitesse&0x00FF);
kkoichy 0:3a1f19e51eb2 304 msgTx.data[1]=(unsigned char)((vitesse&0xFF00)>>8);
kyxstark 2:dc3ec8d77b6a 305 msgTx.data[2]=(unsigned char)(deceleration&0x00FF);
kyxstark 2:dc3ec8d77b6a 306 msgTx.data[3]=(unsigned char)((deceleration&0xFF00)>>8);
kyxstark 2:dc3ec8d77b6a 307
kyxstark 2:dc3ec8d77b6a 308 can.write(msgTx);
kyxstark 2:dc3ec8d77b6a 309
kyxstark 2:dc3ec8d77b6a 310 }*/
kyxstark 2:dc3ec8d77b6a 311
kyxstark 2:dc3ec8d77b6a 312