Revision 2:dc3ec8d77b6a, committed 2019-05-27

Comitter:

kyxstark

Date:

Mon May 27 09:54:41 2019 +0000

Parent:

1:162aa6608ffe

Commit message:

v2019

Changed in this revision

--- a/Asservissement.cpp	Wed Apr 19 17:41:35 2017 +0000
+++ b/Asservissement.cpp	Mon May 27 09:54:41 2019 +0000
@@ -1,5 +1,5 @@
+
 #include "Asservissement.h"
-#include "My_ident.h"
 
 /*********************************************************************************************************/
 /* FUNCTION NAME: SendRawId                                                                              */
@@ -10,8 +10,8 @@
     CANMessage msgTx=CANMessage();
     msgTx.id=id;
     msgTx.len=0;
-    can1.write(msgTx);
-    //wait_us(200);
+    can.write(msgTx);
+    wait_us(200);
 }
 
 /*********************************************************************************************/
@@ -29,9 +29,55 @@
     msgTx.data[0]=(unsigned char)from;
     msgTx.data[1]=(unsigned char)(from>>8);
 
-    can1.write(msgTx);
+    can.write(msgTx);
+}
+
+
+void Send2Short(unsigned short id, unsigned short d1, unsigned short d2)
+{
+    CANMessage msgTx=CANMessage();
+    msgTx.id=id;
+    msgTx.len=4;
+    msgTx.format=CANStandard;
+    msgTx.type=CANData;
+    // from sur 2 octets
+    msgTx.data[0]=(unsigned char)d1;
+    msgTx.data[1]=(unsigned char)(d1>>8);
+    msgTx.data[2]=(unsigned char)d2;
+    msgTx.data[3]=(unsigned char)(d2>>8);
+
+    can.write(msgTx);
 }
 
+void SendMsgCan(unsigned short id, unsigned char* data, int len)
+{
+    CANMessage msgTx=CANMessage();
+    msgTx.id=id;
+    msgTx.len=len;
+    msgTx.format=CANStandard;
+    msgTx.type=CANData;
+    // from sur 2 octets
+    for(int i = 0; i<len; i++)
+    {
+        msgTx.data[i]=data[i];
+    }
+
+    can.write(msgTx);
+}
+void SendCharCan(unsigned short id, unsigned char data)
+{
+    CANMessage msgTx=CANMessage();
+    msgTx.id=id;
+    msgTx.len=1;
+    msgTx.format=CANStandard;
+    msgTx.type=CANData;
+    msgTx.data[0]=data;
+    
+    can.write(msgTx);
+}
+
+
+
 /*********************************************************************************************/
 /* FUNCTION NAME: GoToPosition                                                               */
 /* DESCRIPTION  : Transmission CAN correspondant à un asservissement en position (x,y,theta) */
@@ -56,14 +102,14 @@
     msgTx.data[5]=(unsigned char)(theta>>8);
     msgTx.data[6]=sens;
 
-    can1.write(msgTx);
+    can.write(msgTx);
 }
 
 /****************************************************************************************/
 /* FUNCTION NAME: Rotate                                                                */
 /* DESCRIPTION  : Transmission CAN correspondant à une rotation                         */
 /****************************************************************************************/
- void Rotate (signed short angle)
+void Rotate (signed short angle)
 {
     CANMessage msgTx=CANMessage();
     msgTx.id=ASSERVISSEMENT_ROTATION;  // Tx rotation autour du centre du robot
@@ -74,7 +120,7 @@
     msgTx.data[0]=(unsigned char)angle;
     msgTx.data[1]=(unsigned char)(angle>>8);
 
-    can1.write(msgTx);
+    can.write(msgTx);
 }
 
 
@@ -108,7 +154,7 @@
     //Enchainement sur 1 octet
     msgTx.data[5]=isEnchainement;
 
-    can1.write(msgTx);
+    can.write(msgTx);
     //wait_ms(500);
 }
 
@@ -134,7 +180,7 @@
     // Enchainement sur 1 octet
     msgTx.data[5]=enchainement;
 
-    can1.write(msgTx);
+    can.write(msgTx);
 }
 
 void SetOdometrie (unsigned short canId, unsigned short x,unsigned short y,signed short theta)
@@ -155,7 +201,7 @@
     msgTx.data[4]=(unsigned char)theta;
     msgTx.data[5]=(unsigned char)(theta>>8);
 
-    can1.write(msgTx);
+    can.write(msgTx);
 }
 
 /****************************************************************************************/
@@ -172,25 +218,95 @@
     //  Angle signé sur 2 octets
     msgTx.data[0]=(unsigned char)((enable==0)?0:1);
 
-    can1.write(msgTx);
+    can.write(msgTx);
 }
 
 
 /****************************************************************************************/
+/* FUNCTION NAME: SendSpeed accel decel                                                             */
+/* DESCRIPTION  : Envoie un asservissement paramètre retournant à une vitesse           */
+/****************************************************************************************/
+void SendSpeedAccelDecel (unsigned short vitesse, unsigned short acceleration,unsigned short deceleration)
+{
+    CANMessage msgTx=CANMessage();
+    msgTx.id=ASSERVISSEMENT_CONFIG;
+    msgTx.format=CANStandard;
+    msgTx.type=CANData;
+    msgTx.len=8;
+    msgTx.data[0]=(unsigned char)(vitesse&0x00FF);
+    msgTx.data[1]=(unsigned char)((vitesse&0xFF00)>>8);
+    
+    msgTx.data[2]=(unsigned char)(acceleration&0x00FF);
+    msgTx.data[3]=(unsigned char)((acceleration&0xFF00)>>8);
+    
+    msgTx.data[4]=(unsigned char)(deceleration&0x00FF);
+    msgTx.data[5]=(unsigned char)((deceleration&0xFF00)>>8);
+    
+    msgTx.data[6]=(unsigned char)(acceleration&0x00FF);//cloto
+    msgTx.data[7]=(unsigned char)((acceleration&0xFF00)>>8);//cloto
+
+    can.write(msgTx);
+        
+}
+
+/****************************************************************************************/
 /* FUNCTION NAME: SendSpeed                                                             */
 /* DESCRIPTION  : Envoie un asservissement paramètre retournant à une vitesse           */
 /****************************************************************************************/
-void SendSpeed (unsigned short vitesse, unsigned short acceleration)
+void SendSpeed (unsigned short vitesse)
+{
+    CANMessage msgTx=CANMessage();
+    msgTx.id=ASSERVISSEMENT_CONFIG_VIT;
+    msgTx.format=CANStandard;
+    msgTx.type=CANData;
+    msgTx.len=2;
+    msgTx.data[0]=(unsigned char)(vitesse&0x00FF);
+    msgTx.data[1]=(unsigned char)((vitesse&0xFF00)>>8);
+
+    can.write(msgTx);
+        
+}
+
+/****************************************************************************************/
+/* FUNCTION NAME: SendSpeed                                                             */
+/* DESCRIPTION  : Envoie un asservissement paramètre retournant à une vitesse           */
+/****************************************************************************************/
+void SendAccel(unsigned short acceleration,unsigned short deceleration)
 {
     CANMessage msgTx=CANMessage();
-    msgTx.id=ASSERVISSEMENT_CONFIG;
+    msgTx.id=ASSERVISSEMENT_CONFIG_ACCEL;
+    msgTx.format=CANStandard;
+    msgTx.type=CANData;
+    msgTx.len=4;
+    msgTx.data[0]=(unsigned char)(acceleration&0x00FF);
+    msgTx.data[1]=(unsigned char)((acceleration&0xFF00)>>8);
+    
+    msgTx.data[2]=(unsigned char)(deceleration&0x00FF);
+    msgTx.data[3]=(unsigned char)((deceleration&0xFF00)>>8);
+
+    can.write(msgTx);
+        
+}
+
+/****************************************************************************************/
+/* FUNCTION NAME: SendSpeedDecel                                                        */
+/* DESCRIPTION  : Envoie un asservissement paramètre retournant à une vitesse           */
+/****************************************************************************************/
+ /*
+void SendSpeedDecel (unsigned short vitesse, unsigned short deceleration)
+{
+    CANMessage msgTx=CANMessage();
+    msgTx.id=ASSERVISSEMENT_CONFIG_DECEL;
     msgTx.format=CANStandard;
     msgTx.type=CANData;
     msgTx.len=4;
     msgTx.data[0]=(unsigned char)(vitesse&0x00FF);
     msgTx.data[1]=(unsigned char)((vitesse&0xFF00)>>8);
-    msgTx.data[2]=(unsigned char)(acceleration&0x00FF);
-    msgTx.data[3]=(unsigned char)((acceleration&0xFF00)>>8);
-
-    can1.write(msgTx);
-}
\ No newline at end of file
+    msgTx.data[2]=(unsigned char)(deceleration&0x00FF);
+    msgTx.data[3]=(unsigned char)((deceleration&0xFF00)>>8);
+ 
+    can.write(msgTx);
+        
+}*/
+   
+   
\ No newline at end of file

--- a/Asservissement.h	Wed Apr 19 17:41:35 2017 +0000
+++ b/Asservissement.h	Mon May 27 09:54:41 2019 +0000
@@ -1,8 +1,10 @@
 #ifndef CRAC_ASSERVISSEMENT
 #define CRAC_ASSERVISSEMENT
+#include "main.h"
 
-#include "global.h"
-
+void Send2Short(unsigned short id, unsigned short d1, unsigned short d2);
+void SendMsgCan(unsigned short id, unsigned char* data, int len);
+void SendCharCan(unsigned short id, unsigned char data);
 /*********************************************************************************************************/
 /* FUNCTION NAME: SendRawId                                                                              */
 /* DESCRIPTION  : Envoie un message sans donnée, c'est-à-dire contenant uniquement un ID, sur le bus CAN */
@@ -61,7 +63,8 @@
 /* FUNCTION NAME: SendSpeed                                                             */
 /* DESCRIPTION  : Envoie un asservissement paramètre retournant à une vitesse           */
 /****************************************************************************************/
-void SendSpeed (unsigned short vitesse, unsigned short acceleration);
-
+void SendSpeed (unsigned short vitesse);
+void SendSpeedAccelDecel (unsigned short vitesse, unsigned short acceleration,unsigned short deceleration)
+void SendAccel(unsigned short acceleration,unsigned short deceleration)
 
 #endif
\ No newline at end of file

--- a/Globals/constantes.h	Wed Apr 19 17:41:35 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,44 +0,0 @@
-#ifndef CRAC_CONSTANTES
-#define CRAC_CONSTANTES
-// ****************************************************************************************
-// * CONSTANTES SYMBOLIQUES                                                               *
-// ****************************************************************************************
-
-
-
-#define SIZE_FIFO               25 //Taille du buffer pour le bus CAN
-
-#define SIZE                    750 //Taille d'une ligne du fichier
-#define SIZE_BUFFER_FILE        150 //Taille du buffer d'instruction 
-
-
-
-/****
-** Variable à modifier en fonction du robot
-***/
-#define ROBOT_BIG//Indique que l'on va compiler pour le gros robot
-//#define ROBOT_SMALL
-
-#ifdef ROBOT_BIG
-
-    #define NOMBRE_CARTES           5 //Le nombre de carte présente sur le gros robot
-    #define POSITION_DEBUT_X 765
-    #define POSITION_DEBUT_Y 100
-    #define POSITION_DEBUT_T 900
-    
-    #define BALISE_TIMEOUT 6000
-    
-#else
-
-    #define NOMBRE_CARTES           3 //Le nombre de carte présente sur le petit robot
-    #define POSITION_DEBUT_X 990
-    #define POSITION_DEBUT_Y 150
-    #define POSITION_DEBUT_T 0
-    
-    #define BALISE_TIMEOUT 2000
-    
-#endif
-
-
-
-#endif
\ No newline at end of file

--- a/Globals/global.h	Wed Apr 19 17:41:35 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,11 +0,0 @@
-#include "mbed.h"
-#include "constantes.h"
-#include "ident_crac.h"
-#include "Asservissement.h"
-//#include "AX12.h"
-//#include "Strategie.h"
-
-extern CAN can1;
-extern CANMessage msgRxBuffer[SIZE_FIFO];
-extern unsigned char FIFO_ecriture;
-

--- a/MY_Asserv.cpp	Wed Apr 19 17:41:35 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,88 +0,0 @@
-#include "mbed.h"
-#include "Nucleo_Encoder_16_bits.h"
-#include "MYCRAC_utility.h"
-#include "Asservissement.h"
-#include "global.h"
-#include "MY_Asserv.h"
-
-
-/****************************************************************************************/
-/* FUNCTION NAME: Send_assev_info_comfig                                                */
-/* DESCRIPTION  : Envoie un asservissement paramètre retournant à une vitesse           */
-/****************************************************************************************/
-void Send_assev_info_comfig(void)
-{
-    CANMessage msgTx=CANMessage();
-    msgTx.id=ASSERVISSEMENT_INFO_CONSIGNE;   // si proposition accepter remplacer par "ACKNOWLEDGE_MOTEUR"
-    msgTx.format=CANStandard;
-    msgTx.type=CANData;
-    msgTx.len=6;
-    msgTx.data[0]=(unsigned char)(((short)Kpp1)&0xFF);
-    msgTx.data[1]=(unsigned char)(((short)Kpp1 >> 8)&0xFF);
-    msgTx.data[2]=(unsigned char)(((short)Kip1)&0xFF);
-    msgTx.data[3]=(unsigned char)(((short)Kip1 >> 8)&0xFF);
-    msgTx.data[4]=(unsigned char)(((short)Kdp1)&0xFF);
-    msgTx.data[5]=(unsigned char)(((short)Kdp1 >> 8)&0xFF);
-
-    can1.write(msgTx);
-}
-
-/****************************************************************************************/
-/* FUNCTION NAME: Send_odometrie                                                        */
-/* DESCRIPTION  : Envoie  de l'odometrie                                                */
-/****************************************************************************************/
-void Send_odometrie(void)
-{
-    CANMessage msgTx=CANMessage();
-    msgTx.id=ODOMETRIE_SMALL_POSITION;  // si proposition accepter remplacer par "ACKNOWLEDGE_MOTEUR"
-    msgTx.format=CANStandard;
-    msgTx.type=CANData;
-    msgTx.len=6;
-    msgTx.data[0]=((short)Odo_x) & 0xFF;
-    msgTx.data[1]=((short)Odo_x >> 8) & 0xFF;
-    msgTx.data[2]=((short)Odo_y) & 0xFF;
-    msgTx.data[3]=((short)Odo_y >> 8) & 0xFF;
-    msgTx.data[4]=((short)Odo_theta % 3600) & 0xFF;
-    msgTx.data[5]=(((short)Odo_theta % 3600) >> 8) & 0xFF;
-
-    can1.write(msgTx);
-}
-
-/****************************************************************************************/
-/* FUNCTION NAME: Debug_Asserv                                                          */
-/* DESCRIPTION  : Envoie  vall encod + consigne_pos                                     */
-/* Ps           : les encodeurs sont sur 32 bits, là on ne prend que les 16 premiérs    */
-/****************************************************************************************/
-void Debug_Asserv(void)
-{
-    CANMessage msgTx=CANMessage();
-    msgTx.id=DEBUG_ASSERV;  // si proposition accepter remplacer par "ACKNOWLEDGE_MOTEUR"
-    msgTx.format=CANStandard;
-    msgTx.type=CANData;
-    msgTx.len=6;
-    msgTx.data[0]=(short)encoder1.GetCounter(); 
-    msgTx.data[1]=(short)encoder1.GetCounter()>>8;
-    msgTx.data[2]=(short)encoder2.GetCounter();
-    msgTx.data[3]=(short)encoder2.GetCounter()>>8;
-    msgTx.data[4]=(short)(consigne_pos);
-    msgTx.data[5]=(char)consigne_pos >> 8;
-
-    can1.write(msgTx);
-}
-
-/****************************************************************************************/
-/* FUNCTION NAME: motor_of                                                              */
-/* DESCRIPTION  : prevenir que les moteur sont à l'arret                                */
-/****************************************************************************************/
-void motor_of(void)
-{
-    CANMessage msgTx=CANMessage();
-    msgTx.id=INSTRUCTION_END_MOTEUR;
-    msgTx.format=CANStandard;
-    msgTx.type=CANData;
-    msgTx.len=2;
-    msgTx.data[0]= 0;
-    msgTx.data[1]= 0;
-    
-    can1.write(msgTx);
-}

--- a/MY_Asserv.h	Wed Apr 19 17:41:35 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,30 +0,0 @@
-#include "global.h"
-
-
-extern Nucleo_Encoder_16_bits encoder1;
-extern Nucleo_Encoder_16_bits encoder2;
-
-/****************************************************************************************/
-/* FUNCTION NAME: Send_assev_info_comfig                                                */
-/* DESCRIPTION  : Envoie un asservissement paramètre retournant à une vitesse           */
-/****************************************************************************************/
-void Send_assev_info_comfig(void);
-
-/****************************************************************************************/
-/* FUNCTION NAME: Debug_Asserv                                                          */
-/* DESCRIPTION  : Envoie  vall encod + consigne_pos                                     */
-/* Ps           : les encodeurs sont sur 32 bits, là on ne prend que les 16 premiérs    */
-/****************************************************************************************/
-void Debug_Asserv(void);
-
-/****************************************************************************************/
-/* FUNCTION NAME: Send_odometrie                                                        */
-/* DESCRIPTION  : Envoie  de l'odometrie                                                */
-/****************************************************************************************/
-void Send_odometrie(void);
-
-/****************************************************************************************/
-/* FUNCTION NAME: motor_of                                                              */
-/* DESCRIPTION  : prevenir que les moteur sont à l'arret                                */
-/****************************************************************************************/
-void motor_of(void);
\ No newline at end of file

--- a/My_ident.h	Wed Apr 19 17:41:35 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,7 +0,0 @@
-//#define ASSERVISSEMENT_LIGNE_DROITE 0x024
-//#define ASSERVISSEMENT_RECALAGE 0x025  // Moteur tout droit  (recalage : 0 mouvement seul, 1 x, 2y valeur : coordonnée à laquelle est recalé x/y; enchainement => 1 oui, 0 => non)
-
-
-//A voir
-
-#define MOTOR_IMOBILE 0x030
\ No newline at end of file