CRAC Team / Asservissement

Biblio à utiliser pour communiquer avec la carte moteur

Dependents:   Asserv_mot Asserv_mot

Files at this revision

API Documentation at this revision

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

Asservissement.cpp Show annotated file Show diff for this revision Revisions of this file
Asservissement.h Show annotated file Show diff for this revision Revisions of this file
Globals/constantes.h Show diff for this revision Revisions of this file
Globals/global.h Show diff for this revision Revisions of this file
MY_Asserv.cpp Show diff for this revision Revisions of this file
MY_Asserv.h Show diff for this revision Revisions of this file
My_ident.h Show diff for this revision Revisions of this file 
--- 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