CRAC Team / CRAC-Strat_2017

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Fork of CRAC-Strat_copy by Clement Breteau

Diff: Asservissement/Asservissement.cpp

Revision:
12:14729d584500
Parent:
11:ed13a480ddca
Child:
14:c8fc06c4887f
--- a/Asservissement/Asservissement.cpp	Mon May 02 19:40:59 2016 +0000
+++ b/Asservissement/Asservissement.cpp	Mon May 09 09:10:17 2016 +0000
@@ -156,3 +156,40 @@
 
     can1.write(msgTx);
 }
+
+/****************************************************************************************/
+/* FUNCTION NAME: setAsservissementEtat                                                 */
+/* DESCRIPTION  : Activer ou désactiver l'asservissement                                */
+/****************************************************************************************/
+void setAsservissementEtat(unsigned char enable)
+{
+    CANMessage msgTx=CANMessage();
+    msgTx.id=ASSERVISSEMENT_ENABLE;  // Tx rotation autour du centre du robot
+    msgTx.len=1;
+    msgTx.format=CANStandard;
+    msgTx.type=CANData;
+    //  Angle signé sur 2 octets
+    msgTx.data[0]=(unsigned char)((enable==0)?0:1);
+
+    can1.write(msgTx);
+}
+
+
+/****************************************************************************************/
+/* FUNCTION NAME: SendSpeed                                                             */
+/* DESCRIPTION  : Envoie un asservissement paramètre retournant à une vitesse           */
+/****************************************************************************************/
+void SendSpeed (unsigned short vitesse, unsigned short acceleration)
+{
+    CANMessage msgTx=CANMessage();
+    msgTx.id=ASSERVISSEMENT_CONFIG;
+    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