CRAC Team / CRAC-Strat_2017_HOMOLOGATION_PETIT_ROBOT

code petit robot pour homologation

Fork of CRAC-Strat_2017_V2 by CRAC Team

Asservissement/Asservissement.h@1:116040d14164, 2016-04-15 (annotated)

Committer:
antbig
Date:
Fri Apr 15 10:49:40 2016 +0000
Revision:
1:116040d14164
Parent:
0:ad97421fb1fb
Child:
5:dcd817534b57
Premier test fonctionnel avec le petit robot,

Who changed what in which revision?

UserRevisionLine numberNew contents of line
antbig 0:ad97421fb1fb 1 #ifndef CRAC_ASSERVISSEMENT
antbig 0:ad97421fb1fb 2 #define CRAC_ASSERVISSEMENT
antbig 0:ad97421fb1fb 3
antbig 0:ad97421fb1fb 4 #include "global.h"
antbig 0:ad97421fb1fb 5
antbig 0:ad97421fb1fb 6 /*********************************************************************************************************/
antbig 0:ad97421fb1fb 7 /* FUNCTION NAME: SendRawId */
antbig 0:ad97421fb1fb 8 /* DESCRIPTION : Envoie un message sans donnée, c'est-à-dire contenant uniquement un ID, sur le bus CAN */
antbig 0:ad97421fb1fb 9 /*********************************************************************************************************/
antbig 0:ad97421fb1fb 10
antbig 0:ad97421fb1fb 11 void SendRawId (unsigned short id);
antbig 0:ad97421fb1fb 12
antbig 0:ad97421fb1fb 13 /*********************************************************************************************/
antbig 0:ad97421fb1fb 14 /* FUNCTION NAME: GoToPosition */
antbig 0:ad97421fb1fb 15 /* DESCRIPTION : Transmission CAN correspondant à un asservissement en position (x,y,theta) */
antbig 0:ad97421fb1fb 16 /*********************************************************************************************/
antbig 0:ad97421fb1fb 17
antbig 0:ad97421fb1fb 18 void GoToPosition (unsigned short x,unsigned short y,signed short theta,signed char sens);
antbig 0:ad97421fb1fb 19
antbig 0:ad97421fb1fb 20 /****************************************************************************************/
antbig 0:ad97421fb1fb 21 /* FUNCTION NAME: Rotate */
antbig 0:ad97421fb1fb 22 /* DESCRIPTION : Transmission CAN correspondant à une rotation */
antbig 0:ad97421fb1fb 23 /****************************************************************************************/
antbig 0:ad97421fb1fb 24
antbig 0:ad97421fb1fb 25 void Rotate (signed short angle);
antbig 0:ad97421fb1fb 26
antbig 1:116040d14164 27 /*********************************************************************************************/
antbig 1:116040d14164 28 /* FUNCTION NAME: GoStraight */
antbig 1:116040d14164 29 /* DESCRIPTION : Transmission CAN correspondant à une ligne droite, avec ou sans recalage */
antbig 1:116040d14164 30 /* recalage : 0 => pas de recalage */
antbig 1:116040d14164 31 /* 1 => recalage en X */
antbig 1:116040d14164 32 /* 2 => Recalage en Y */
antbig 1:116040d14164 33 /* newValue : Uniquement en cas de recalage, indique la nouvelle valeur de l'odo */
antbig 1:116040d14164 34 /* isEnchainement : Indique si il faut executer l'instruction en enchainement */
antbig 1:116040d14164 35 /* 0 => non */
antbig 1:116040d14164 36 /* 1 => oui */
antbig 1:116040d14164 37 /*********************************************************************************************/
antbig 1:116040d14164 38 void GoStraight (signed short distance,unsigned char recalage, unsigned short newValue, unsigned char isEnchainement);
antbig 1:116040d14164 39
antbig 0:ad97421fb1fb 40 #endif