CRAC Team / CRAC-Strat_2017_HOMOLOGATION_PETIT_ROBOT

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Asservissement/Asservissement.h@12:14729d584500, 2016-05-09 (annotated)

Committer:
antbig
Date:
Mon May 09 09:10:17 2016 +0000
Revision:
12:14729d584500
Parent:
9:d0042422d95a 
1Version utilis? lors du match 5

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 5:dcd817534b57 10 void SendRawId (unsigned short id);
antbig 0:ad97421fb1fb 11
antbig 5:dcd817534b57 12 /*********************************************************************************************/
antbig 5:dcd817534b57 13 /* FUNCTION NAME: SendAck */
antbig 5:dcd817534b57 14 /* DESCRIPTION : Envoyer un acknowledge */
antbig 5:dcd817534b57 15 /*********************************************************************************************/
antbig 5:dcd817534b57 16 void SendAck(unsigned short id, unsigned short from);
antbig 0:ad97421fb1fb 17
antbig 0:ad97421fb1fb 18 /*********************************************************************************************/
antbig 0:ad97421fb1fb 19 /* FUNCTION NAME: GoToPosition */
antbig 0:ad97421fb1fb 20 /* DESCRIPTION : Transmission CAN correspondant à un asservissement en position (x,y,theta) */
antbig 0:ad97421fb1fb 21 /*********************************************************************************************/
antbig 0:ad97421fb1fb 22
antbig 0:ad97421fb1fb 23 void GoToPosition (unsigned short x,unsigned short y,signed short theta,signed char sens);
antbig 0:ad97421fb1fb 24
antbig 0:ad97421fb1fb 25 /****************************************************************************************/
antbig 0:ad97421fb1fb 26 /* FUNCTION NAME: Rotate */
antbig 0:ad97421fb1fb 27 /* DESCRIPTION : Transmission CAN correspondant à une rotation */
antbig 0:ad97421fb1fb 28 /****************************************************************************************/
antbig 0:ad97421fb1fb 29
antbig 0:ad97421fb1fb 30 void Rotate (signed short angle);
antbig 0:ad97421fb1fb 31
antbig 1:116040d14164 32 /*********************************************************************************************/
antbig 1:116040d14164 33 /* FUNCTION NAME: GoStraight */
antbig 1:116040d14164 34 /* DESCRIPTION : Transmission CAN correspondant à une ligne droite, avec ou sans recalage */
antbig 1:116040d14164 35 /* recalage : 0 => pas de recalage */
antbig 1:116040d14164 36 /* 1 => recalage en X */
antbig 1:116040d14164 37 /* 2 => Recalage en Y */
antbig 1:116040d14164 38 /* newValue : Uniquement en cas de recalage, indique la nouvelle valeur de l'odo */
antbig 1:116040d14164 39 /* isEnchainement : Indique si il faut executer l'instruction en enchainement */
antbig 1:116040d14164 40 /* 0 => non */
antbig 1:116040d14164 41 /* 1 => oui */
antbig 6:eddfa414fd11 42 /* 2 => dernière instruction de l'enchainement */
antbig 1:116040d14164 43 /*********************************************************************************************/
antbig 1:116040d14164 44 void GoStraight (signed short distance,unsigned char recalage, unsigned short newValue, unsigned char isEnchainement);
antbig 1:116040d14164 45
antbig 6:eddfa414fd11 46 /********************************************************************************************/
antbig 6:eddfa414fd11 47 /* FUNCTION NAME: BendRadius */
antbig 6:eddfa414fd11 48 /* DESCRIPTION : Transmission CAN correspondant à un rayon de courbure */
antbig 6:eddfa414fd11 49 /********************************************************************************************/
antbig 6:eddfa414fd11 50 void BendRadius (unsigned short rayon,signed short angle,signed char sens, unsigned char enchainement);
antbig 6:eddfa414fd11 51
antbig 9:d0042422d95a 52 void SetOdometrie (unsigned short canId, unsigned short x,unsigned short y,signed short theta);
antbig 9:d0042422d95a 53
antbig 12:14729d584500 54 /****************************************************************************************/
antbig 12:14729d584500 55 /* FUNCTION NAME: setAsservissementEtat */
antbig 12:14729d584500 56 /* DESCRIPTION : Activer ou désactiver l'asservissement */
antbig 12:14729d584500 57 /****************************************************************************************/
antbig 12:14729d584500 58 void setAsservissementEtat(unsigned char enable);
antbig 12:14729d584500 59
antbig 12:14729d584500 60 /****************************************************************************************/
antbig 12:14729d584500 61 /* FUNCTION NAME: SendSpeed */
antbig 12:14729d584500 62 /* DESCRIPTION : Envoie un asservissement paramètre retournant à une vitesse */
antbig 12:14729d584500 63 /****************************************************************************************/
antbig 12:14729d584500 64 void SendSpeed (unsigned short vitesse, unsigned short acceleration);
antbig 0:ad97421fb1fb 65 #endif