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CRAC-Strat_2017_avant_2ieme_match
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CRAC-Strat_2017_fin_premier_match
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Diff: Asservissement/Asservissement.cpp
- Revision:
- 0:ad97421fb1fb
- Child:
- 1:116040d14164
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Asservissement/Asservissement.cpp Wed Apr 13 22:04:54 2016 +0000
@@ -0,0 +1,62 @@
+#include "Asservissement.h"
+
+/*********************************************************************************************************/
+/* FUNCTION NAME: SendRawId */
+/* DESCRIPTION : Envoie un message sans donnée, c'est-à-dire contenant uniquement un ID, sur le bus CAN */
+/*********************************************************************************************************/
+
+void SendRawId (unsigned short id)
+{
+ CANMessage msgTx=CANMessage();
+ msgTx.id=id;
+ msgTx.len=0;
+ can1.write(msgTx);
+ wait_us(200);
+}
+
+/*********************************************************************************************/
+/* FUNCTION NAME: GoToPosition */
+/* DESCRIPTION : Transmission CAN correspondant à un asservissement en position (x,y,theta) */
+/*********************************************************************************************/
+
+void GoToPosition (unsigned short x,unsigned short y,signed short theta,signed char sens)
+{
+ //id_to_expect=ACK_CONSIGNE;
+
+ CANMessage msgTx=CANMessage();
+ msgTx.id=ASSERVISSEMENT_XYT; // tx nouvelle position en (x,y,theta)
+ msgTx.len=7;
+ msgTx.format=CANStandard;
+ msgTx.type=CANData;
+ // x sur 2 octets
+ msgTx.data[0]=(unsigned char)x;
+ msgTx.data[1]=(unsigned char)(x>>8);
+ // y sur 2 octets
+ msgTx.data[2]=(unsigned char)y;
+ msgTx.data[3]=(unsigned char)(y>>8);
+ // theta signé sur 2 octets
+ msgTx.data[4]=(unsigned char)theta;
+ msgTx.data[5]=(unsigned char)(theta>>8);
+ msgTx.data[6]=sens;
+
+ can1.write(msgTx);
+}
+
+/****************************************************************************************/
+/* FUNCTION NAME: Rotate */
+/* DESCRIPTION : Transmission CAN correspondant à une rotation */
+/****************************************************************************************/
+
+void Rotate (signed short angle)
+{
+ CANMessage msgTx=CANMessage();
+ msgTx.id=ASSERVISSEMENT_ROTATION; // 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)angle;
+ msgTx.data[1]=(unsigned char)(angle>>8);
+
+ can1.write(msgTx);
+}
\ No newline at end of file