code strat avant match 2, strat inversée OK normalement
Fork of CRAC-Strat_2017_fin_premier_match by
Asservissement/Asservissement.h
- Committer:
- antbig
- Date:
- 2016-05-09
- Revision:
- 12:14729d584500
- Parent:
- 9:d0042422d95a
File content as of revision 12:14729d584500:
#ifndef CRAC_ASSERVISSEMENT #define CRAC_ASSERVISSEMENT #include "global.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); /*********************************************************************************************/ /* FUNCTION NAME: SendAck */ /* DESCRIPTION : Envoyer un acknowledge */ /*********************************************************************************************/ void SendAck(unsigned short id, unsigned short from); /*********************************************************************************************/ /* 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); /****************************************************************************************/ /* FUNCTION NAME: Rotate */ /* DESCRIPTION : Transmission CAN correspondant à une rotation */ /****************************************************************************************/ void Rotate (signed short angle); /*********************************************************************************************/ /* FUNCTION NAME: GoStraight */ /* DESCRIPTION : Transmission CAN correspondant à une ligne droite, avec ou sans recalage */ /* recalage : 0 => pas de recalage */ /* 1 => recalage en X */ /* 2 => Recalage en Y */ /* newValue : Uniquement en cas de recalage, indique la nouvelle valeur de l'odo */ /* isEnchainement : Indique si il faut executer l'instruction en enchainement */ /* 0 => non */ /* 1 => oui */ /* 2 => dernière instruction de l'enchainement */ /*********************************************************************************************/ void GoStraight (signed short distance,unsigned char recalage, unsigned short newValue, unsigned char isEnchainement); /********************************************************************************************/ /* FUNCTION NAME: BendRadius */ /* DESCRIPTION : Transmission CAN correspondant à un rayon de courbure */ /********************************************************************************************/ void BendRadius (unsigned short rayon,signed short angle,signed char sens, unsigned char enchainement); void SetOdometrie (unsigned short canId, unsigned short x,unsigned short y,signed short theta); /****************************************************************************************/ /* FUNCTION NAME: setAsservissementEtat */ /* DESCRIPTION : Activer ou désactiver l'asservissement */ /****************************************************************************************/ void setAsservissementEtat(unsigned char enable); /****************************************************************************************/ /* FUNCTION NAME: SendSpeed */ /* DESCRIPTION : Envoie un asservissement paramètre retournant à une vitesse */ /****************************************************************************************/ void SendSpeed (unsigned short vitesse, unsigned short acceleration); #endif