CRAC Team / CRAC-Strat_2017_avant_2ieme_match

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Fork of CRAC-Strat_2017_fin_premier_match by CRAC Team

Asservissement/Asservissement.cpp

Committer:
antbig
Date:
2016-04-13
Revision:
0:ad97421fb1fb
Child:
1:116040d14164

File content as of revision 0:ad97421fb1fb:

#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);
}