CRAC Team
homologation gros robot et test avec les ack de la carte a tout faire
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CRAC-Strat_2017_HOMOLOGATION_PETIT_ROBOT
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CRAC Team
Diff: Asservissement/Asservissement.cpp
- Revision:
- 5:dcd817534b57
- Parent:
- 4:88431b537477
- Child:
- 6:eddfa414fd11
--- a/Asservissement/Asservissement.cpp Sun Apr 17 14:03:03 2016 +0000
+++ b/Asservissement/Asservissement.cpp Sat Apr 23 09:16:14 2016 +0000
@@ -14,6 +14,24 @@
}
/*********************************************************************************************/
+/* FUNCTION NAME: SendAck */
+/* DESCRIPTION : Envoyer un acknowledge */
+/*********************************************************************************************/
+void SendAck(unsigned short id, unsigned short from)
+{
+ CANMessage msgTx=CANMessage();
+ msgTx.id=id;
+ msgTx.len=2;
+ msgTx.format=CANStandard;
+ msgTx.type=CANData;
+ // from sur 2 octets
+ msgTx.data[0]=(unsigned char)from;
+ msgTx.data[1]=(unsigned char)(from>>8);
+
+ can1.write(msgTx);
+}
+
+/*********************************************************************************************/
/* FUNCTION NAME: GoToPosition */
/* DESCRIPTION : Transmission CAN correspondant à un asservissement en position (x,y,theta) */
/*********************************************************************************************/