CRAC Team / CRAC-Strat_2019

v2019

Dependencies:   CRAC-Strat_2019 SerialHalfDuplex SDFileSystem DISCO-F469NI_portrait liaison_Bluetooth ident_crac

Dependents:   Codeprincipal_2019 CRAC-Strat_2019

Asservissement/Asservissement.h@29:41e02746041d, 2018-04-06 (annotated)

Committer:
Sitkah
Date:
Fri Apr 06 13:47:19 2018 +0000
Revision:
29:41e02746041d
Parent:
28:acd18776ed2d
Child:
43:afddbbe873e3
Child:
44:badcbe8766e9
version fusionn?e

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
antbig 0:ad97421fb1fb 5 /*********************************************************************************************************/
antbig 0:ad97421fb1fb 6 /* FUNCTION NAME: SendRawId */
antbig 0:ad97421fb1fb 7 /* DESCRIPTION : Envoie un message sans donnée, c'est-à-dire contenant uniquement un ID, sur le bus CAN */
antbig 0:ad97421fb1fb 8 /*********************************************************************************************************/
antbig 5:dcd817534b57 9 void SendRawId (unsigned short id);
antbig 0:ad97421fb1fb 10
antbig 5:dcd817534b57 11 /*********************************************************************************************/
antbig 5:dcd817534b57 12 /* FUNCTION NAME: SendAck */
antbig 5:dcd817534b57 13 /* DESCRIPTION : Envoyer un acknowledge */
antbig 5:dcd817534b57 14 /*********************************************************************************************/
antbig 5:dcd817534b57 15 void SendAck(unsigned short id, unsigned short from);
antbig 0:ad97421fb1fb 16
antbig 0:ad97421fb1fb 17 /*********************************************************************************************/
antbig 0:ad97421fb1fb 18 /* FUNCTION NAME: GoToPosition */
antbig 0:ad97421fb1fb 19 /* DESCRIPTION : Transmission CAN correspondant à un asservissement en position (x,y,theta) */
antbig 0:ad97421fb1fb 20 /*********************************************************************************************/
antbig 0:ad97421fb1fb 21
antbig 0:ad97421fb1fb 22 void GoToPosition (unsigned short x,unsigned short y,signed short theta,signed char sens);
antbig 0:ad97421fb1fb 23
antbig 0:ad97421fb1fb 24 /****************************************************************************************/
antbig 0:ad97421fb1fb 25 /* FUNCTION NAME: Rotate */
antbig 0:ad97421fb1fb 26 /* DESCRIPTION : Transmission CAN correspondant à une rotation */
antbig 0:ad97421fb1fb 27 /****************************************************************************************/
antbig 0:ad97421fb1fb 28
antbig 0:ad97421fb1fb 29 void Rotate (signed short angle);
antbig 0:ad97421fb1fb 30
antbig 1:116040d14164 31 /*********************************************************************************************/
antbig 1:116040d14164 32 /* FUNCTION NAME: GoStraight */
antbig 1:116040d14164 33 /* DESCRIPTION : Transmission CAN correspondant à une ligne droite, avec ou sans recalage */
antbig 1:116040d14164 34 /* recalage : 0 => pas de recalage */
antbig 1:116040d14164 35 /* 1 => recalage en X */
antbig 1:116040d14164 36 /* 2 => Recalage en Y */
antbig 1:116040d14164 37 /* newValue : Uniquement en cas de recalage, indique la nouvelle valeur de l'odo */
antbig 1:116040d14164 38 /* isEnchainement : Indique si il faut executer l'instruction en enchainement */
antbig 1:116040d14164 39 /* 0 => non */
antbig 1:116040d14164 40 /* 1 => oui */
antbig 6:eddfa414fd11 41 /* 2 => dernière instruction de l'enchainement */
antbig 1:116040d14164 42 /*********************************************************************************************/
antbig 1:116040d14164 43 void GoStraight (signed short distance,unsigned char recalage, unsigned short newValue, unsigned char isEnchainement);
antbig 1:116040d14164 44
antbig 6:eddfa414fd11 45 /********************************************************************************************/
antbig 6:eddfa414fd11 46 /* FUNCTION NAME: BendRadius */
antbig 6:eddfa414fd11 47 /* DESCRIPTION : Transmission CAN correspondant à un rayon de courbure */
antbig 6:eddfa414fd11 48 /********************************************************************************************/
antbig 6:eddfa414fd11 49 void BendRadius (unsigned short rayon,signed short angle,signed char sens, unsigned char enchainement);
antbig 6:eddfa414fd11 50
antbig 9:d0042422d95a 51 void SetOdometrie (unsigned short canId, unsigned short x,unsigned short y,signed short theta);
antbig 9:d0042422d95a 52
antbig 12:14729d584500 53 /****************************************************************************************/
antbig 12:14729d584500 54 /* FUNCTION NAME: setAsservissementEtat */
antbig 12:14729d584500 55 /* DESCRIPTION : Activer ou désactiver l'asservissement */
antbig 12:14729d584500 56 /****************************************************************************************/
antbig 12:14729d584500 57 void setAsservissementEtat(unsigned char enable);
antbig 12:14729d584500 58
antbig 12:14729d584500 59 /****************************************************************************************/
antbig 12:14729d584500 60 /* FUNCTION NAME: SendSpeed */
antbig 12:14729d584500 61 /* DESCRIPTION : Envoie un asservissement paramètre retournant à une vitesse */
antbig 12:14729d584500 62 /****************************************************************************************/
antbig 12:14729d584500 63 void SendSpeed (unsigned short vitesse, unsigned short acceleration);
antbig 28:acd18776ed2d 64 /****************************************************************************************/
antbig 28:acd18776ed2d 65 /* FUNCTION NAME: SendSpeedDecel */
antbig 28:acd18776ed2d 66 /* DESCRIPTION : Envoie un asservissement paramètre retournant à une vitesse */
antbig 28:acd18776ed2d 67 /****************************************************************************************/
antbig 28:acd18776ed2d 68 void SendSpeedDecel (unsigned short vitesse, unsigned short deceleration);
antbig 28:acd18776ed2d 69
antbig 0:ad97421fb1fb 70 #endif