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@43:afddbbe873e3, 2019-02-13 (annotated)

Committer:
Artiom
Date:
Wed Feb 13 13:21:05 2019 +0000
Revision:
43:afddbbe873e3
Parent:
29:41e02746041d 
pour theo.v

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
Artiom 43:afddbbe873e3 5 void SendMsgCan(unsigned short id, unsigned char* data, int len);
Artiom 43:afddbbe873e3 6
antbig 0:ad97421fb1fb 7 /*********************************************************************************************************/
antbig 0:ad97421fb1fb 8 /* FUNCTION NAME: SendRawId */
antbig 0:ad97421fb1fb 9 /* DESCRIPTION : Envoie un message sans donnée, c'est-à-dire contenant uniquement un ID, sur le bus CAN */
antbig 0:ad97421fb1fb 10 /*********************************************************************************************************/
antbig 5:dcd817534b57 11 void SendRawId (unsigned short id);
antbig 0:ad97421fb1fb 12
antbig 5:dcd817534b57 13 /*********************************************************************************************/
antbig 5:dcd817534b57 14 /* FUNCTION NAME: SendAck */
antbig 5:dcd817534b57 15 /* DESCRIPTION : Envoyer un acknowledge */
antbig 5:dcd817534b57 16 /*********************************************************************************************/
antbig 5:dcd817534b57 17 void SendAck(unsigned short id, unsigned short from);
antbig 0:ad97421fb1fb 18
antbig 0:ad97421fb1fb 19 /*********************************************************************************************/
antbig 0:ad97421fb1fb 20 /* FUNCTION NAME: GoToPosition */
antbig 0:ad97421fb1fb 21 /* DESCRIPTION : Transmission CAN correspondant à un asservissement en position (x,y,theta) */
antbig 0:ad97421fb1fb 22 /*********************************************************************************************/
antbig 0:ad97421fb1fb 23
antbig 0:ad97421fb1fb 24 void GoToPosition (unsigned short x,unsigned short y,signed short theta,signed char sens);
antbig 0:ad97421fb1fb 25
antbig 0:ad97421fb1fb 26 /****************************************************************************************/
antbig 0:ad97421fb1fb 27 /* FUNCTION NAME: Rotate */
antbig 0:ad97421fb1fb 28 /* DESCRIPTION : Transmission CAN correspondant à une rotation */
antbig 0:ad97421fb1fb 29 /****************************************************************************************/
antbig 0:ad97421fb1fb 30
antbig 0:ad97421fb1fb 31 void Rotate (signed short angle);
antbig 0:ad97421fb1fb 32
antbig 1:116040d14164 33 /*********************************************************************************************/
antbig 1:116040d14164 34 /* FUNCTION NAME: GoStraight */
antbig 1:116040d14164 35 /* DESCRIPTION : Transmission CAN correspondant à une ligne droite, avec ou sans recalage */
antbig 1:116040d14164 36 /* recalage : 0 => pas de recalage */
antbig 1:116040d14164 37 /* 1 => recalage en X */
antbig 1:116040d14164 38 /* 2 => Recalage en Y */
antbig 1:116040d14164 39 /* newValue : Uniquement en cas de recalage, indique la nouvelle valeur de l'odo */
antbig 1:116040d14164 40 /* isEnchainement : Indique si il faut executer l'instruction en enchainement */
antbig 1:116040d14164 41 /* 0 => non */
antbig 1:116040d14164 42 /* 1 => oui */
antbig 6:eddfa414fd11 43 /* 2 => dernière instruction de l'enchainement */
antbig 1:116040d14164 44 /*********************************************************************************************/
antbig 1:116040d14164 45 void GoStraight (signed short distance,unsigned char recalage, unsigned short newValue, unsigned char isEnchainement);
antbig 1:116040d14164 46
antbig 6:eddfa414fd11 47 /********************************************************************************************/
antbig 6:eddfa414fd11 48 /* FUNCTION NAME: BendRadius */
antbig 6:eddfa414fd11 49 /* DESCRIPTION : Transmission CAN correspondant à un rayon de courbure */
antbig 6:eddfa414fd11 50 /********************************************************************************************/
antbig 6:eddfa414fd11 51 void BendRadius (unsigned short rayon,signed short angle,signed char sens, unsigned char enchainement);
antbig 6:eddfa414fd11 52
antbig 9:d0042422d95a 53 void SetOdometrie (unsigned short canId, unsigned short x,unsigned short y,signed short theta);
antbig 9:d0042422d95a 54
antbig 12:14729d584500 55 /****************************************************************************************/
antbig 12:14729d584500 56 /* FUNCTION NAME: setAsservissementEtat */
antbig 12:14729d584500 57 /* DESCRIPTION : Activer ou désactiver l'asservissement */
antbig 12:14729d584500 58 /****************************************************************************************/
antbig 12:14729d584500 59 void setAsservissementEtat(unsigned char enable);
antbig 12:14729d584500 60
antbig 12:14729d584500 61 /****************************************************************************************/
antbig 12:14729d584500 62 /* FUNCTION NAME: SendSpeed */
antbig 12:14729d584500 63 /* DESCRIPTION : Envoie un asservissement paramètre retournant à une vitesse */
antbig 12:14729d584500 64 /****************************************************************************************/
antbig 12:14729d584500 65 void SendSpeed (unsigned short vitesse, unsigned short acceleration);
antbig 28:acd18776ed2d 66 /****************************************************************************************/
antbig 28:acd18776ed2d 67 /* FUNCTION NAME: SendSpeedDecel */
antbig 28:acd18776ed2d 68 /* DESCRIPTION : Envoie un asservissement paramètre retournant à une vitesse */
antbig 28:acd18776ed2d 69 /****************************************************************************************/
antbig 28:acd18776ed2d 70 void SendSpeedDecel (unsigned short vitesse, unsigned short deceleration);
antbig 28:acd18776ed2d 71
antbig 0:ad97421fb1fb 72 #endif