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

Dependents:   Codeprincipal_2019 CRAC-Strat_2019

Asservissement/Asservissement.cpp@5:dcd817534b57, 2016-04-23 (annotated)

Committer:
antbig
Date:
Sat Apr 23 09:16:14 2016 +0000
Revision:
5:dcd817534b57
Parent:
4:88431b537477
Child:
6:eddfa414fd11
Ajout du choix de la couleur et de l'id de la strat?gie ? utiliser via CAN

Who changed what in which revision?

UserRevisionLine numberNew contents of line
antbig 0:ad97421fb1fb 1 #include "Asservissement.h"
antbig 0:ad97421fb1fb 2
antbig 0:ad97421fb1fb 3 /*********************************************************************************************************/
antbig 0:ad97421fb1fb 4 /* FUNCTION NAME: SendRawId */
antbig 0:ad97421fb1fb 5 /* DESCRIPTION : Envoie un message sans donnée, c'est-à-dire contenant uniquement un ID, sur le bus CAN */
antbig 0:ad97421fb1fb 6 /*********************************************************************************************************/
antbig 0:ad97421fb1fb 7 void SendRawId (unsigned short id)
antbig 0:ad97421fb1fb 8 {
antbig 0:ad97421fb1fb 9 CANMessage msgTx=CANMessage();
antbig 0:ad97421fb1fb 10 msgTx.id=id;
antbig 0:ad97421fb1fb 11 msgTx.len=0;
antbig 0:ad97421fb1fb 12 can1.write(msgTx);
antbig 0:ad97421fb1fb 13 wait_us(200);
antbig 0:ad97421fb1fb 14 }
antbig 0:ad97421fb1fb 15
antbig 0:ad97421fb1fb 16 /*********************************************************************************************/
antbig 5:dcd817534b57 17 /* FUNCTION NAME: SendAck */
antbig 5:dcd817534b57 18 /* DESCRIPTION : Envoyer un acknowledge */
antbig 5:dcd817534b57 19 /*********************************************************************************************/
antbig 5:dcd817534b57 20 void SendAck(unsigned short id, unsigned short from)
antbig 5:dcd817534b57 21 {
antbig 5:dcd817534b57 22 CANMessage msgTx=CANMessage();
antbig 5:dcd817534b57 23 msgTx.id=id;
antbig 5:dcd817534b57 24 msgTx.len=2;
antbig 5:dcd817534b57 25 msgTx.format=CANStandard;
antbig 5:dcd817534b57 26 msgTx.type=CANData;
antbig 5:dcd817534b57 27 // from sur 2 octets
antbig 5:dcd817534b57 28 msgTx.data[0]=(unsigned char)from;
antbig 5:dcd817534b57 29 msgTx.data[1]=(unsigned char)(from>>8);
antbig 5:dcd817534b57 30
antbig 5:dcd817534b57 31 can1.write(msgTx);
antbig 5:dcd817534b57 32 }
antbig 5:dcd817534b57 33
antbig 5:dcd817534b57 34 /*********************************************************************************************/
antbig 0:ad97421fb1fb 35 /* FUNCTION NAME: GoToPosition */
antbig 0:ad97421fb1fb 36 /* DESCRIPTION : Transmission CAN correspondant à un asservissement en position (x,y,theta) */
antbig 0:ad97421fb1fb 37 /*********************************************************************************************/
antbig 0:ad97421fb1fb 38 void GoToPosition (unsigned short x,unsigned short y,signed short theta,signed char sens)
antbig 0:ad97421fb1fb 39 {
antbig 0:ad97421fb1fb 40 //id_to_expect=ACK_CONSIGNE;
antbig 0:ad97421fb1fb 41
antbig 0:ad97421fb1fb 42 CANMessage msgTx=CANMessage();
antbig 0:ad97421fb1fb 43 msgTx.id=ASSERVISSEMENT_XYT; // tx nouvelle position en (x,y,theta)
antbig 0:ad97421fb1fb 44 msgTx.len=7;
antbig 0:ad97421fb1fb 45 msgTx.format=CANStandard;
antbig 0:ad97421fb1fb 46 msgTx.type=CANData;
antbig 0:ad97421fb1fb 47 // x sur 2 octets
antbig 0:ad97421fb1fb 48 msgTx.data[0]=(unsigned char)x;
antbig 0:ad97421fb1fb 49 msgTx.data[1]=(unsigned char)(x>>8);
antbig 0:ad97421fb1fb 50 // y sur 2 octets
antbig 0:ad97421fb1fb 51 msgTx.data[2]=(unsigned char)y;
antbig 0:ad97421fb1fb 52 msgTx.data[3]=(unsigned char)(y>>8);
antbig 0:ad97421fb1fb 53 // theta signé sur 2 octets
antbig 0:ad97421fb1fb 54 msgTx.data[4]=(unsigned char)theta;
antbig 0:ad97421fb1fb 55 msgTx.data[5]=(unsigned char)(theta>>8);
antbig 0:ad97421fb1fb 56 msgTx.data[6]=sens;
antbig 0:ad97421fb1fb 57
antbig 0:ad97421fb1fb 58 can1.write(msgTx);
antbig 0:ad97421fb1fb 59 }
antbig 0:ad97421fb1fb 60
antbig 0:ad97421fb1fb 61 /****************************************************************************************/
antbig 0:ad97421fb1fb 62 /* FUNCTION NAME: Rotate */
antbig 0:ad97421fb1fb 63 /* DESCRIPTION : Transmission CAN correspondant à une rotation */
antbig 0:ad97421fb1fb 64 /****************************************************************************************/
antbig 0:ad97421fb1fb 65 void Rotate (signed short angle)
antbig 0:ad97421fb1fb 66 {
antbig 0:ad97421fb1fb 67 CANMessage msgTx=CANMessage();
antbig 0:ad97421fb1fb 68 msgTx.id=ASSERVISSEMENT_ROTATION; // Tx rotation autour du centre du robot
antbig 1:116040d14164 69 msgTx.len=2;
antbig 0:ad97421fb1fb 70 msgTx.format=CANStandard;
antbig 0:ad97421fb1fb 71 msgTx.type=CANData;
antbig 0:ad97421fb1fb 72 // Angle signé sur 2 octets
antbig 0:ad97421fb1fb 73 msgTx.data[0]=(unsigned char)angle;
antbig 0:ad97421fb1fb 74 msgTx.data[1]=(unsigned char)(angle>>8);
antbig 0:ad97421fb1fb 75
antbig 0:ad97421fb1fb 76 can1.write(msgTx);
antbig 1:116040d14164 77 }
antbig 1:116040d14164 78
antbig 1:116040d14164 79
antbig 1:116040d14164 80 /*********************************************************************************************/
antbig 1:116040d14164 81 /* FUNCTION NAME: GoStraight */
antbig 1:116040d14164 82 /* DESCRIPTION : Transmission CAN correspondant à une ligne droite, avec ou sans recalage */
antbig 1:116040d14164 83 /* recalage : 0 => pas de recalage */
antbig 1:116040d14164 84 /* 1 => recalage en X */
antbig 1:116040d14164 85 /* 2 => Recalage en Y */
antbig 1:116040d14164 86 /* newValue : Uniquement en cas de recalage, indique la nouvelle valeur de l'odo */
antbig 1:116040d14164 87 /* isEnchainement : Indique si il faut executer l'instruction en enchainement */
antbig 1:116040d14164 88 /* 0 => non */
antbig 1:116040d14164 89 /* 1 => oui */
antbig 1:116040d14164 90 /*********************************************************************************************/
antbig 1:116040d14164 91 void GoStraight (signed short distance,unsigned char recalage, unsigned short newValue, unsigned char isEnchainement)
antbig 1:116040d14164 92 {
antbig 1:116040d14164 93 CANMessage msgTx=CANMessage();
antbig 1:116040d14164 94 msgTx.id=ASSERVISSEMENT_RECALAGE;
antbig 1:116040d14164 95 msgTx.len=6;
antbig 1:116040d14164 96 msgTx.format=CANStandard;
antbig 1:116040d14164 97 msgTx.type=CANData;
antbig 1:116040d14164 98 // x sur 2 octets
antbig 1:116040d14164 99 msgTx.data[0]=(unsigned char)distance;
antbig 1:116040d14164 100 msgTx.data[1]=(unsigned char)(distance>>8);
antbig 1:116040d14164 101 //Recalage sur 1 octet
antbig 1:116040d14164 102 msgTx.data[2]=recalage;
antbig 1:116040d14164 103 //Valeur du recalage sur 2 octets
antbig 1:116040d14164 104 msgTx.data[3]=(unsigned char)newValue;
antbig 1:116040d14164 105 msgTx.data[4]=(unsigned char)(newValue>>8);
antbig 1:116040d14164 106 //Enchainement sur 1 octet
antbig 1:116040d14164 107 msgTx.data[5]=isEnchainement;
antbig 1:116040d14164 108
antbig 1:116040d14164 109 can1.write(msgTx);
antbig 0:ad97421fb1fb 110 }