Diff: Asservissement/Asservissement.cpp

Revision:

29:41e02746041d

Parent:

28:acd18776ed2d

Child:

44:badcbe8766e9

--- a/Asservissement/Asservissement.cpp	Sat May 27 05:40:26 2017 +0000
+++ b/Asservissement/Asservissement.cpp	Fri Apr 06 13:47:19 2018 +0000
@@ -1,4 +1,4 @@
-#include "Asservissement.h"
+#include "global.h"
 
 /*********************************************************************************************************/
 /* FUNCTION NAME: SendRawId                                                                              */
@@ -7,9 +7,10 @@
 void SendRawId (unsigned short id)
 {
     CANMessage msgTx=CANMessage();
+    led4=1;
     msgTx.id=id;
     msgTx.len=0;
-    can1.write(msgTx);
+    can2.write(msgTx);
     wait_us(200);
 }
 
@@ -28,7 +29,7 @@
     msgTx.data[0]=(unsigned char)from;
     msgTx.data[1]=(unsigned char)(from>>8);
 
-    can1.write(msgTx);
+    can2.write(msgTx);
 }
 
 /*********************************************************************************************/
@@ -55,7 +56,7 @@
     msgTx.data[5]=(unsigned char)(theta>>8);
     msgTx.data[6]=sens;
 
-    can1.write(msgTx);
+    can2.write(msgTx);
 }
 
 /****************************************************************************************/
@@ -73,7 +74,7 @@
     msgTx.data[0]=(unsigned char)angle;
     msgTx.data[1]=(unsigned char)(angle>>8);
 
-    can1.write(msgTx);
+    can2.write(msgTx);
 }
 
 
@@ -107,7 +108,7 @@
     //Enchainement sur 1 octet
     msgTx.data[5]=isEnchainement;
 
-    can1.write(msgTx);
+    can2.write(msgTx);
     //wait_ms(500);
 }
 
@@ -133,7 +134,7 @@
     // Enchainement sur 1 octet
     msgTx.data[5]=enchainement;
 
-    can1.write(msgTx);
+    can2.write(msgTx);
 }
 
 void SetOdometrie (unsigned short canId, unsigned short x,unsigned short y,signed short theta)
@@ -154,7 +155,7 @@
     msgTx.data[4]=(unsigned char)theta;
     msgTx.data[5]=(unsigned char)(theta>>8);
 
-    can1.write(msgTx);
+    can2.write(msgTx);
 }
 
 /****************************************************************************************/
@@ -171,7 +172,7 @@
     //  Angle signé sur 2 octets
     msgTx.data[0]=(unsigned char)((enable==0)?0:1);
 
-    can1.write(msgTx);
+    can2.write(msgTx);
 }
 
 
@@ -191,7 +192,7 @@
     msgTx.data[2]=(unsigned char)(acceleration&0x00FF);
     msgTx.data[3]=(unsigned char)((acceleration&0xFF00)>>8);
 
-    can1.write(msgTx);
+    can2.write(msgTx);
         
 }
 
@@ -212,7 +213,7 @@
     msgTx.data[2]=(unsigned char)(deceleration&0x00FF);
     msgTx.data[3]=(unsigned char)((deceleration&0xFF00)>>8);
  
-    can1.write(msgTx);
+    can2.write(msgTx);
         
 }