Diff: Asservissement/Asservissement.cpp

Revision:

50:a5361ffeefc8

Parent:

44:badcbe8766e9

--- a/Asservissement/Asservissement.cpp	Thu May 16 12:08:07 2019 +0000
+++ b/Asservissement/Asservissement.cpp	Fri May 17 21:06:46 2019 +0000
@@ -215,17 +215,24 @@
 /* FUNCTION NAME: SendSpeed                                                             */
 /* DESCRIPTION  : Envoie un asservissement paramètre retournant à une vitesse           */
 /****************************************************************************************/
-void SendSpeed (unsigned short vitesse, unsigned short acceleration)
+void SendSpeed (unsigned short vitesse, unsigned short acceleration,unsigned short deceleration)
 {
     CANMessage msgTx=CANMessage();
     msgTx.id=ASSERVISSEMENT_CONFIG;
     msgTx.format=CANStandard;
     msgTx.type=CANData;
-    msgTx.len=4;
+    msgTx.len=8;
     msgTx.data[0]=(unsigned char)(vitesse&0x00FF);
     msgTx.data[1]=(unsigned char)((vitesse&0xFF00)>>8);
+    
     msgTx.data[2]=(unsigned char)(acceleration&0x00FF);
     msgTx.data[3]=(unsigned char)((acceleration&0xFF00)>>8);
+    
+    msgTx.data[4]=(unsigned char)(deceleration&0x00FF);
+    msgTx.data[5]=(unsigned char)((deceleration&0xFF00)>>8);
+    
+    msgTx.data[6]=(unsigned char)(acceleration&0x00FF);//cloto
+    msgTx.data[7]=(unsigned char)((acceleration&0xFF00)>>8);//cloto
 
     can2.write(msgTx);
         
@@ -235,7 +242,7 @@
 /* FUNCTION NAME: SendSpeedDecel                                                        */
 /* DESCRIPTION  : Envoie un asservissement paramètre retournant à une vitesse           */
 /****************************************************************************************/
- 
+ /*
 void SendSpeedDecel (unsigned short vitesse, unsigned short deceleration)
 {
     CANMessage msgTx=CANMessage();
@@ -250,6 +257,6 @@
  
     can2.write(msgTx);
         
-}
+}*/
    
    
\ No newline at end of file