Diff: Asservissement/Asservissement.cpp

Revision:

44:badcbe8766e9

Parent:

29:41e02746041d

Child:

50:a5361ffeefc8

--- a/Asservissement/Asservissement.cpp	Thu May 17 13:08:31 2018 +0000
+++ b/Asservissement/Asservissement.cpp	Tue May 07 17:37:46 2019 +0000
@@ -32,6 +32,41 @@
     can2.write(msgTx);
 }
 
+
+void Send2Short(unsigned short id, unsigned short d1, unsigned short d2)
+{
+    CANMessage msgTx=CANMessage();
+    msgTx.id=id;
+    msgTx.len=4;
+    msgTx.format=CANStandard;
+    msgTx.type=CANData;
+    // from sur 2 octets
+    msgTx.data[0]=(unsigned char)d1;
+    msgTx.data[1]=(unsigned char)(d1>>8);
+    msgTx.data[2]=(unsigned char)d2;
+    msgTx.data[3]=(unsigned char)(d2>>8);
+
+    can2.write(msgTx);
+}
+
+void SendMsgCan(unsigned short id, unsigned char* data, int len)
+{
+    CANMessage msgTx=CANMessage();
+    msgTx.id=id;
+    msgTx.len=len;
+    msgTx.format=CANStandard;
+    msgTx.type=CANData;
+    // from sur 2 octets
+    for(int i = 0; i<len; i++)
+    {
+        msgTx.data[i]=data[i];
+    }
+
+    can2.write(msgTx);
+}
+
+
+
 /*********************************************************************************************/
 /* FUNCTION NAME: GoToPosition                                                               */
 /* DESCRIPTION  : Transmission CAN correspondant à un asservissement en position (x,y,theta) */