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

Committer:
antbig
Date:
2016-04-13
Revision:
0:ad97421fb1fb
Child:
1:116040d14164

File content as of revision 0:ad97421fb1fb:

#ifndef CRAC_ASSERVISSEMENT
#define CRAC_ASSERVISSEMENT

#include "global.h"

/*********************************************************************************************************/
/* FUNCTION NAME: SendRawId                                                                              */
/* DESCRIPTION  : Envoie un message sans donnée, c'est-à-dire contenant uniquement un ID, sur le bus CAN */
/*********************************************************************************************************/

void SendRawId (unsigned short id);

/*********************************************************************************************/
/* FUNCTION NAME: GoToPosition                                                               */
/* DESCRIPTION  : Transmission CAN correspondant à un asservissement en position (x,y,theta) */
/*********************************************************************************************/

void GoToPosition (unsigned short x,unsigned short y,signed short theta,signed char sens);

/****************************************************************************************/
/* FUNCTION NAME: Rotate                                                                */
/* DESCRIPTION  : Transmission CAN correspondant à une rotation                         */
/****************************************************************************************/

void Rotate (signed short angle);

#endif