CRAC Team
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Strategie_13h30
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CRAC-Strat_2017_homologation_gros_rob
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Diff: Asservissement/Asservissement.h
- Revision:
- 0:ad97421fb1fb
- Child:
- 1:116040d14164
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Asservissement/Asservissement.h Wed Apr 13 22:04:54 2016 +0000 @@ -0,0 +1,27 @@ +#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 \ No newline at end of file