CRAC Team / Mbed 2 deprecated carte_esclave_bras_debugeur

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Dependencies:   mbed Herkulex_Library_2019

Asservissement/Asservissement.h@0:0cb11adecfc6, 2020-06-02 (annotated)

Committer:
maximilienlv
Date:
Tue Jun 02 06:44:31 2020 +0000
Revision:
0:0cb11adecfc6
programme de la carte esclave des bras, debugeur

Who changed what in which revision?

UserRevisionLine numberNew contents of line
maximilienlv 0:0cb11adecfc6 1 #ifndef CRAC_ASSERVISSEMENT
maximilienlv 0:0cb11adecfc6 2 #define CRAC_ASSERVISSEMENT
maximilienlv 0:0cb11adecfc6 3 #include "main.h"
maximilienlv 0:0cb11adecfc6 4
maximilienlv 0:0cb11adecfc6 5 void Send2Char(unsigned short id, unsigned char d1, unsigned char d2);
maximilienlv 0:0cb11adecfc6 6 void Send2Short(unsigned short id, unsigned short d1, unsigned short d2);
maximilienlv 0:0cb11adecfc6 7 void SendMsgCan(unsigned short id, unsigned char* data, int len);
maximilienlv 0:0cb11adecfc6 8 void SendCharCan(unsigned short id, unsigned char data);
maximilienlv 0:0cb11adecfc6 9 /*********************************************************************************************************/
maximilienlv 0:0cb11adecfc6 10 /* FUNCTION NAME: SendRawId */
maximilienlv 0:0cb11adecfc6 11 /* DESCRIPTION : Envoie un message sans donnée, c'est-à-dire contenant uniquement un ID, sur le bus CAN */
maximilienlv 0:0cb11adecfc6 12 /*********************************************************************************************************/
maximilienlv 0:0cb11adecfc6 13 void SendRawId (unsigned short id);
maximilienlv 0:0cb11adecfc6 14
maximilienlv 0:0cb11adecfc6 15 /*********************************************************************************************/
maximilienlv 0:0cb11adecfc6 16 /* FUNCTION NAME: SendAck */
maximilienlv 0:0cb11adecfc6 17 /* DESCRIPTION : Envoyer un acknowledge */
maximilienlv 0:0cb11adecfc6 18 /*********************************************************************************************/
maximilienlv 0:0cb11adecfc6 19 void SendAck(unsigned short id, unsigned short from);
maximilienlv 0:0cb11adecfc6 20
maximilienlv 0:0cb11adecfc6 21 /*********************************************************************************************/
maximilienlv 0:0cb11adecfc6 22 /* FUNCTION NAME: GoToPosition */
maximilienlv 0:0cb11adecfc6 23 /* DESCRIPTION : Transmission CAN correspondant à un asservissement en position (x,y,theta) */
maximilienlv 0:0cb11adecfc6 24 /*********************************************************************************************/
maximilienlv 0:0cb11adecfc6 25
maximilienlv 0:0cb11adecfc6 26 void GoToPosition (unsigned short x,unsigned short y,signed short theta,signed char sens);
maximilienlv 0:0cb11adecfc6 27
maximilienlv 0:0cb11adecfc6 28 /****************************************************************************************/
maximilienlv 0:0cb11adecfc6 29 /* FUNCTION NAME: Rotate */
maximilienlv 0:0cb11adecfc6 30 /* DESCRIPTION : Transmission CAN correspondant à une rotation */
maximilienlv 0:0cb11adecfc6 31 /****************************************************************************************/
maximilienlv 0:0cb11adecfc6 32
maximilienlv 0:0cb11adecfc6 33 void Rotate (signed short angle);
maximilienlv 0:0cb11adecfc6 34
maximilienlv 0:0cb11adecfc6 35 /*********************************************************************************************/
maximilienlv 0:0cb11adecfc6 36 /* FUNCTION NAME: GoStraight */
maximilienlv 0:0cb11adecfc6 37 /* DESCRIPTION : Transmission CAN correspondant à une ligne droite, avec ou sans recalage */
maximilienlv 0:0cb11adecfc6 38 /* recalage : 0 => pas de recalage */
maximilienlv 0:0cb11adecfc6 39 /* 1 => recalage en X */
maximilienlv 0:0cb11adecfc6 40 /* 2 => Recalage en Y */
maximilienlv 0:0cb11adecfc6 41 /* newValue : Uniquement en cas de recalage, indique la nouvelle valeur de l'odo */
maximilienlv 0:0cb11adecfc6 42 /* isEnchainement : Indique si il faut executer l'instruction en enchainement */
maximilienlv 0:0cb11adecfc6 43 /* 0 => non */
maximilienlv 0:0cb11adecfc6 44 /* 1 => oui */
maximilienlv 0:0cb11adecfc6 45 /* 2 => dernière instruction de l'enchainement */
maximilienlv 0:0cb11adecfc6 46 /*********************************************************************************************/
maximilienlv 0:0cb11adecfc6 47 void GoStraight (signed short distance,unsigned char recalage, unsigned short newValue, unsigned char isEnchainement);
maximilienlv 0:0cb11adecfc6 48
maximilienlv 0:0cb11adecfc6 49 /********************************************************************************************/
maximilienlv 0:0cb11adecfc6 50 /* FUNCTION NAME: BendRadius */
maximilienlv 0:0cb11adecfc6 51 /* DESCRIPTION : Transmission CAN correspondant à un rayon de courbure */
maximilienlv 0:0cb11adecfc6 52 /********************************************************************************************/
maximilienlv 0:0cb11adecfc6 53 void BendRadius (unsigned short rayon,signed short angle,signed char sens, unsigned char enchainement);
maximilienlv 0:0cb11adecfc6 54
maximilienlv 0:0cb11adecfc6 55 void SetOdometrie (unsigned short canId, unsigned short x,unsigned short y,signed short theta);
maximilienlv 0:0cb11adecfc6 56
maximilienlv 0:0cb11adecfc6 57 /****************************************************************************************/
maximilienlv 0:0cb11adecfc6 58 /* FUNCTION NAME: setAsservissementEtat */
maximilienlv 0:0cb11adecfc6 59 /* DESCRIPTION : Activer ou désactiver l'asservissement */
maximilienlv 0:0cb11adecfc6 60 /****************************************************************************************/
maximilienlv 0:0cb11adecfc6 61 void setAsservissementEtat(unsigned char enable);
maximilienlv 0:0cb11adecfc6 62
maximilienlv 0:0cb11adecfc6 63 /****************************************************************************************/
maximilienlv 0:0cb11adecfc6 64 /* FUNCTION NAME: SendSpeed */
maximilienlv 0:0cb11adecfc6 65 /* DESCRIPTION : Envoie un asservissement paramètre retournant à une vitesse */
maximilienlv 0:0cb11adecfc6 66 /****************************************************************************************/
maximilienlv 0:0cb11adecfc6 67 void SendSpeed (unsigned short vitesse, unsigned short acceleration,unsigned short deceleration);
maximilienlv 0:0cb11adecfc6 68 /****************************************************************************************/
maximilienlv 0:0cb11adecfc6 69 /* FUNCTION NAME: SendSpeedDecel */
maximilienlv 0:0cb11adecfc6 70 /* DESCRIPTION : Envoie un asservissement paramètre retournant à une vitesse */
maximilienlv 0:0cb11adecfc6 71 /****************************************************************************************/
maximilienlv 0:0cb11adecfc6 72 void SendSpeedDecel (unsigned short vitesse, unsigned short deceleration);
maximilienlv 0:0cb11adecfc6 73
maximilienlv 0:0cb11adecfc6 74 #endif