Diff: Asservissement/Asservissement.h

Revision:

0:41cc45429aba

Child:

21:d137ec53c3a9

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Asservissement/Asservissement.h	Thu Jan 30 16:45:47 2020 +0000
@@ -0,0 +1,71 @@
+#ifndef CRAC_ASSERVISSEMENT
+#define CRAC_ASSERVISSEMENT
+
+#include "global.h"
+
+void Send2Short(unsigned short id, unsigned short d1, unsigned short d2);
+void SendMsgCan(unsigned short id, unsigned char* data, int len);
+void SendCharCan(unsigned short id, unsigned char data);
+/*********************************************************************************************************/
+/* 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: SendAck                                                                    */
+/* DESCRIPTION  : Envoyer un acknowledge                                                     */
+/*********************************************************************************************/
+void SendAck(unsigned short id, unsigned short from);
+
+/*********************************************************************************************/
+/* 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);
+
+/*********************************************************************************************/
+/* FUNCTION NAME: GoStraight                                                                 */
+/* DESCRIPTION  : Transmission CAN correspondant à une ligne droite, avec ou sans recalage   */
+/*  recalage : 0 => pas de recalage                                                          */
+/*             1 => recalage en X                                                            */
+/*             2 => Recalage en Y                                                            */
+/*  newValue : Uniquement en cas de recalage, indique la nouvelle valeur de l'odo            */
+/*  isEnchainement : Indique si il faut executer l'instruction en enchainement               */
+/*                   0 => non                                                                */
+/*                   1 => oui                                                                */
+/*                   2 => dernière instruction de l'enchainement                             */
+/*********************************************************************************************/
+void GoStraight (signed short distance,unsigned char recalage, unsigned short newValue, unsigned char isEnchainement);
+
+/********************************************************************************************/
+/* FUNCTION NAME: BendRadius                                                                */
+/* DESCRIPTION  : Transmission CAN correspondant à un rayon de courbure                     */
+/********************************************************************************************/
+void BendRadius (unsigned short rayon,signed short angle,signed char sens, unsigned char enchainement);
+
+void SetOdometrie (unsigned short canId, unsigned short x,unsigned short y,signed short theta);
+
+/****************************************************************************************/
+/* FUNCTION NAME: setAsservissementEtat                                                 */
+/* DESCRIPTION  : Activer ou désactiver l'asservissement                                */
+/****************************************************************************************/
+void setAsservissementEtat(unsigned char enable);
+
+/****************************************************************************************/
+/* FUNCTION NAME: SendSpeed                                                             */
+/* DESCRIPTION  : Envoie un asservissement paramètre retournant à une vitesse           */
+/****************************************************************************************/
+void SendSpeed (unsigned short vitesse);
+void SendSpeedAccelDecel (unsigned short vitesse, unsigned short acceleration,unsigned short deceleration);
+void SendAccel(unsigned short acceleration,unsigned short deceleration);
+void courbeBezier(int nbCourbes, short P1[][2], short C1[][2], short C2[][2], char sens);
+#endif
\ No newline at end of file