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Dependencies:   mbed

CAN_asser.h@17:aae5361ddddf, 2019-06-04 (annotated)

Committer:
theolp
Date:
Tue Jun 04 17:25:49 2019 +0000
Revision:
17:aae5361ddddf
Parent:
16:05665faaa489
Child:
29:6bce50d6530c
Odometrie position, dbug position, angles compris entre -180 et 180, fonction updateCAN. Bonne version.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Wael_H 5:34048faec367 1 #ifndef CAN_ASSER_H
Wael_H 5:34048faec367 2 #define CAN_ASSER_H
Wael_H 5:34048faec367 3
Wael_H 5:34048faec367 4 #include "mbed.h"
Wael_H 13:9c62e263f245 5
Wael_H 13:9c62e263f245 6 extern Serial dbug;
Wael_H 5:34048faec367 7
Wael_H 5:34048faec367 8 #define TE_100US 100
Wael_H 5:34048faec367 9 #define TE (TE_100US*0.0001)
Wael_H 5:34048faec367 10
Wael_H 5:34048faec367 11 #define ASSERVISSEMENT_STOP 0x001 // Stop moteur
Wael_H 5:34048faec367 12 #define ASSERVISSEMENT_SPEED_DANGER 0x006 // Vitesse de danger
Wael_H 5:34048faec367 13 #define ASSERVISSEMENT_XYT 0x020 // Asservissement (x,y,theta) (0 : au choix 1 : avant -1 : arrière)
Wael_H 5:34048faec367 14 #define ASSERVISSEMENT_COURBURE 0x021 // Asservissement rayon de courbure (+ gauche, - droite , sens : 1avt , -1arr; enchainement => 1 oui, 0 => non, 2=>derniére instruction de l'enchainement)
Wael_H 5:34048faec367 15 #define ASSERVISSEMENT_CONFIG 0x022 // Asservissement paramètre (définir les valeurs de vitesse max et d'eccélération max)
Wael_H 5:34048faec367 16 #define ASSERVISSEMENT_ROTATION 0x023 // Asservissement rotation
Wael_H 5:34048faec367 17 #define ASSERVISSEMENT_RECALAGE 0x024 // Moteur tout droit (recalage : 0 mouvement seul, 1 x, 2y valeur : coordonnée à laquelle est recalé x/y; enchainement => 1 oui, 0 => non)
Wael_H 5:34048faec367 18 #define ASSERVISSEMENT_CONFIG_DECEL 0x019
Wael_H 5:34048faec367 19
Wael_H 5:34048faec367 20 #define ASSERVISSEMENT_ENABLE 0x1F7 // Activation asservissement (0 : désactivation, 1 : activation)
Wael_H 5:34048faec367 21
Wael_H 5:34048faec367 22 #define ASSERVISSEMENT_CONFIG_KPP_DROITE 0x1F1
Wael_H 5:34048faec367 23 #define ASSERVISSEMENT_CONFIG_KPI_DROITE 0x1F2
Wael_H 5:34048faec367 24 #define ASSERVISSEMENT_CONFIG_KPD_DROITE 0x1F3
Wael_H 5:34048faec367 25 #define ASSERVISSEMENT_CONFIG_KPP_GAUCHE 0x1F4
Wael_H 5:34048faec367 26 #define ASSERVISSEMENT_CONFIG_KPI_GAUCHE 0x1F5
Wael_H 5:34048faec367 27 #define ASSERVISSEMENT_CONFIG_KPD_GAUCHE 0x1F6
Wael_H 5:34048faec367 28
Wael_H 5:34048faec367 29 #define ODOMETRIE_POSITION 0x26
Wael_H 5:34048faec367 30
theolp 17:aae5361ddddf 31 /// Fonction de merde pour dbug ///
theolp 17:aae5361ddddf 32 void sauter_lignes(int nb_lignes);
theolp 17:aae5361ddddf 33 /*********************************/
theolp 17:aae5361ddddf 34
Wael_H 7:753e901d441b 35 void can_init(void);
Wael_H 7:753e901d441b 36 void isr_can();
theolp 17:aae5361ddddf 37 void updateCAN(bool& flagFinDpl, short* pos);
Wael_H 5:34048faec367 38 void get_pos(CANMessage msg_pos, short* position);
Wael_H 5:34048faec367 39
Wael_H 5:34048faec367 40 void SendCoefK (unsigned short id, double K);
Wael_H 5:34048faec367 41
Wael_H 5:34048faec367 42 /*********************************************************************************************************/
Wael_H 5:34048faec367 43
Wael_H 5:34048faec367 44 /* FUNCTION NAME: SendRawId */
Wael_H 5:34048faec367 45 /* DESCRIPTION : Envoie un message sans donnée, c'est-à-dire contenant uniquement un ID, sur le bus CAN */
Wael_H 5:34048faec367 46 /*********************************************************************************************************/
Wael_H 5:34048faec367 47 void SendRawId (unsigned short id);
Wael_H 5:34048faec367 48
Wael_H 5:34048faec367 49 /*********************************************************************************************/
Wael_H 5:34048faec367 50
Wael_H 5:34048faec367 51 /* FUNCTION NAME: SendAck */
Wael_H 5:34048faec367 52
Wael_H 5:34048faec367 53 /* DESCRIPTION : Envoyer un acknowledge */
Wael_H 5:34048faec367 54 /*********************************************************************************************/
Wael_H 5:34048faec367 55 void SendAck(unsigned short id, unsigned short from);
Wael_H 5:34048faec367 56
Wael_H 5:34048faec367 57 /*********************************************************************************************/
Wael_H 5:34048faec367 58
Wael_H 5:34048faec367 59 /* FUNCTION NAME: GoToPosition */
Wael_H 5:34048faec367 60 /* DESCRIPTION : Transmission CAN correspondant à un asservissement en position (x,y,theta) */
Wael_H 5:34048faec367 61 /*********************************************************************************************/
Wael_H 5:34048faec367 62
Wael_H 5:34048faec367 63 void GoToPosition (unsigned short x,unsigned short y,signed short theta,signed char sens);
Wael_H 5:34048faec367 64
Wael_H 5:34048faec367 65 /****************************************************************************************/
Wael_H 5:34048faec367 66
Wael_H 5:34048faec367 67 /* FUNCTION NAME: Rotate */
Wael_H 5:34048faec367 68
Wael_H 5:34048faec367 69 /* DESCRIPTION : Transmission CAN correspondant à une rotation */
Wael_H 5:34048faec367 70 /****************************************************************************************/
Wael_H 5:34048faec367 71
Wael_H 5:34048faec367 72 void Rotate (signed short angle);
Wael_H 5:34048faec367 73
Wael_H 5:34048faec367 74 /********************************************************************************************
Wael_H 5:34048faec367 75 FUNCTION NAME: GoStraight
Wael_H 5:34048faec367 76 DESCRIPTION : Transmission CAN correspondant à une ligne droite, avec ou sans recalage
Wael_H 5:34048faec367 77
Wael_H 5:34048faec367 78 recalage : 0 => pas de recalage
Wael_H 5:34048faec367 79
Wael_H 5:34048faec367 80 1 => recalage en X
Wael_H 5:34048faec367 81
Wael_H 5:34048faec367 82 2 => Recalage en Y
Wael_H 5:34048faec367 83
Wael_H 5:34048faec367 84 newValue : Uniquement en cas de recalage, indique la nouvelle valeur de l'odo
Wael_H 5:34048faec367 85
Wael_H 5:34048faec367 86 isEnchainement : Indique si il faut executer l'instruction en enchainement
Wael_H 5:34048faec367 87
Wael_H 5:34048faec367 88 0 => non
Wael_H 5:34048faec367 89
Wael_H 5:34048faec367 90 1 => oui
Wael_H 5:34048faec367 91
Wael_H 5:34048faec367 92 2 => dernière instruction de l'enchainement
Wael_H 5:34048faec367 93 ********************************************************************************************/
Wael_H 5:34048faec367 94 void GoStraight (signed short distance,unsigned char recalage, unsigned short newValue, unsigned char isEnchainement);
Wael_H 5:34048faec367 95
Wael_H 5:34048faec367 96 /********************************************************************************************/
Wael_H 5:34048faec367 97
Wael_H 5:34048faec367 98 /* FUNCTION NAME: BendRadius */
Wael_H 5:34048faec367 99
Wael_H 5:34048faec367 100 /* DESCRIPTION : Transmission CAN correspondant à un rayon de courbure */
Wael_H 5:34048faec367 101 /********************************************************************************************/
Wael_H 5:34048faec367 102 void BendRadius (unsigned short rayon,signed short angle,signed char sens, unsigned char enchainement);
Wael_H 5:34048faec367 103
Wael_H 5:34048faec367 104 void SetOdometrie (unsigned short canId, unsigned short x,unsigned short y,signed short theta);
Wael_H 5:34048faec367 105
Wael_H 5:34048faec367 106 /****************************************************************************************/
Wael_H 5:34048faec367 107
Wael_H 5:34048faec367 108 /* FUNCTION NAME: setAsservissementEtat */
Wael_H 5:34048faec367 109
Wael_H 5:34048faec367 110 /* DESCRIPTION : Activer ou désactiver l'asservissement */
Wael_H 5:34048faec367 111 /****************************************************************************************/
Wael_H 5:34048faec367 112 void setAsservissementEtat(unsigned char enable);
Wael_H 5:34048faec367 113
Wael_H 5:34048faec367 114 /****************************************************************************************/
Wael_H 5:34048faec367 115
Wael_H 5:34048faec367 116 /* FUNCTION NAME: SendSpeed */
Wael_H 5:34048faec367 117
Wael_H 5:34048faec367 118 /* DESCRIPTION : Envoie un asservissement paramètre retournant à une vitesse */
Wael_H 5:34048faec367 119 /****************************************************************************************/
Wael_H 5:34048faec367 120 void SendSpeed (unsigned short vitesse, unsigned short acceleration);
Wael_H 5:34048faec367 121 /****************************************************************************************/
Wael_H 5:34048faec367 122
Wael_H 5:34048faec367 123 /* FUNCTION NAME: SendSpeedDecel */
Wael_H 5:34048faec367 124
Wael_H 5:34048faec367 125 /* DESCRIPTION : Envoie un asservissement paramètre retournant à une vitesse */
Wael_H 5:34048faec367 126 /****************************************************************************************/
Wael_H 5:34048faec367 127 void SendSpeedDecel (unsigned short vitesse, unsigned short deceleration);
Wael_H 5:34048faec367 128
Wael_H 5:34048faec367 129
Wael_H 5:34048faec367 130 #endif