Diff: CAN_asser.cpp

Revision:

17:aae5361ddddf

Parent:

16:05665faaa489

Child:

27:e103da412e2b

--- a/CAN_asser.cpp	Tue Jun 04 08:49:01 2019 +0000
+++ b/CAN_asser.cpp	Tue Jun 04 17:25:49 2019 +0000
@@ -21,11 +21,11 @@
 sauter_lignes(25);
 wait_ms(1500);*/
 
-/*void sauter_lignes(int nb_lignes)
+void sauter_lignes(int nb_lignes)
 {
     for(unsigned i=0; i<nb_lignes; ++i)
         dbug.printf("\n\r");   
-}*/
+}
 
 void can_init(void)
 {
@@ -45,28 +45,24 @@
     }
 }
 
-void majFlagDpl(bool& flagFinDpl)
+void updateCAN(bool& flagFinDpl, short* pos)
 {
     while(nb_msg_can>0)
     {
         if(msg_can[pt_lecture_can].id == 0x111)
             flagFinDpl = true;
-            
+        else if(msg_can[pt_lecture_can].id == ODOMETRIE_POSITION)
+            get_pos(msg_can[pt_lecture_can], pos);
+           
         nb_msg_can--;
         pt_lecture_can++;
     }
-}
-
-void majPos(short* pos)
-{
-    while(nb_msg_can>0)
-    {
-        if(msg_can[pt_lecture_can].id == ODOMETRIE_POSITION)
-            get_pos(msg_can[pt_lecture_can], pos);
-            
-        nb_msg_can--;
-        pt_lecture_can++;
-    }
+    
+    /*  Test permettant de garder un angle compris entre -180 degrés et 180 degrés  */
+    if(pos[2] <= -1800)
+        pos[2] = 3600 + pos[2];   
+    else if(pos[2] >= 1800)
+        pos[2] = pos[2] - 3600;
 }
 
 void get_pos(CANMessage msg_pos, short* position)