RaC2018 / Mbed 2 deprecated Robot_a_cables_v2_0

version 2.1

Dependencies:   mbed

Fork of Robot_a_cables_v1_0 by RaC2018

main.cpp@6:ffffa9dfadfc, 2018-05-07 (annotated)

Committer:
protongamer
Date:
Mon May 07 12:12:34 2018 +0000
Revision:
6:ffffa9dfadfc
Parent:
5:d5a021bbe81b 
v2.1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
LouisReynier 0:1ab5fdb4fa56 1 #include "mbed.h"
protongamer 6:ffffa9dfadfc 2 #include "parameters.h"
protongamer 3:86e21a36eecb 3 /*
protongamer 3:86e21a36eecb 4 Projet BTS SN - Robot à câbles - Lycée Georges Cabanis
protongamer 3:86e21a36eecb 5 Enzo Niro - Erwin Sazio
protongamer 3:86e21a36eecb 6 Transmission par Bus CAN(protocol CANOpen)
protongamer 3:86e21a36eecb 7
protongamer 3:86e21a36eecb 8 */
LouisReynier 0:1ab5fdb4fa56 9
protongamer 1:4d70e593345f 10
protongamer 3:86e21a36eecb 11
protongamer 3:86e21a36eecb 12 DigitalOut MOTOR1_OP(LED1);
protongamer 3:86e21a36eecb 13 DigitalOut MOTOR2_OP(LED2);
protongamer 3:86e21a36eecb 14 DigitalOut DEB_MOD_DEG(LED3);
protongamer 3:86e21a36eecb 15 DigitalOut DEB_MOD_NOR(LED4);
protongamer 3:86e21a36eecb 16 DigitalOut MOD_DEG(p26);
protongamer 3:86e21a36eecb 17 DigitalOut MOD_NOR(p25);
protongamer 3:86e21a36eecb 18 DigitalIn SWH(p5);
protongamer 3:86e21a36eecb 19 DigitalIn SWV(p6);
protongamer 3:86e21a36eecb 20 DigitalIn BPO(p7);
Ringslev 5:d5a021bbe81b 21 AnalogIn joystick_ctr(p15); // Pin 2 (fil vert) Center Tap Reference
Ringslev 5:d5a021bbe81b 22 AnalogIn joystick_x(p16); // Pin 4 (fil jaune)
Ringslev 5:d5a021bbe81b 23 AnalogIn joystick_y(p17); // Pin 5 (fil bleu)
protongamer 3:86e21a36eecb 24
Ringslev 5:d5a021bbe81b 25 CAN can2(p30, p29, 1000000); // on definit pin et debit
Ringslev 5:d5a021bbe81b 26 CANMessage msg;
Ringslev 5:d5a021bbe81b 27 Serial pc(USBTX, USBRX);
protongamer 4:3fd7c53d31c1 28
Ringslev 5:d5a021bbe81b 29 uint8_t mode = 0;
Ringslev 5:d5a021bbe81b 30 int x,y,ctr_x,ctr_y; // Variables de joystick
Ringslev 5:d5a021bbe81b 31 uint8_t ping = 0; //variable pour etat de processus
Ringslev 5:d5a021bbe81b 32 uint8_t done = 0;
Ringslev 5:d5a021bbe81b 33 char command[8]; //word to send command
Ringslev 5:d5a021bbe81b 34 uint64_t timer_process_read; //counter to make mbed read actual position
protongamer 6:ffffa9dfadfc 35 float dy = 1262, dx = 492.5;//coordinates values when origin is done
protongamer 6:ffffa9dfadfc 36 //these positions are in counters
protongamer 6:ffffa9dfadfc 37 int32_t p1, p2; //motors positions
protongamer 6:ffffa9dfadfc 38 int32_t p_actual, p_pom; //p_actual position read by can, p_pom position done when origin is made
protongamer 6:ffffa9dfadfc 39
protongamer 6:ffffa9dfadfc 40 //longueur câbles
protongamer 6:ffffa9dfadfc 41 //lx = longueur entre les point des moteurs
protongamer 6:ffffa9dfadfc 42 //l1 = longueur moteur gauche à l'effecteur
protongamer 6:ffffa9dfadfc 43 //l2 = longueur moteur droite à l'effecteur
protongamer 6:ffffa9dfadfc 44 int64_t lx, l1, l2;
protongamer 6:ffffa9dfadfc 45
protongamer 6:ffffa9dfadfc 46
protongamer 6:ffffa9dfadfc 47
protongamer 6:ffffa9dfadfc 48
protongamer 1:4d70e593345f 49
Ringslev 5:d5a021bbe81b 50 void display_mode()
Ringslev 5:d5a021bbe81b 51 {
Ringslev 5:d5a021bbe81b 52 if(mode == 0) // MODE DEGRADE
Ringslev 5:d5a021bbe81b 53 {
Ringslev 5:d5a021bbe81b 54 MOD_DEG = 1;
Ringslev 5:d5a021bbe81b 55 MOD_NOR = 0;
Ringslev 5:d5a021bbe81b 56 }
Ringslev 5:d5a021bbe81b 57 else if(mode == 1) // MODE NORMAL
Ringslev 5:d5a021bbe81b 58 {
Ringslev 5:d5a021bbe81b 59 MOD_DEG = 0;
Ringslev 5:d5a021bbe81b 60 MOD_NOR = 1;
Ringslev 5:d5a021bbe81b 61 }
Ringslev 5:d5a021bbe81b 62 }
protongamer 1:4d70e593345f 63
protongamer 1:4d70e593345f 64 void send(int id, char octet_emis[], char RouD, char longueur )
protongamer 1:4d70e593345f 65 {
protongamer 1:4d70e593345f 66 int emis_ok = 0 ;
LouisReynier 0:1ab5fdb4fa56 67
protongamer 4:3fd7c53d31c1 68 MOTOR1_OP = 1;
protongamer 4:3fd7c53d31c1 69 MOTOR1_OP = 0;
protongamer 4:3fd7c53d31c1 70
protongamer 1:4d70e593345f 71 if (RouD == 'D')
protongamer 1:4d70e593345f 72 { emis_ok = can2.write(CANMessage(id, octet_emis, longueur, CANData, CANStandard )) ;
protongamer 3:86e21a36eecb 73 //pc.printf("id: %x, %c L = %d, \nData : %x:%x:%x:%x ... \n", id,RouD,longueur,octet_emis[0],octet_emis[1], octet_emis[2], octet_emis[3] );
protongamer 1:4d70e593345f 74 }// c'ets la valeur retournée par la fonction write
protongamer 1:4d70e593345f 75 else
protongamer 1:4d70e593345f 76 { emis_ok = can2.write(CANMessage(id, octet_emis, longueur, CANRemote, CANStandard ));
protongamer 3:86e21a36eecb 77 //pc.printf("id: %x, %c L = %d, \nData : %x:%x:%x:%x ... \n", id,RouD,longueur,octet_emis[0],octet_emis[1], octet_emis[2], octet_emis[3] );
protongamer 1:4d70e593345f 78 }
protongamer 1:4d70e593345f 79 //lcd.locate(0,10);
protongamer 1:4d70e593345f 80 //lcd.printf("id: %x, %c L = %d, \nData : %x:%x:%x:%x ... \n", id,RouD,longueur,octet_emis[0],octet_emis[1], octet_emis[2], octet_emis[3] );
protongamer 3:86e21a36eecb 81 /*if(emis_ok) {
protongamer 1:4d70e593345f 82 // ici octet emis n'a pas de sens car trame remote !
protongamer 3:86e21a36eecb 83 //pc.printf("send \r \n");
protongamer 3:86e21a36eecb 84 } */
LouisReynier 0:1ab5fdb4fa56 85 }
protongamer 1:4d70e593345f 86
Ringslev 5:d5a021bbe81b 87 void initialisation()
Ringslev 5:d5a021bbe81b 88 {
Ringslev 5:d5a021bbe81b 89 pc.printf("starting...\r\n");
Ringslev 5:d5a021bbe81b 90 MOD_DEG = 1;
Ringslev 5:d5a021bbe81b 91 MOD_NOR = 0;
Ringslev 5:d5a021bbe81b 92 wait(0.1);
Ringslev 5:d5a021bbe81b 93 MOD_DEG = 0;
Ringslev 5:d5a021bbe81b 94 MOD_NOR = 1;
Ringslev 5:d5a021bbe81b 95 wait(0.1);
Ringslev 5:d5a021bbe81b 96 MOD_DEG = 1;
Ringslev 5:d5a021bbe81b 97 MOD_NOR = 0;
Ringslev 5:d5a021bbe81b 98 wait(0.1);
Ringslev 5:d5a021bbe81b 99 MOD_DEG = 0;
Ringslev 5:d5a021bbe81b 100 MOD_NOR = 1;
Ringslev 5:d5a021bbe81b 101 wait(0.1);
Ringslev 5:d5a021bbe81b 102 MOD_DEG = 1;
Ringslev 5:d5a021bbe81b 103 MOD_NOR = 0;
Ringslev 5:d5a021bbe81b 104 wait(0.1);
Ringslev 5:d5a021bbe81b 105 MOD_DEG = 0;
Ringslev 5:d5a021bbe81b 106 MOD_NOR = 0;
Ringslev 5:d5a021bbe81b 107 wait(0.1);
Ringslev 5:d5a021bbe81b 108
protongamer 6:ffffa9dfadfc 109 command[0] = DRIVER_R1;
Ringslev 5:d5a021bbe81b 110 command[1] = DRIVER_R2;
Ringslev 5:d5a021bbe81b 111
Ringslev 5:d5a021bbe81b 112 while(ping == 0) // INIT MOTEUR DROIT
Ringslev 5:d5a021bbe81b 113 {
Ringslev 5:d5a021bbe81b 114 pc.printf("ping droite ...\r\n");
Ringslev 5:d5a021bbe81b 115 send(INITOP, command, 'D', 2); //send word to put pluto driver in operational mode
Ringslev 5:d5a021bbe81b 116 MOD_NOR = 1;
Ringslev 5:d5a021bbe81b 117 if(can2.read(msg))
Ringslev 5:d5a021bbe81b 118 {
Ringslev 5:d5a021bbe81b 119 for(int i = 0; i < msg.len; i++)
Ringslev 5:d5a021bbe81b 120 {
Ringslev 5:d5a021bbe81b 121 pc.printf("0x%x ",msg.data[i]);
Ringslev 5:d5a021bbe81b 122 ping = 1;
Ringslev 5:d5a021bbe81b 123 }//end of for
Ringslev 5:d5a021bbe81b 124 pc.printf("\r \n");
Ringslev 5:d5a021bbe81b 125 }//can.read(msg)
Ringslev 5:d5a021bbe81b 126 wait(0.1);
Ringslev 5:d5a021bbe81b 127 MOD_NOR = 0;
Ringslev 5:d5a021bbe81b 128 wait(0.9);
Ringslev 5:d5a021bbe81b 129 }
Ringslev 5:d5a021bbe81b 130
Ringslev 5:d5a021bbe81b 131 ping =0;
Ringslev 5:d5a021bbe81b 132 command[0] = DRIVER_L1;
Ringslev 5:d5a021bbe81b 133 command[1] = DRIVER_L2;
Ringslev 5:d5a021bbe81b 134
Ringslev 5:d5a021bbe81b 135 while(ping == 0) // INIT MOTEUR GAUCHE
Ringslev 5:d5a021bbe81b 136 {
Ringslev 5:d5a021bbe81b 137 pc.printf("ping gauche ...\r\n");
Ringslev 5:d5a021bbe81b 138 send(INITOP, command, 'D', 2); //send word to put pluto driver in operational mode
protongamer 3:86e21a36eecb 139 MOD_DEG = 1;
protongamer 3:86e21a36eecb 140 if(can2.read(msg)) {
protongamer 4:3fd7c53d31c1 141 for(int i = 0; i < msg.len; i++){
protongamer 4:3fd7c53d31c1 142 pc.printf("0x%x ",msg.data[i]);
protongamer 4:3fd7c53d31c1 143 ping = 1;
protongamer 4:3fd7c53d31c1 144 }//end of for
protongamer 4:3fd7c53d31c1 145 pc.printf("\r \n");
protongamer 4:3fd7c53d31c1 146 }//can.read(msg)
protongamer 3:86e21a36eecb 147 wait(0.1);
Ringslev 5:d5a021bbe81b 148 MOD_DEG = 0;
protongamer 3:86e21a36eecb 149 wait(0.9);
Ringslev 5:d5a021bbe81b 150 }
Ringslev 5:d5a021bbe81b 151 } // fin initialisation
Ringslev 5:d5a021bbe81b 152
protongamer 6:ffffa9dfadfc 153
protongamer 6:ffffa9dfadfc 154
protongamer 6:ffffa9dfadfc 155 void read_position(){
protongamer 6:ffffa9dfadfc 156
protongamer 6:ffffa9dfadfc 157
protongamer 6:ffffa9dfadfc 158
protongamer 6:ffffa9dfadfc 159
protongamer 6:ffffa9dfadfc 160
protongamer 6:ffffa9dfadfc 161 /* send(TPDO1_R, command, 'R', 0); //Ask position
protongamer 6:ffffa9dfadfc 162 timer_process_read = 0;
protongamer 6:ffffa9dfadfc 163 p2 = msg.data[3];
protongamer 6:ffffa9dfadfc 164 p2 = p2 << 8;
protongamer 6:ffffa9dfadfc 165 p2 = p2 | msg.data[2];
protongamer 6:ffffa9dfadfc 166 p2 = p2 << 8;
protongamer 6:ffffa9dfadfc 167 p2 = p2 | msg.data[1];
protongamer 6:ffffa9dfadfc 168 p2 = p2 << 8;
protongamer 6:ffffa9dfadfc 169 p2 = p2 | msg.data[0];*/
protongamer 6:ffffa9dfadfc 170
protongamer 6:ffffa9dfadfc 171
protongamer 6:ffffa9dfadfc 172
protongamer 6:ffffa9dfadfc 173 lx = 985;
protongamer 6:ffffa9dfadfc 174
protongamer 6:ffffa9dfadfc 175 //l2 = LENGTH_L2_PO + (p2*1000)/2500;
protongamer 6:ffffa9dfadfc 176
protongamer 6:ffffa9dfadfc 177 }//fin de fonction
protongamer 6:ffffa9dfadfc 178
protongamer 6:ffffa9dfadfc 179
protongamer 6:ffffa9dfadfc 180
Ringslev 5:d5a021bbe81b 181 void control_Moteur()
Ringslev 5:d5a021bbe81b 182 {
Ringslev 5:d5a021bbe81b 183 ///////////// CONTROLE MOTEUR //////////////////////////////////////////////////////////////////////////////
Ringslev 5:d5a021bbe81b 184 // LECTURE Joystick + stockage valeurs dans x, y
Ringslev 5:d5a021bbe81b 185 ctr_x = int(-((joystick_ctr.read()*100)-50));
Ringslev 5:d5a021bbe81b 186 ctr_y = int((joystick_ctr.read()*100)-50);
Ringslev 5:d5a021bbe81b 187 if(SWH){x = int(-((joystick_x.read()*100)-50))+ctr_x;}else{x=0;} // Detection x avec correction ctr de -42 à +42
Ringslev 5:d5a021bbe81b 188 if(SWV){y = int((joystick_y.read()*100)-50)+ctr_y;}else{y=0;} // Detection y avec correction ctr
Ringslev 5:d5a021bbe81b 189
Ringslev 5:d5a021bbe81b 190 if(mode ==0)
Ringslev 5:d5a021bbe81b 191 {
Ringslev 5:d5a021bbe81b 192 ///////////// MODE DEGRADE /////////////////////////////////////
Ringslev 5:d5a021bbe81b 193 float VX = (float(x)/42)*425000; // Calcule brut vélocité x, y
Ringslev 5:d5a021bbe81b 194 float VY = (float(y)/42)*425000;
Ringslev 5:d5a021bbe81b 195 long int VM_L = VX - VY; // Calcule des vélocités exactes de chaques moteurs
Ringslev 5:d5a021bbe81b 196 long int VM_R = -VX - VY;
Ringslev 5:d5a021bbe81b 197
Ringslev 5:d5a021bbe81b 198 command[0]= (VM_L & 0x000000FF); // Masque + décalage pour translation big vers little endian
Ringslev 5:d5a021bbe81b 199 command[1]= (VM_L & 0x0000FF00)>>8;
Ringslev 5:d5a021bbe81b 200 command[2]= (VM_L & 0x00FF0000)>>16;
Ringslev 5:d5a021bbe81b 201 command[3]= (VM_L & 0xFF000000)>>24;
Ringslev 5:d5a021bbe81b 202 send(RPDO1_L, command, 'D', 4); // Controle moteur gauche
Ringslev 5:d5a021bbe81b 203
Ringslev 5:d5a021bbe81b 204 command[0]= (VM_R & 0x000000FF);
Ringslev 5:d5a021bbe81b 205 command[1]= (VM_R & 0x0000FF00)>>8;
Ringslev 5:d5a021bbe81b 206 command[2]= (VM_R & 0x00FF0000)>>16;
Ringslev 5:d5a021bbe81b 207 command[3]= (VM_R & 0xFF000000)>>24;
Ringslev 5:d5a021bbe81b 208 send(RPDO1_R, command, 'D', 4); // Controle moteur droit
Ringslev 5:d5a021bbe81b 209 ////////////////////////////////////////////////////////////////
Ringslev 5:d5a021bbe81b 210 }
Ringslev 5:d5a021bbe81b 211 else if(mode ==1)
Ringslev 5:d5a021bbe81b 212 {
Ringslev 5:d5a021bbe81b 213 // MODE NORMAL
Ringslev 5:d5a021bbe81b 214 }
Ringslev 5:d5a021bbe81b 215 //////////////////////////////////////////////////////////////////////////////////////////////////////////////
Ringslev 5:d5a021bbe81b 216 }
Ringslev 5:d5a021bbe81b 217
Ringslev 5:d5a021bbe81b 218 int main() {
Ringslev 5:d5a021bbe81b 219
Ringslev 5:d5a021bbe81b 220 //define Pullup switch
Ringslev 5:d5a021bbe81b 221 SWH.mode(PullUp);
Ringslev 5:d5a021bbe81b 222 SWV.mode(PullUp);
Ringslev 5:d5a021bbe81b 223 BPO.mode(PullUp);
Ringslev 5:d5a021bbe81b 224
Ringslev 5:d5a021bbe81b 225 initialisation(); // Mise en mode opérationnel des moteurs
Ringslev 5:d5a021bbe81b 226
protongamer 6:ffffa9dfadfc 227
protongamer 6:ffffa9dfadfc 228
Ringslev 5:d5a021bbe81b 229
Ringslev 5:d5a021bbe81b 230 while(1)
Ringslev 5:d5a021bbe81b 231 {
Ringslev 5:d5a021bbe81b 232 //timer_process_ping++;
Ringslev 5:d5a021bbe81b 233 timer_process_read++;
protongamer 6:ffffa9dfadfc 234 l1 = (LENGTH_L1_PO*1000) - (p1*1000)/2500; //Longueur 1
protongamer 6:ffffa9dfadfc 235
protongamer 6:ffffa9dfadfc 236 if(BPO == 0){
protongamer 6:ffffa9dfadfc 237 send(TPDO1_R, command, 'R', 0); //Ask position
protongamer 6:ffffa9dfadfc 238
protongamer 6:ffffa9dfadfc 239 p_pom = msg.data[3];
protongamer 6:ffffa9dfadfc 240 p_pom = p_pom << 8;
protongamer 6:ffffa9dfadfc 241 p_pom = p_pom | msg.data[2];
protongamer 6:ffffa9dfadfc 242 p_pom = p_pom << 8;
protongamer 6:ffffa9dfadfc 243 p_pom = p_pom | msg.data[1];
protongamer 6:ffffa9dfadfc 244 p_pom = p_pom << 8;
protongamer 6:ffffa9dfadfc 245 p_pom = p_pom | msg.data[0];
protongamer 6:ffffa9dfadfc 246 wait(1.0);
protongamer 6:ffffa9dfadfc 247 }
protongamer 1:4d70e593345f 248
protongamer 6:ffffa9dfadfc 249 //dy = 525000 + (d_new*1000)/2500;
protongamer 6:ffffa9dfadfc 250
protongamer 4:3fd7c53d31c1 251
Ringslev 5:d5a021bbe81b 252 //wait_ms(1);
protongamer 4:3fd7c53d31c1 253
Ringslev 5:d5a021bbe81b 254 /* if(timer_process_ping >= 5000){
protongamer 4:3fd7c53d31c1 255 send(TPDO2_R, command, 'R', 0); //Ask mod of motor
protongamer 4:3fd7c53d31c1 256 timer_process_ping = 0;
protongamer 4:3fd7c53d31c1 257 if(can2.read(msg)) {
protongamer 4:3fd7c53d31c1 258 for(int i = 0; i < msg.len; i++){
protongamer 4:3fd7c53d31c1 259 pc.printf("0x%x ",msg.data[i]);
protongamer 4:3fd7c53d31c1 260 }//end of for
protongamer 4:3fd7c53d31c1 261 pc.printf("\r \n");
protongamer 4:3fd7c53d31c1 262 }//can.read(msg)
protongamer 4:3fd7c53d31c1 263
protongamer 4:3fd7c53d31c1 264 if(msg.data[0] != 0x27 || msg.data[1] != 0x56){//if device is not in operational mode
protongamer 4:3fd7c53d31c1 265 ping = 0;
protongamer 4:3fd7c53d31c1 266 while(ping == 0){
protongamer 4:3fd7c53d31c1 267 pc.printf("ping...\r\n");
protongamer 4:3fd7c53d31c1 268 send(INITOP, command, 'D', 2); //send word to put pluto driver in operational mode
protongamer 4:3fd7c53d31c1 269 MOD_NOR = 1;
protongamer 4:3fd7c53d31c1 270 if(can2.read(msg)) {
protongamer 4:3fd7c53d31c1 271 for(int i = 0; i < msg.len; i++){
protongamer 4:3fd7c53d31c1 272 pc.printf("0x%x ",msg.data[i]);
protongamer 4:3fd7c53d31c1 273 ping = 1;
protongamer 4:3fd7c53d31c1 274 }//end of for
protongamer 4:3fd7c53d31c1 275 pc.printf("\r \n");
protongamer 4:3fd7c53d31c1 276 }//can.read(msg)
protongamer 4:3fd7c53d31c1 277 wait(0.1);
protongamer 4:3fd7c53d31c1 278 MOD_NOR = 0;
protongamer 4:3fd7c53d31c1 279 wait(0.9);
protongamer 4:3fd7c53d31c1 280
protongamer 4:3fd7c53d31c1 281 }
protongamer 4:3fd7c53d31c1 282
protongamer 4:3fd7c53d31c1 283 }
protongamer 4:3fd7c53d31c1 284
protongamer 4:3fd7c53d31c1 285 }*/
protongamer 6:ffffa9dfadfc 286 pc.printf("%d", l1);
protongamer 6:ffffa9dfadfc 287 pc.printf("\t %d", p_pom);
protongamer 6:ffffa9dfadfc 288 pc.printf("\t %d", p_actual);
protongamer 6:ffffa9dfadfc 289 pc.printf("\t %d \r\n", p1);
protongamer 4:3fd7c53d31c1 290 if(timer_process_read >= 10){
protongamer 6:ffffa9dfadfc 291 send(TPDO1_R, command, 'R', 0); //Ask position
protongamer 4:3fd7c53d31c1 292 timer_process_read = 0;
protongamer 6:ffffa9dfadfc 293 p_actual = msg.data[3];
protongamer 6:ffffa9dfadfc 294 p_actual = p_actual << 8;
protongamer 6:ffffa9dfadfc 295 p_actual = p_actual | msg.data[2];
protongamer 6:ffffa9dfadfc 296 p_actual = p_actual << 8;
protongamer 6:ffffa9dfadfc 297 p_actual = p_actual | msg.data[1];
protongamer 6:ffffa9dfadfc 298 p_actual = p_actual << 8;
protongamer 6:ffffa9dfadfc 299 p_actual = p_actual | msg.data[0];
protongamer 6:ffffa9dfadfc 300
protongamer 4:3fd7c53d31c1 301 }
protongamer 6:ffffa9dfadfc 302
protongamer 6:ffffa9dfadfc 303 p1 = p_pom - p_actual;
protongamer 4:3fd7c53d31c1 304
protongamer 4:3fd7c53d31c1 305
protongamer 3:86e21a36eecb 306 if(can2.read(msg)) {
protongamer 3:86e21a36eecb 307 for(int i = 0; i < msg.len; i++){
protongamer 6:ffffa9dfadfc 308 //pc.printf("0x%x ",msg.data[i]);
protongamer 3:86e21a36eecb 309 }//end of for
protongamer 6:ffffa9dfadfc 310 //pc.printf("\r \n");
protongamer 4:3fd7c53d31c1 311 }//can.read(msg)
protongamer 3:86e21a36eecb 312
protongamer 6:ffffa9dfadfc 313 //read_position();
Ringslev 5:d5a021bbe81b 314 control_Moteur(); // Controle du meteur mode degradé et normal
Ringslev 5:d5a021bbe81b 315 display_mode(); // Controle des led affichant le mode
protongamer 1:4d70e593345f 316
protongamer 1:4d70e593345f 317 }// fin while(1)
protongamer 1:4d70e593345f 318
protongamer 1:4d70e593345f 319 } // fin main
protongamer 4:3fd7c53d31c1 320
protongamer 4:3fd7c53d31c1 321
protongamer 4:3fd7c53d31c1 322
protongamer 1:4d70e593345f 323
protongamer 3:86e21a36eecb 324