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version 3.0
Dependencies: mbed
Fork of Robot_a_cables_v2_6_5 by
main.cpp@5:d5a021bbe81b, 2018-04-30 (annotated)
- Committer:
- Ringslev
- Date:
- Mon Apr 30 12:27:56 2018 +0000
- Revision:
- 5:d5a021bbe81b
- Parent:
- 4:3fd7c53d31c1
- Child:
- 6:ffffa9dfadfc
Mode d?grad? fonctionnel; Mode normal en cours
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
LouisReynier | 0:1ab5fdb4fa56 | 1 | #include "mbed.h" |
protongamer | 3:86e21a36eecb | 2 | #include "can_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 |
Ringslev | 5:d5a021bbe81b | 35 | uint64_t timer_process_ping; //counter to make mbed read actual position |
Ringslev | 5:d5a021bbe81b | 36 | float dy = 525000;//valeur à la POM |
Ringslev | 5:d5a021bbe81b | 37 | int64_t d_old, d_new; |
Ringslev | 5:d5a021bbe81b | 38 | bool first_time = 0; |
protongamer | 1:4d70e593345f | 39 | |
Ringslev | 5:d5a021bbe81b | 40 | void display_mode() |
Ringslev | 5:d5a021bbe81b | 41 | { |
Ringslev | 5:d5a021bbe81b | 42 | if(mode == 0) // MODE DEGRADE |
Ringslev | 5:d5a021bbe81b | 43 | { |
Ringslev | 5:d5a021bbe81b | 44 | MOD_DEG = 1; |
Ringslev | 5:d5a021bbe81b | 45 | MOD_NOR = 0; |
Ringslev | 5:d5a021bbe81b | 46 | } |
Ringslev | 5:d5a021bbe81b | 47 | else if(mode == 1) // MODE NORMAL |
Ringslev | 5:d5a021bbe81b | 48 | { |
Ringslev | 5:d5a021bbe81b | 49 | MOD_DEG = 0; |
Ringslev | 5:d5a021bbe81b | 50 | MOD_NOR = 1; |
Ringslev | 5:d5a021bbe81b | 51 | } |
Ringslev | 5:d5a021bbe81b | 52 | } |
protongamer | 1:4d70e593345f | 53 | |
protongamer | 1:4d70e593345f | 54 | void send(int id, char octet_emis[], char RouD, char longueur ) |
protongamer | 1:4d70e593345f | 55 | { |
protongamer | 1:4d70e593345f | 56 | int emis_ok = 0 ; |
LouisReynier | 0:1ab5fdb4fa56 | 57 | |
protongamer | 4:3fd7c53d31c1 | 58 | MOTOR1_OP = 1; |
protongamer | 4:3fd7c53d31c1 | 59 | MOTOR1_OP = 0; |
protongamer | 4:3fd7c53d31c1 | 60 | |
protongamer | 1:4d70e593345f | 61 | if (RouD == 'D') |
protongamer | 1:4d70e593345f | 62 | { emis_ok = can2.write(CANMessage(id, octet_emis, longueur, CANData, CANStandard )) ; |
protongamer | 3:86e21a36eecb | 63 | //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 | 64 | }// c'ets la valeur retournée par la fonction write |
protongamer | 1:4d70e593345f | 65 | else |
protongamer | 1:4d70e593345f | 66 | { emis_ok = can2.write(CANMessage(id, octet_emis, longueur, CANRemote, CANStandard )); |
protongamer | 3:86e21a36eecb | 67 | //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 | 68 | } |
protongamer | 1:4d70e593345f | 69 | //lcd.locate(0,10); |
protongamer | 1:4d70e593345f | 70 | //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 | 71 | /*if(emis_ok) { |
protongamer | 1:4d70e593345f | 72 | // ici octet emis n'a pas de sens car trame remote ! |
protongamer | 3:86e21a36eecb | 73 | //pc.printf("send \r \n"); |
protongamer | 3:86e21a36eecb | 74 | } */ |
LouisReynier | 0:1ab5fdb4fa56 | 75 | } |
protongamer | 1:4d70e593345f | 76 | |
Ringslev | 5:d5a021bbe81b | 77 | void initialisation() |
Ringslev | 5:d5a021bbe81b | 78 | { |
Ringslev | 5:d5a021bbe81b | 79 | pc.printf("starting...\r\n"); |
Ringslev | 5:d5a021bbe81b | 80 | MOD_DEG = 1; |
Ringslev | 5:d5a021bbe81b | 81 | MOD_NOR = 0; |
Ringslev | 5:d5a021bbe81b | 82 | wait(0.1); |
Ringslev | 5:d5a021bbe81b | 83 | MOD_DEG = 0; |
Ringslev | 5:d5a021bbe81b | 84 | MOD_NOR = 1; |
Ringslev | 5:d5a021bbe81b | 85 | wait(0.1); |
Ringslev | 5:d5a021bbe81b | 86 | MOD_DEG = 1; |
Ringslev | 5:d5a021bbe81b | 87 | MOD_NOR = 0; |
Ringslev | 5:d5a021bbe81b | 88 | wait(0.1); |
Ringslev | 5:d5a021bbe81b | 89 | MOD_DEG = 0; |
Ringslev | 5:d5a021bbe81b | 90 | MOD_NOR = 1; |
Ringslev | 5:d5a021bbe81b | 91 | wait(0.1); |
Ringslev | 5:d5a021bbe81b | 92 | MOD_DEG = 1; |
Ringslev | 5:d5a021bbe81b | 93 | MOD_NOR = 0; |
Ringslev | 5:d5a021bbe81b | 94 | wait(0.1); |
Ringslev | 5:d5a021bbe81b | 95 | MOD_DEG = 0; |
Ringslev | 5:d5a021bbe81b | 96 | MOD_NOR = 0; |
Ringslev | 5:d5a021bbe81b | 97 | wait(0.1); |
Ringslev | 5:d5a021bbe81b | 98 | |
Ringslev | 5:d5a021bbe81b | 99 | command[0] = DRIVER_R1; |
Ringslev | 5:d5a021bbe81b | 100 | command[1] = DRIVER_R2; |
Ringslev | 5:d5a021bbe81b | 101 | |
Ringslev | 5:d5a021bbe81b | 102 | while(ping == 0) // INIT MOTEUR DROIT |
Ringslev | 5:d5a021bbe81b | 103 | { |
Ringslev | 5:d5a021bbe81b | 104 | pc.printf("ping droite ...\r\n"); |
Ringslev | 5:d5a021bbe81b | 105 | send(INITOP, command, 'D', 2); //send word to put pluto driver in operational mode |
Ringslev | 5:d5a021bbe81b | 106 | MOD_NOR = 1; |
Ringslev | 5:d5a021bbe81b | 107 | if(can2.read(msg)) |
Ringslev | 5:d5a021bbe81b | 108 | { |
Ringslev | 5:d5a021bbe81b | 109 | for(int i = 0; i < msg.len; i++) |
Ringslev | 5:d5a021bbe81b | 110 | { |
Ringslev | 5:d5a021bbe81b | 111 | pc.printf("0x%x ",msg.data[i]); |
Ringslev | 5:d5a021bbe81b | 112 | ping = 1; |
Ringslev | 5:d5a021bbe81b | 113 | }//end of for |
Ringslev | 5:d5a021bbe81b | 114 | pc.printf("\r \n"); |
Ringslev | 5:d5a021bbe81b | 115 | }//can.read(msg) |
Ringslev | 5:d5a021bbe81b | 116 | wait(0.1); |
Ringslev | 5:d5a021bbe81b | 117 | MOD_NOR = 0; |
Ringslev | 5:d5a021bbe81b | 118 | wait(0.9); |
Ringslev | 5:d5a021bbe81b | 119 | } |
Ringslev | 5:d5a021bbe81b | 120 | |
Ringslev | 5:d5a021bbe81b | 121 | ping =0; |
Ringslev | 5:d5a021bbe81b | 122 | command[0] = DRIVER_L1; |
Ringslev | 5:d5a021bbe81b | 123 | command[1] = DRIVER_L2; |
Ringslev | 5:d5a021bbe81b | 124 | |
Ringslev | 5:d5a021bbe81b | 125 | while(ping == 0) // INIT MOTEUR GAUCHE |
Ringslev | 5:d5a021bbe81b | 126 | { |
Ringslev | 5:d5a021bbe81b | 127 | pc.printf("ping gauche ...\r\n"); |
Ringslev | 5:d5a021bbe81b | 128 | send(INITOP, command, 'D', 2); //send word to put pluto driver in operational mode |
protongamer | 3:86e21a36eecb | 129 | MOD_DEG = 1; |
protongamer | 3:86e21a36eecb | 130 | if(can2.read(msg)) { |
protongamer | 4:3fd7c53d31c1 | 131 | for(int i = 0; i < msg.len; i++){ |
protongamer | 4:3fd7c53d31c1 | 132 | pc.printf("0x%x ",msg.data[i]); |
protongamer | 4:3fd7c53d31c1 | 133 | ping = 1; |
protongamer | 4:3fd7c53d31c1 | 134 | }//end of for |
protongamer | 4:3fd7c53d31c1 | 135 | pc.printf("\r \n"); |
protongamer | 4:3fd7c53d31c1 | 136 | }//can.read(msg) |
protongamer | 3:86e21a36eecb | 137 | wait(0.1); |
Ringslev | 5:d5a021bbe81b | 138 | MOD_DEG = 0; |
protongamer | 3:86e21a36eecb | 139 | wait(0.9); |
Ringslev | 5:d5a021bbe81b | 140 | } |
Ringslev | 5:d5a021bbe81b | 141 | } // fin initialisation |
Ringslev | 5:d5a021bbe81b | 142 | |
Ringslev | 5:d5a021bbe81b | 143 | void control_Moteur() |
Ringslev | 5:d5a021bbe81b | 144 | { |
Ringslev | 5:d5a021bbe81b | 145 | ///////////// CONTROLE MOTEUR ////////////////////////////////////////////////////////////////////////////// |
Ringslev | 5:d5a021bbe81b | 146 | // LECTURE Joystick + stockage valeurs dans x, y |
Ringslev | 5:d5a021bbe81b | 147 | ctr_x = int(-((joystick_ctr.read()*100)-50)); |
Ringslev | 5:d5a021bbe81b | 148 | ctr_y = int((joystick_ctr.read()*100)-50); |
Ringslev | 5:d5a021bbe81b | 149 | 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 | 150 | if(SWV){y = int((joystick_y.read()*100)-50)+ctr_y;}else{y=0;} // Detection y avec correction ctr |
Ringslev | 5:d5a021bbe81b | 151 | |
Ringslev | 5:d5a021bbe81b | 152 | if(mode ==0) |
Ringslev | 5:d5a021bbe81b | 153 | { |
Ringslev | 5:d5a021bbe81b | 154 | ///////////// MODE DEGRADE ///////////////////////////////////// |
Ringslev | 5:d5a021bbe81b | 155 | float VX = (float(x)/42)*425000; // Calcule brut vélocité x, y |
Ringslev | 5:d5a021bbe81b | 156 | float VY = (float(y)/42)*425000; |
Ringslev | 5:d5a021bbe81b | 157 | long int VM_L = VX - VY; // Calcule des vélocités exactes de chaques moteurs |
Ringslev | 5:d5a021bbe81b | 158 | long int VM_R = -VX - VY; |
Ringslev | 5:d5a021bbe81b | 159 | |
Ringslev | 5:d5a021bbe81b | 160 | command[0]= (VM_L & 0x000000FF); // Masque + décalage pour translation big vers little endian |
Ringslev | 5:d5a021bbe81b | 161 | command[1]= (VM_L & 0x0000FF00)>>8; |
Ringslev | 5:d5a021bbe81b | 162 | command[2]= (VM_L & 0x00FF0000)>>16; |
Ringslev | 5:d5a021bbe81b | 163 | command[3]= (VM_L & 0xFF000000)>>24; |
Ringslev | 5:d5a021bbe81b | 164 | send(RPDO1_L, command, 'D', 4); // Controle moteur gauche |
Ringslev | 5:d5a021bbe81b | 165 | |
Ringslev | 5:d5a021bbe81b | 166 | command[0]= (VM_R & 0x000000FF); |
Ringslev | 5:d5a021bbe81b | 167 | command[1]= (VM_R & 0x0000FF00)>>8; |
Ringslev | 5:d5a021bbe81b | 168 | command[2]= (VM_R & 0x00FF0000)>>16; |
Ringslev | 5:d5a021bbe81b | 169 | command[3]= (VM_R & 0xFF000000)>>24; |
Ringslev | 5:d5a021bbe81b | 170 | send(RPDO1_R, command, 'D', 4); // Controle moteur droit |
Ringslev | 5:d5a021bbe81b | 171 | //////////////////////////////////////////////////////////////// |
Ringslev | 5:d5a021bbe81b | 172 | } |
Ringslev | 5:d5a021bbe81b | 173 | else if(mode ==1) |
Ringslev | 5:d5a021bbe81b | 174 | { |
Ringslev | 5:d5a021bbe81b | 175 | // MODE NORMAL |
Ringslev | 5:d5a021bbe81b | 176 | } |
Ringslev | 5:d5a021bbe81b | 177 | ////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
Ringslev | 5:d5a021bbe81b | 178 | } |
Ringslev | 5:d5a021bbe81b | 179 | |
Ringslev | 5:d5a021bbe81b | 180 | int main() { |
Ringslev | 5:d5a021bbe81b | 181 | |
Ringslev | 5:d5a021bbe81b | 182 | //define Pullup switch |
Ringslev | 5:d5a021bbe81b | 183 | SWH.mode(PullUp); |
Ringslev | 5:d5a021bbe81b | 184 | SWV.mode(PullUp); |
Ringslev | 5:d5a021bbe81b | 185 | BPO.mode(PullUp); |
Ringslev | 5:d5a021bbe81b | 186 | |
Ringslev | 5:d5a021bbe81b | 187 | initialisation(); // Mise en mode opérationnel des moteurs |
Ringslev | 5:d5a021bbe81b | 188 | |
Ringslev | 5:d5a021bbe81b | 189 | for(int working = 0; working < 50; working++) |
Ringslev | 5:d5a021bbe81b | 190 | { |
Ringslev | 5:d5a021bbe81b | 191 | send(TPDO1_R, command, 'R', 0); //Ask position |
Ringslev | 5:d5a021bbe81b | 192 | timer_process_read = 0; |
Ringslev | 5:d5a021bbe81b | 193 | d_new = msg.data[3]; |
Ringslev | 5:d5a021bbe81b | 194 | d_new = d_new << 8; |
Ringslev | 5:d5a021bbe81b | 195 | d_new = d_new | msg.data[2]; |
Ringslev | 5:d5a021bbe81b | 196 | d_new = d_new << 8; |
Ringslev | 5:d5a021bbe81b | 197 | d_new = d_new | msg.data[1]; |
Ringslev | 5:d5a021bbe81b | 198 | d_new = d_new << 8; |
Ringslev | 5:d5a021bbe81b | 199 | d_new = d_new | msg.data[0]; |
Ringslev | 5:d5a021bbe81b | 200 | pc.printf("%d \r\n",d_new); |
Ringslev | 5:d5a021bbe81b | 201 | } |
Ringslev | 5:d5a021bbe81b | 202 | d_old = d_new; |
Ringslev | 5:d5a021bbe81b | 203 | |
Ringslev | 5:d5a021bbe81b | 204 | while(1) |
Ringslev | 5:d5a021bbe81b | 205 | { |
Ringslev | 5:d5a021bbe81b | 206 | //timer_process_ping++; |
Ringslev | 5:d5a021bbe81b | 207 | timer_process_read++; |
Ringslev | 5:d5a021bbe81b | 208 | pc.printf("%d \t",d_new); |
Ringslev | 5:d5a021bbe81b | 209 | pc.printf("%d \t",d_old); |
Ringslev | 5:d5a021bbe81b | 210 | //pc.printf("%d \t",d_new); |
Ringslev | 5:d5a021bbe81b | 211 | pc.printf("%f \r\n",dy); |
protongamer | 1:4d70e593345f | 212 | |
Ringslev | 5:d5a021bbe81b | 213 | dy = 525000 + (d_new*1000)/2500; |
protongamer | 4:3fd7c53d31c1 | 214 | |
protongamer | 4:3fd7c53d31c1 | 215 | |
Ringslev | 5:d5a021bbe81b | 216 | //wait_ms(1); |
protongamer | 4:3fd7c53d31c1 | 217 | |
Ringslev | 5:d5a021bbe81b | 218 | /* if(timer_process_ping >= 5000){ |
protongamer | 4:3fd7c53d31c1 | 219 | send(TPDO2_R, command, 'R', 0); //Ask mod of motor |
protongamer | 4:3fd7c53d31c1 | 220 | timer_process_ping = 0; |
protongamer | 4:3fd7c53d31c1 | 221 | if(can2.read(msg)) { |
protongamer | 4:3fd7c53d31c1 | 222 | for(int i = 0; i < msg.len; i++){ |
protongamer | 4:3fd7c53d31c1 | 223 | pc.printf("0x%x ",msg.data[i]); |
protongamer | 4:3fd7c53d31c1 | 224 | }//end of for |
protongamer | 4:3fd7c53d31c1 | 225 | pc.printf("\r \n"); |
protongamer | 4:3fd7c53d31c1 | 226 | }//can.read(msg) |
protongamer | 4:3fd7c53d31c1 | 227 | |
protongamer | 4:3fd7c53d31c1 | 228 | if(msg.data[0] != 0x27 || msg.data[1] != 0x56){//if device is not in operational mode |
protongamer | 4:3fd7c53d31c1 | 229 | ping = 0; |
protongamer | 4:3fd7c53d31c1 | 230 | while(ping == 0){ |
protongamer | 4:3fd7c53d31c1 | 231 | pc.printf("ping...\r\n"); |
protongamer | 4:3fd7c53d31c1 | 232 | send(INITOP, command, 'D', 2); //send word to put pluto driver in operational mode |
protongamer | 4:3fd7c53d31c1 | 233 | MOD_NOR = 1; |
protongamer | 4:3fd7c53d31c1 | 234 | if(can2.read(msg)) { |
protongamer | 4:3fd7c53d31c1 | 235 | for(int i = 0; i < msg.len; i++){ |
protongamer | 4:3fd7c53d31c1 | 236 | pc.printf("0x%x ",msg.data[i]); |
protongamer | 4:3fd7c53d31c1 | 237 | ping = 1; |
protongamer | 4:3fd7c53d31c1 | 238 | }//end of for |
protongamer | 4:3fd7c53d31c1 | 239 | pc.printf("\r \n"); |
protongamer | 4:3fd7c53d31c1 | 240 | }//can.read(msg) |
protongamer | 4:3fd7c53d31c1 | 241 | wait(0.1); |
protongamer | 4:3fd7c53d31c1 | 242 | MOD_NOR = 0; |
protongamer | 4:3fd7c53d31c1 | 243 | wait(0.9); |
protongamer | 4:3fd7c53d31c1 | 244 | |
protongamer | 4:3fd7c53d31c1 | 245 | } |
protongamer | 4:3fd7c53d31c1 | 246 | |
protongamer | 4:3fd7c53d31c1 | 247 | } |
protongamer | 4:3fd7c53d31c1 | 248 | |
protongamer | 4:3fd7c53d31c1 | 249 | }*/ |
protongamer | 4:3fd7c53d31c1 | 250 | |
protongamer | 4:3fd7c53d31c1 | 251 | if(timer_process_read >= 10){ |
protongamer | 4:3fd7c53d31c1 | 252 | send(TPDO1_R, command, 'R', 0); //Ask position |
protongamer | 4:3fd7c53d31c1 | 253 | timer_process_read = 0; |
protongamer | 4:3fd7c53d31c1 | 254 | d_new = msg.data[3]; |
protongamer | 4:3fd7c53d31c1 | 255 | d_new = d_new << 8; |
protongamer | 4:3fd7c53d31c1 | 256 | d_new = d_new | msg.data[2]; |
protongamer | 4:3fd7c53d31c1 | 257 | d_new = d_new << 8; |
protongamer | 4:3fd7c53d31c1 | 258 | d_new = d_new | msg.data[1]; |
protongamer | 4:3fd7c53d31c1 | 259 | d_new = d_new << 8; |
protongamer | 4:3fd7c53d31c1 | 260 | d_new = d_new | msg.data[0]; |
protongamer | 4:3fd7c53d31c1 | 261 | |
protongamer | 4:3fd7c53d31c1 | 262 | /* if(first_time == 0){ |
protongamer | 4:3fd7c53d31c1 | 263 | d_old = d_new; |
protongamer | 4:3fd7c53d31c1 | 264 | first_time = 1; |
protongamer | 4:3fd7c53d31c1 | 265 | }*/ |
protongamer | 4:3fd7c53d31c1 | 266 | } |
protongamer | 4:3fd7c53d31c1 | 267 | |
protongamer | 4:3fd7c53d31c1 | 268 | |
protongamer | 3:86e21a36eecb | 269 | if(can2.read(msg)) { |
protongamer | 3:86e21a36eecb | 270 | for(int i = 0; i < msg.len; i++){ |
protongamer | 3:86e21a36eecb | 271 | pc.printf("0x%x ",msg.data[i]); |
protongamer | 3:86e21a36eecb | 272 | }//end of for |
protongamer | 3:86e21a36eecb | 273 | pc.printf("\r \n"); |
protongamer | 4:3fd7c53d31c1 | 274 | }//can.read(msg) |
protongamer | 3:86e21a36eecb | 275 | |
Ringslev | 5:d5a021bbe81b | 276 | control_Moteur(); // Controle du meteur mode degradé et normal |
Ringslev | 5:d5a021bbe81b | 277 | display_mode(); // Controle des led affichant le mode |
protongamer | 1:4d70e593345f | 278 | |
protongamer | 1:4d70e593345f | 279 | }// fin while(1) |
protongamer | 1:4d70e593345f | 280 | |
protongamer | 1:4d70e593345f | 281 | } // fin main |
protongamer | 4:3fd7c53d31c1 | 282 | |
protongamer | 4:3fd7c53d31c1 | 283 | |
protongamer | 4:3fd7c53d31c1 | 284 | |
protongamer | 1:4d70e593345f | 285 | |
protongamer | 3:86e21a36eecb | 286 |