RaC2018 / Mbed 2 deprecated Robot_a_cables_v3_0

version 3.0

Dependencies:   mbed

Fork of Robot_a_cables_v2_6_5 by RaC2018

main.cpp@10:e4e1228604fb, 2018-05-23 (annotated)

Committer:
protongamer
Date:
Wed May 23 12:33:04 2018 +0000
Revision:
10:e4e1228604fb
Parent:
9:0f63d4cb5613 
42

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 8:1e6d3d9ae1d3 10 #define DEGRAD 0
protongamer 8:1e6d3d9ae1d3 11 #define NORMAL 1
protongamer 1:4d70e593345f 12
protongamer 10:e4e1228604fb 13
protongamer 10:e4e1228604fb 14
protongamer 3:86e21a36eecb 15
protongamer 10:e4e1228604fb 16 DigitalOut MOTOR_L_COM(LED1);
protongamer 10:e4e1228604fb 17 DigitalOut MOTOR_R_COM(LED3);
protongamer 7:e87feff62bfd 18 DigitalOut MOD_DEG(p25);
protongamer 7:e87feff62bfd 19 DigitalOut MOD_NOR(p26);
protongamer 10:e4e1228604fb 20 DigitalOut CYCLE_TIME(p20);
protongamer 3:86e21a36eecb 21 DigitalIn SWH(p5);
protongamer 3:86e21a36eecb 22 DigitalIn SWV(p6);
protongamer 3:86e21a36eecb 23 DigitalIn BPO(p7);
Ringslev 5:d5a021bbe81b 24 AnalogIn joystick_ctr(p15); // Pin 2 (fil vert) Center Tap Reference
Ringslev 5:d5a021bbe81b 25 AnalogIn joystick_x(p16); // Pin 4 (fil jaune)
Ringslev 5:d5a021bbe81b 26 AnalogIn joystick_y(p17); // Pin 5 (fil bleu)
protongamer 3:86e21a36eecb 27
Ringslev 5:d5a021bbe81b 28 CAN can2(p30, p29, 1000000); // on definit pin et debit
Ringslev 5:d5a021bbe81b 29 CANMessage msg;
protongamer 10:e4e1228604fb 30 Serial pc(USBTX, USBRX, 115200);
protongamer 4:3fd7c53d31c1 31
Ringslev 5:d5a021bbe81b 32 uint8_t mode = 0;
Ringslev 5:d5a021bbe81b 33 int x,y,ctr_x,ctr_y; // Variables de joystick
Ringslev 5:d5a021bbe81b 34 uint8_t ping = 0; //variable pour etat de processus
Ringslev 5:d5a021bbe81b 35 uint8_t done = 0;
Ringslev 5:d5a021bbe81b 36 char command[8]; //word to send command
protongamer 7:e87feff62bfd 37 uint16_t timer_process_read; //counter to make mbed read actual position
protongamer 7:e87feff62bfd 38 double dy = 1262, dx = 492.5;//coordinates values when origin is done
protongamer 6:ffffa9dfadfc 39 //these positions are in counters
protongamer 6:ffffa9dfadfc 40 int32_t p1, p2; //motors positions
protongamer 7:e87feff62bfd 41 int32_t p_actual, p_actual2, p_pom, p_pom2; //p_actual position read by can, p_pom position done when origin is made
protongamer 6:ffffa9dfadfc 42
protongamer 6:ffffa9dfadfc 43 //longueur câbles
protongamer 6:ffffa9dfadfc 44 //lx = longueur entre les point des moteurs
protongamer 6:ffffa9dfadfc 45 //l1 = longueur moteur gauche à l'effecteur
protongamer 6:ffffa9dfadfc 46 //l2 = longueur moteur droite à l'effecteur
protongamer 7:e87feff62bfd 47 int32_t lx, l1, l2;
protongamer 8:1e6d3d9ae1d3 48 float pVx, pVy; // variables pour afficher les vélocitées appliquées sur le moniteur
protongamer 6:ffffa9dfadfc 49
protongamer 6:ffffa9dfadfc 50
protongamer 6:ffffa9dfadfc 51
protongamer 1:4d70e593345f 52
Ringslev 5:d5a021bbe81b 53 void display_mode()
Ringslev 5:d5a021bbe81b 54 {
protongamer 8:1e6d3d9ae1d3 55 if(mode == DEGRAD) // MODE DEGRADE
Ringslev 5:d5a021bbe81b 56 {
Ringslev 5:d5a021bbe81b 57 MOD_DEG = 1;
Ringslev 5:d5a021bbe81b 58 MOD_NOR = 0;
Ringslev 5:d5a021bbe81b 59 }
protongamer 8:1e6d3d9ae1d3 60 else if(mode == NORMAL) // MODE NORMAL
Ringslev 5:d5a021bbe81b 61 {
Ringslev 5:d5a021bbe81b 62 MOD_DEG = 0;
Ringslev 5:d5a021bbe81b 63 MOD_NOR = 1;
Ringslev 5:d5a021bbe81b 64 }
Ringslev 5:d5a021bbe81b 65 }
protongamer 1:4d70e593345f 66
protongamer 1:4d70e593345f 67 void send(int id, char octet_emis[], char RouD, char longueur )
protongamer 1:4d70e593345f 68 {
protongamer 10:e4e1228604fb 69
LouisReynier 0:1ab5fdb4fa56 70
protongamer 4:3fd7c53d31c1 71
protongamer 1:4d70e593345f 72 if (RouD == 'D')
protongamer 10:e4e1228604fb 73 { can2.write(CANMessage(id, octet_emis, longueur, CANData, CANStandard )) ;
protongamer 3:86e21a36eecb 74 //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 75 }// c'ets la valeur retournée par la fonction write
protongamer 1:4d70e593345f 76 else
protongamer 10:e4e1228604fb 77 { can2.write(CANMessage(id, octet_emis, longueur, CANRemote, CANStandard ));
protongamer 3:86e21a36eecb 78 //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 79 }
protongamer 1:4d70e593345f 80 //lcd.locate(0,10);
protongamer 1:4d70e593345f 81 //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 82 /*if(emis_ok) {
protongamer 1:4d70e593345f 83 // ici octet emis n'a pas de sens car trame remote !
protongamer 3:86e21a36eecb 84 //pc.printf("send \r \n");
protongamer 3:86e21a36eecb 85 } */
LouisReynier 0:1ab5fdb4fa56 86 }
protongamer 1:4d70e593345f 87
Ringslev 5:d5a021bbe81b 88 void initialisation()
Ringslev 5:d5a021bbe81b 89 {
Ringslev 5:d5a021bbe81b 90 pc.printf("starting...\r\n");
Ringslev 5:d5a021bbe81b 91 MOD_DEG = 1;
Ringslev 5:d5a021bbe81b 92 MOD_NOR = 0;
Ringslev 5:d5a021bbe81b 93 wait(0.1);
Ringslev 5:d5a021bbe81b 94 MOD_DEG = 0;
Ringslev 5:d5a021bbe81b 95 MOD_NOR = 1;
Ringslev 5:d5a021bbe81b 96 wait(0.1);
Ringslev 5:d5a021bbe81b 97 MOD_DEG = 1;
Ringslev 5:d5a021bbe81b 98 MOD_NOR = 0;
Ringslev 5:d5a021bbe81b 99 wait(0.1);
Ringslev 5:d5a021bbe81b 100 MOD_DEG = 0;
Ringslev 5:d5a021bbe81b 101 MOD_NOR = 1;
Ringslev 5:d5a021bbe81b 102 wait(0.1);
Ringslev 5:d5a021bbe81b 103 MOD_DEG = 1;
Ringslev 5:d5a021bbe81b 104 MOD_NOR = 0;
Ringslev 5:d5a021bbe81b 105 wait(0.1);
Ringslev 5:d5a021bbe81b 106 MOD_DEG = 0;
Ringslev 5:d5a021bbe81b 107 MOD_NOR = 0;
Ringslev 5:d5a021bbe81b 108 wait(0.1);
Ringslev 5:d5a021bbe81b 109
protongamer 10:e4e1228604fb 110 command[0] = DRIVER_R1;
Ringslev 5:d5a021bbe81b 111 command[1] = DRIVER_R2;
Ringslev 5:d5a021bbe81b 112
Ringslev 5:d5a021bbe81b 113 while(ping == 0) // INIT MOTEUR DROIT
Ringslev 5:d5a021bbe81b 114 {
Ringslev 5:d5a021bbe81b 115 pc.printf("ping droite ...\r\n");
Ringslev 5:d5a021bbe81b 116 send(INITOP, command, 'D', 2); //send word to put pluto driver in operational mode
Ringslev 5:d5a021bbe81b 117 MOD_NOR = 1;
Ringslev 5:d5a021bbe81b 118 if(can2.read(msg))
Ringslev 5:d5a021bbe81b 119 {
protongamer 10:e4e1228604fb 120 for(int i = 0; i < msg.len; i++){
protongamer 10:e4e1228604fb 121 pc.printf("0x%x ",msg.data[i]);
protongamer 10:e4e1228604fb 122 ping = 1;
protongamer 10:e4e1228604fb 123 MOTOR_R_COM = 1;
protongamer 10:e4e1228604fb 124 }//end of for
protongamer 10:e4e1228604fb 125 pc.printf("\r \n");
protongamer 10:e4e1228604fb 126 }//can.read(msg)
protongamer 10:e4e1228604fb 127 wait(0.1);
protongamer 10:e4e1228604fb 128 MOD_NOR = 0;
protongamer 10:e4e1228604fb 129 wait(0.9);
protongamer 10:e4e1228604fb 130 }
Ringslev 5:d5a021bbe81b 131
protongamer 10:e4e1228604fb 132 ping = 0;
Ringslev 5:d5a021bbe81b 133 command[0] = DRIVER_L1;
Ringslev 5:d5a021bbe81b 134 command[1] = DRIVER_L2;
Ringslev 5:d5a021bbe81b 135
Ringslev 5:d5a021bbe81b 136 while(ping == 0) // INIT MOTEUR GAUCHE
Ringslev 5:d5a021bbe81b 137 {
Ringslev 5:d5a021bbe81b 138 pc.printf("ping gauche ...\r\n");
Ringslev 5:d5a021bbe81b 139 send(INITOP, command, 'D', 2); //send word to put pluto driver in operational mode
protongamer 3:86e21a36eecb 140 MOD_DEG = 1;
protongamer 3:86e21a36eecb 141 if(can2.read(msg)) {
protongamer 4:3fd7c53d31c1 142 for(int i = 0; i < msg.len; i++){
protongamer 4:3fd7c53d31c1 143 pc.printf("0x%x ",msg.data[i]);
protongamer 4:3fd7c53d31c1 144 ping = 1;
protongamer 10:e4e1228604fb 145 MOTOR_L_COM = 1;
protongamer 4:3fd7c53d31c1 146 }//end of for
protongamer 4:3fd7c53d31c1 147 pc.printf("\r \n");
protongamer 4:3fd7c53d31c1 148 }//can.read(msg)
protongamer 3:86e21a36eecb 149 wait(0.1);
Ringslev 5:d5a021bbe81b 150 MOD_DEG = 0;
protongamer 3:86e21a36eecb 151 wait(0.9);
Ringslev 5:d5a021bbe81b 152 }
Ringslev 5:d5a021bbe81b 153 } // fin initialisation
Ringslev 5:d5a021bbe81b 154
protongamer 6:ffffa9dfadfc 155
protongamer 6:ffffa9dfadfc 156
protongamer 6:ffffa9dfadfc 157 void read_position(){
protongamer 8:1e6d3d9ae1d3 158
protongamer 8:1e6d3d9ae1d3 159 //Left motor
protongamer 8:1e6d3d9ae1d3 160 send(TPDO1_L, command, 'R', 0); //Ask position for second length
protongamer 8:1e6d3d9ae1d3 161 if(can2.read(msg)){
protongamer 8:1e6d3d9ae1d3 162 p_actual = msg.data[3];
protongamer 8:1e6d3d9ae1d3 163 p_actual = p_actual << 8;
protongamer 8:1e6d3d9ae1d3 164 p_actual = p_actual | msg.data[2];
protongamer 8:1e6d3d9ae1d3 165 p_actual = p_actual << 8;
protongamer 8:1e6d3d9ae1d3 166 p_actual = p_actual | msg.data[1];
protongamer 8:1e6d3d9ae1d3 167 p_actual = p_actual << 8;
protongamer 8:1e6d3d9ae1d3 168 p_actual = p_actual | msg.data[0];
protongamer 10:e4e1228604fb 169 MOTOR_L_COM = 1;
protongamer 8:1e6d3d9ae1d3 170 }
protongamer 8:1e6d3d9ae1d3 171 //timer_process_read = 1;
protongamer 10:e4e1228604fb 172 wait(0.01);
protongamer 8:1e6d3d9ae1d3 173 send(TPDO1_R, command, 'R', 0); //Ask position for first length
protongamer 8:1e6d3d9ae1d3 174 if(can2.read(msg)){
protongamer 8:1e6d3d9ae1d3 175 p_actual2 = msg.data[3];
protongamer 8:1e6d3d9ae1d3 176 p_actual2 = p_actual2 << 8;
protongamer 8:1e6d3d9ae1d3 177 p_actual2 = p_actual2 | msg.data[2];
protongamer 8:1e6d3d9ae1d3 178 p_actual2 = p_actual2 << 8;
protongamer 8:1e6d3d9ae1d3 179 p_actual2 = p_actual2 | msg.data[1];
protongamer 8:1e6d3d9ae1d3 180 p_actual2 = p_actual2 << 8;
protongamer 8:1e6d3d9ae1d3 181 p_actual2 = p_actual2 | msg.data[0];
protongamer 10:e4e1228604fb 182 MOTOR_R_COM = 1;
protongamer 8:1e6d3d9ae1d3 183 }
protongamer 10:e4e1228604fb 184
protongamer 10:e4e1228604fb 185
protongamer 10:e4e1228604fb 186 if(BPO == 0){
protongamer 10:e4e1228604fb 187 p_pom = p_actual; //Refresh first origin value
protongamer 10:e4e1228604fb 188 p_pom2 = p_actual2; //Refresh second origin value
protongamer 10:e4e1228604fb 189 mode = !mode; //Change mode
protongamer 10:e4e1228604fb 190 wait(1.0);
protongamer 10:e4e1228604fb 191 }
protongamer 10:e4e1228604fb 192
protongamer 10:e4e1228604fb 193 //Calculate positions values in counters
protongamer 10:e4e1228604fb 194 p1 = p_pom - p_actual;
protongamer 10:e4e1228604fb 195 p2 = p_pom2 - p_actual2;
protongamer 10:e4e1228604fb 196
protongamer 10:e4e1228604fb 197
protongamer 10:e4e1228604fb 198 //Calculate Coordinates
protongamer 10:e4e1228604fb 199 l1 = LENGTH_L1_PO - (p1/REFERENCE); //Length 1
protongamer 10:e4e1228604fb 200 l2 = LENGTH_L2_PO - (p2/REFERENCE); //Length 2
protongamer 10:e4e1228604fb 201 lx = LENGTH_MOTOR;
protongamer 10:e4e1228604fb 202 dx = (((double) l1*(double) l1) - ((double) l2*(double) l2) + ((double) lx*(double) lx))/(2*(double) lx);
protongamer 10:e4e1228604fb 203 dy = sqrt(((double) l1*(double) l1) - (dx*dx));
protongamer 6:ffffa9dfadfc 204
protongamer 6:ffffa9dfadfc 205 }//fin de fonction
protongamer 6:ffffa9dfadfc 206
protongamer 6:ffffa9dfadfc 207
protongamer 6:ffffa9dfadfc 208
Ringslev 5:d5a021bbe81b 209 void control_Moteur()
Ringslev 5:d5a021bbe81b 210 {
Ringslev 5:d5a021bbe81b 211 ///////////// CONTROLE MOTEUR //////////////////////////////////////////////////////////////////////////////
Ringslev 5:d5a021bbe81b 212 // LECTURE Joystick + stockage valeurs dans x, y
Ringslev 5:d5a021bbe81b 213 ctr_x = int(-((joystick_ctr.read()*100)-50));
Ringslev 5:d5a021bbe81b 214 ctr_y = int((joystick_ctr.read()*100)-50);
Ringslev 5:d5a021bbe81b 215 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 216 if(SWV){y = int((joystick_y.read()*100)-50)+ctr_y;}else{y=0;} // Detection y avec correction ctr
protongamer 8:1e6d3d9ae1d3 217 float VX; // Calcule brut vélocité x, y
protongamer 8:1e6d3d9ae1d3 218 float VY;
protongamer 10:e4e1228604fb 219 long int VM_L;
protongamer 8:1e6d3d9ae1d3 220 long int VM_R;
protongamer 8:1e6d3d9ae1d3 221
Ringslev 5:d5a021bbe81b 222 if(mode ==0)
Ringslev 5:d5a021bbe81b 223 {
Ringslev 5:d5a021bbe81b 224 ///////////// MODE DEGRADE /////////////////////////////////////
protongamer 8:1e6d3d9ae1d3 225 VX = (float(x)/42)*425000; // Calcule brut vélocité x, y
protongamer 8:1e6d3d9ae1d3 226 VY = (float(y)/42)*425000;
protongamer 8:1e6d3d9ae1d3 227 VM_L = VX - VY; // Calcule des vélocités exactes de chaques moteurs
protongamer 8:1e6d3d9ae1d3 228 VM_R = -VX - VY;
Ringslev 5:d5a021bbe81b 229
Ringslev 5:d5a021bbe81b 230 command[0]= (VM_L & 0x000000FF); // Masque + décalage pour translation big vers little endian
Ringslev 5:d5a021bbe81b 231 command[1]= (VM_L & 0x0000FF00)>>8;
Ringslev 5:d5a021bbe81b 232 command[2]= (VM_L & 0x00FF0000)>>16;
Ringslev 5:d5a021bbe81b 233 command[3]= (VM_L & 0xFF000000)>>24;
Ringslev 5:d5a021bbe81b 234 send(RPDO1_L, command, 'D', 4); // Controle moteur gauche
Ringslev 5:d5a021bbe81b 235
Ringslev 5:d5a021bbe81b 236 command[0]= (VM_R & 0x000000FF);
Ringslev 5:d5a021bbe81b 237 command[1]= (VM_R & 0x0000FF00)>>8;
Ringslev 5:d5a021bbe81b 238 command[2]= (VM_R & 0x00FF0000)>>16;
Ringslev 5:d5a021bbe81b 239 command[3]= (VM_R & 0xFF000000)>>24;
Ringslev 5:d5a021bbe81b 240 send(RPDO1_R, command, 'D', 4); // Controle moteur droit
Ringslev 5:d5a021bbe81b 241 ////////////////////////////////////////////////////////////////
Ringslev 5:d5a021bbe81b 242 }
Ringslev 5:d5a021bbe81b 243 else if(mode ==1)
Ringslev 5:d5a021bbe81b 244 {
protongamer 8:1e6d3d9ae1d3 245 ///////////// MODE NORMAL //////////////////////////////////////
protongamer 8:1e6d3d9ae1d3 246 VX = x;
protongamer 8:1e6d3d9ae1d3 247 VY = y;
protongamer 10:e4e1228604fb 248 //Left control
protongamer 9:0f63d4cb5613 249 VM_L = ((dx*VX)-(dy*VY));
protongamer 9:0f63d4cb5613 250 VM_L = (VM_L/l1);
protongamer 9:0f63d4cb5613 251 VM_L = VM_L*(ALPHA/42);
protongamer 10:e4e1228604fb 252 //Right control
protongamer 9:0f63d4cb5613 253 VM_R = ((-(lx-dx)*VX)-(dy*VY));
protongamer 9:0f63d4cb5613 254 VM_R = (VM_R/l2);
protongamer 9:0f63d4cb5613 255 VM_R = VM_R*(ALPHA/42);
protongamer 8:1e6d3d9ae1d3 256
protongamer 8:1e6d3d9ae1d3 257 command[0]= (VM_L & 0x000000FF); // Masque + décalage pour translation big vers little endian
protongamer 8:1e6d3d9ae1d3 258 command[1]= (VM_L & 0x0000FF00)>>8;
protongamer 8:1e6d3d9ae1d3 259 command[2]= (VM_L & 0x00FF0000)>>16;
protongamer 8:1e6d3d9ae1d3 260 command[3]= (VM_L & 0xFF000000)>>24;
protongamer 8:1e6d3d9ae1d3 261 send(RPDO1_L, command, 'D', 4); // Controle moteur gauche
protongamer 8:1e6d3d9ae1d3 262
protongamer 8:1e6d3d9ae1d3 263 command[0]= (VM_R & 0x000000FF);
protongamer 8:1e6d3d9ae1d3 264 command[1]= (VM_R & 0x0000FF00)>>8;
protongamer 8:1e6d3d9ae1d3 265 command[2]= (VM_R & 0x00FF0000)>>16;
protongamer 8:1e6d3d9ae1d3 266 command[3]= (VM_R & 0xFF000000)>>24;
protongamer 8:1e6d3d9ae1d3 267 send(RPDO1_R, command, 'D', 4); // Controle moteur droit
Ringslev 5:d5a021bbe81b 268 }
protongamer 8:1e6d3d9ae1d3 269 pVx = VM_R;
protongamer 8:1e6d3d9ae1d3 270 pVy = VM_L;
Ringslev 5:d5a021bbe81b 271 //////////////////////////////////////////////////////////////////////////////////////////////////////////////
Ringslev 5:d5a021bbe81b 272 }
Ringslev 5:d5a021bbe81b 273
Ringslev 5:d5a021bbe81b 274 int main() {
Ringslev 5:d5a021bbe81b 275
Ringslev 5:d5a021bbe81b 276 //define Pullup switch
Ringslev 5:d5a021bbe81b 277 SWH.mode(PullUp);
Ringslev 5:d5a021bbe81b 278 SWV.mode(PullUp);
Ringslev 5:d5a021bbe81b 279 BPO.mode(PullUp);
Ringslev 5:d5a021bbe81b 280
Ringslev 5:d5a021bbe81b 281 initialisation(); // Mise en mode opérationnel des moteurs
protongamer 8:1e6d3d9ae1d3 282
Ringslev 5:d5a021bbe81b 283 while(1)
Ringslev 5:d5a021bbe81b 284 {
protongamer 7:e87feff62bfd 285
protongamer 7:e87feff62bfd 286
protongamer 7:e87feff62bfd 287 pc.printf("L1 = %d", l1);
protongamer 7:e87feff62bfd 288 pc.printf("\t L2 = %d", l2);
protongamer 7:e87feff62bfd 289 pc.printf("\t x = %f", dx);
protongamer 8:1e6d3d9ae1d3 290 pc.printf("\t y = %f", dy);
protongamer 8:1e6d3d9ae1d3 291 pc.printf("\t VM_L = %f", pVx);
protongamer 8:1e6d3d9ae1d3 292 pc.printf("\t VM_R = %f \r\n", pVy);
protongamer 4:3fd7c53d31c1 293
protongamer 10:e4e1228604fb 294 CYCLE_TIME = 0;
protongamer 10:e4e1228604fb 295 MOTOR_L_COM = 0;
protongamer 10:e4e1228604fb 296 MOTOR_R_COM = 0;
protongamer 8:1e6d3d9ae1d3 297 read_position();
Ringslev 5:d5a021bbe81b 298 control_Moteur(); // Controle du meteur mode degradé et normal
Ringslev 5:d5a021bbe81b 299 display_mode(); // Controle des led affichant le mode
protongamer 10:e4e1228604fb 300
protongamer 10:e4e1228604fb 301 CYCLE_TIME = 1;
protongamer 1:4d70e593345f 302
protongamer 1:4d70e593345f 303 }// fin while(1)
protongamer 1:4d70e593345f 304
protongamer 1:4d70e593345f 305 } // fin main
protongamer 4:3fd7c53d31c1 306
protongamer 4:3fd7c53d31c1 307
protongamer 4:3fd7c53d31c1 308
protongamer 1:4d70e593345f 309
protongamer 3:86e21a36eecb 310