RaC2018 / Mbed 2 deprecated Robot_a_cables_v3_6

added serial up, down, left and right control

Dependencies:   mbed

Fork of Robot_a_cables_v3_6 by Alexandre Benard

main.cpp@9:0f63d4cb5613, 2018-05-18 (annotated)

Committer:
protongamer
Date:
Fri May 18 09:03:25 2018 +0000
Revision:
9:0f63d4cb5613
Parent:
8:1e6d3d9ae1d3
Child:
10:fb3542f3c5e6
v2.6.5

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 9:0f63d4cb5613 13 //#define ALPHA 425000
protongamer 8:1e6d3d9ae1d3 14 #define ALPHA 425000
protongamer 3:86e21a36eecb 15
protongamer 3:86e21a36eecb 16 DigitalOut MOTOR1_OP(LED1);
protongamer 3:86e21a36eecb 17 DigitalOut MOTOR2_OP(LED2);
protongamer 3:86e21a36eecb 18 DigitalOut DEB_MOD_DEG(LED3);
protongamer 3:86e21a36eecb 19 DigitalOut DEB_MOD_NOR(LED4);
protongamer 7:e87feff62bfd 20 DigitalOut MOD_DEG(p25);
protongamer 7:e87feff62bfd 21 DigitalOut MOD_NOR(p26);
protongamer 3:86e21a36eecb 22 DigitalIn SWH(p5);
protongamer 3:86e21a36eecb 23 DigitalIn SWV(p6);
protongamer 3:86e21a36eecb 24 DigitalIn BPO(p7);
Ringslev 5:d5a021bbe81b 25 AnalogIn joystick_ctr(p15); // Pin 2 (fil vert) Center Tap Reference
Ringslev 5:d5a021bbe81b 26 AnalogIn joystick_x(p16); // Pin 4 (fil jaune)
Ringslev 5:d5a021bbe81b 27 AnalogIn joystick_y(p17); // Pin 5 (fil bleu)
protongamer 3:86e21a36eecb 28
Ringslev 5:d5a021bbe81b 29 CAN can2(p30, p29, 1000000); // on definit pin et debit
Ringslev 5:d5a021bbe81b 30 CANMessage msg;
Ringslev 5:d5a021bbe81b 31 Serial pc(USBTX, USBRX);
protongamer 4:3fd7c53d31c1 32
Ringslev 5:d5a021bbe81b 33 uint8_t mode = 0;
Ringslev 5:d5a021bbe81b 34 int x,y,ctr_x,ctr_y; // Variables de joystick
Ringslev 5:d5a021bbe81b 35 uint8_t ping = 0; //variable pour etat de processus
Ringslev 5:d5a021bbe81b 36 uint8_t done = 0;
Ringslev 5:d5a021bbe81b 37 char command[8]; //word to send command
protongamer 7:e87feff62bfd 38 uint16_t timer_process_read; //counter to make mbed read actual position
protongamer 7:e87feff62bfd 39 double dy = 1262, dx = 492.5;//coordinates values when origin is done
protongamer 6:ffffa9dfadfc 40 //these positions are in counters
protongamer 6:ffffa9dfadfc 41 int32_t p1, p2; //motors positions
protongamer 7:e87feff62bfd 42 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 43
protongamer 6:ffffa9dfadfc 44 //longueur câbles
protongamer 6:ffffa9dfadfc 45 //lx = longueur entre les point des moteurs
protongamer 6:ffffa9dfadfc 46 //l1 = longueur moteur gauche à l'effecteur
protongamer 6:ffffa9dfadfc 47 //l2 = longueur moteur droite à l'effecteur
protongamer 7:e87feff62bfd 48 int32_t lx, l1, l2;
protongamer 8:1e6d3d9ae1d3 49 float pVx, pVy; // variables pour afficher les vélocitées appliquées sur le moniteur
protongamer 6:ffffa9dfadfc 50
protongamer 6:ffffa9dfadfc 51
protongamer 6:ffffa9dfadfc 52
protongamer 1:4d70e593345f 53
Ringslev 5:d5a021bbe81b 54 void display_mode()
Ringslev 5:d5a021bbe81b 55 {
protongamer 8:1e6d3d9ae1d3 56 if(mode == DEGRAD) // MODE DEGRADE
Ringslev 5:d5a021bbe81b 57 {
Ringslev 5:d5a021bbe81b 58 MOD_DEG = 1;
Ringslev 5:d5a021bbe81b 59 MOD_NOR = 0;
Ringslev 5:d5a021bbe81b 60 }
protongamer 8:1e6d3d9ae1d3 61 else if(mode == NORMAL) // MODE NORMAL
Ringslev 5:d5a021bbe81b 62 {
Ringslev 5:d5a021bbe81b 63 MOD_DEG = 0;
Ringslev 5:d5a021bbe81b 64 MOD_NOR = 1;
Ringslev 5:d5a021bbe81b 65 }
Ringslev 5:d5a021bbe81b 66 }
protongamer 1:4d70e593345f 67
protongamer 1:4d70e593345f 68 void send(int id, char octet_emis[], char RouD, char longueur )
protongamer 1:4d70e593345f 69 {
protongamer 1:4d70e593345f 70 int emis_ok = 0 ;
LouisReynier 0:1ab5fdb4fa56 71
protongamer 4:3fd7c53d31c1 72 MOTOR1_OP = 1;
protongamer 4:3fd7c53d31c1 73 MOTOR1_OP = 0;
protongamer 4:3fd7c53d31c1 74
protongamer 1:4d70e593345f 75 if (RouD == 'D')
protongamer 1:4d70e593345f 76 { emis_ok = can2.write(CANMessage(id, octet_emis, longueur, CANData, 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 }// c'ets la valeur retournée par la fonction write
protongamer 1:4d70e593345f 79 else
protongamer 1:4d70e593345f 80 { emis_ok = can2.write(CANMessage(id, octet_emis, longueur, CANRemote, CANStandard ));
protongamer 3:86e21a36eecb 81 //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 82 }
protongamer 1:4d70e593345f 83 //lcd.locate(0,10);
protongamer 1:4d70e593345f 84 //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 85 /*if(emis_ok) {
protongamer 1:4d70e593345f 86 // ici octet emis n'a pas de sens car trame remote !
protongamer 3:86e21a36eecb 87 //pc.printf("send \r \n");
protongamer 3:86e21a36eecb 88 } */
LouisReynier 0:1ab5fdb4fa56 89 }
protongamer 1:4d70e593345f 90
Ringslev 5:d5a021bbe81b 91 void initialisation()
Ringslev 5:d5a021bbe81b 92 {
Ringslev 5:d5a021bbe81b 93 pc.printf("starting...\r\n");
Ringslev 5:d5a021bbe81b 94 MOD_DEG = 1;
Ringslev 5:d5a021bbe81b 95 MOD_NOR = 0;
Ringslev 5:d5a021bbe81b 96 wait(0.1);
Ringslev 5:d5a021bbe81b 97 MOD_DEG = 0;
Ringslev 5:d5a021bbe81b 98 MOD_NOR = 1;
Ringslev 5:d5a021bbe81b 99 wait(0.1);
Ringslev 5:d5a021bbe81b 100 MOD_DEG = 1;
Ringslev 5:d5a021bbe81b 101 MOD_NOR = 0;
Ringslev 5:d5a021bbe81b 102 wait(0.1);
Ringslev 5:d5a021bbe81b 103 MOD_DEG = 0;
Ringslev 5:d5a021bbe81b 104 MOD_NOR = 1;
Ringslev 5:d5a021bbe81b 105 wait(0.1);
Ringslev 5:d5a021bbe81b 106 MOD_DEG = 1;
Ringslev 5:d5a021bbe81b 107 MOD_NOR = 0;
Ringslev 5:d5a021bbe81b 108 wait(0.1);
Ringslev 5:d5a021bbe81b 109 MOD_DEG = 0;
Ringslev 5:d5a021bbe81b 110 MOD_NOR = 0;
Ringslev 5:d5a021bbe81b 111 wait(0.1);
Ringslev 5:d5a021bbe81b 112
protongamer 6:ffffa9dfadfc 113 command[0] = DRIVER_R1;
Ringslev 5:d5a021bbe81b 114 command[1] = DRIVER_R2;
Ringslev 5:d5a021bbe81b 115
Ringslev 5:d5a021bbe81b 116 while(ping == 0) // INIT MOTEUR DROIT
Ringslev 5:d5a021bbe81b 117 {
Ringslev 5:d5a021bbe81b 118 pc.printf("ping droite ...\r\n");
Ringslev 5:d5a021bbe81b 119 send(INITOP, command, 'D', 2); //send word to put pluto driver in operational mode
Ringslev 5:d5a021bbe81b 120 MOD_NOR = 1;
Ringslev 5:d5a021bbe81b 121 if(can2.read(msg))
Ringslev 5:d5a021bbe81b 122 {
Ringslev 5:d5a021bbe81b 123 for(int i = 0; i < msg.len; i++)
Ringslev 5:d5a021bbe81b 124 {
Ringslev 5:d5a021bbe81b 125 pc.printf("0x%x ",msg.data[i]);
Ringslev 5:d5a021bbe81b 126 ping = 1;
Ringslev 5:d5a021bbe81b 127 }//end of for
Ringslev 5:d5a021bbe81b 128 pc.printf("\r \n");
Ringslev 5:d5a021bbe81b 129 }//can.read(msg)
Ringslev 5:d5a021bbe81b 130 wait(0.1);
Ringslev 5:d5a021bbe81b 131 MOD_NOR = 0;
Ringslev 5:d5a021bbe81b 132 wait(0.9);
Ringslev 5:d5a021bbe81b 133 }
Ringslev 5:d5a021bbe81b 134
Ringslev 5:d5a021bbe81b 135 ping =0;
Ringslev 5:d5a021bbe81b 136 command[0] = DRIVER_L1;
Ringslev 5:d5a021bbe81b 137 command[1] = DRIVER_L2;
Ringslev 5:d5a021bbe81b 138
Ringslev 5:d5a021bbe81b 139 while(ping == 0) // INIT MOTEUR GAUCHE
Ringslev 5:d5a021bbe81b 140 {
Ringslev 5:d5a021bbe81b 141 pc.printf("ping gauche ...\r\n");
Ringslev 5:d5a021bbe81b 142 send(INITOP, command, 'D', 2); //send word to put pluto driver in operational mode
protongamer 3:86e21a36eecb 143 MOD_DEG = 1;
protongamer 3:86e21a36eecb 144 if(can2.read(msg)) {
protongamer 4:3fd7c53d31c1 145 for(int i = 0; i < msg.len; i++){
protongamer 4:3fd7c53d31c1 146 pc.printf("0x%x ",msg.data[i]);
protongamer 4:3fd7c53d31c1 147 ping = 1;
protongamer 4:3fd7c53d31c1 148 }//end of for
protongamer 4:3fd7c53d31c1 149 pc.printf("\r \n");
protongamer 4:3fd7c53d31c1 150 }//can.read(msg)
protongamer 3:86e21a36eecb 151 wait(0.1);
Ringslev 5:d5a021bbe81b 152 MOD_DEG = 0;
protongamer 3:86e21a36eecb 153 wait(0.9);
Ringslev 5:d5a021bbe81b 154 }
Ringslev 5:d5a021bbe81b 155 } // fin initialisation
Ringslev 5:d5a021bbe81b 156
protongamer 6:ffffa9dfadfc 157
protongamer 6:ffffa9dfadfc 158
protongamer 6:ffffa9dfadfc 159 void read_position(){
protongamer 6:ffffa9dfadfc 160
protongamer 8:1e6d3d9ae1d3 161 //timer_process_read++;//var used to set time for reading value
protongamer 8:1e6d3d9ae1d3 162 l1 = LENGTH_L1_PO - (p1/2545); //Length 1
protongamer 8:1e6d3d9ae1d3 163 l2 = LENGTH_L2_PO - (p2/2545); //Length 2
protongamer 8:1e6d3d9ae1d3 164 lx = LENGTH_MOTOR;
protongamer 8:1e6d3d9ae1d3 165 dx = (((double) l1*(double) l1) - ((double) l2*(double) l2) + ((double) lx*(double) lx))/(2*(double) lx);
protongamer 8:1e6d3d9ae1d3 166 dy = sqrt(((double) l1*(double) l1) - (dx*dx));
protongamer 8:1e6d3d9ae1d3 167
protongamer 8:1e6d3d9ae1d3 168 if(BPO == 0){
protongamer 7:e87feff62bfd 169
protongamer 8:1e6d3d9ae1d3 170 p_pom = p_actual;
protongamer 8:1e6d3d9ae1d3 171 p_pom2 = p_actual2;
protongamer 8:1e6d3d9ae1d3 172 mode = !mode; //Change mode
protongamer 8:1e6d3d9ae1d3 173 wait(1.0);
protongamer 8:1e6d3d9ae1d3 174 }
protongamer 6:ffffa9dfadfc 175
protongamer 8:1e6d3d9ae1d3 176 p1 = p_pom - p_actual;
protongamer 8:1e6d3d9ae1d3 177 p2 = p_pom2 - p_actual2;
protongamer 8:1e6d3d9ae1d3 178
protongamer 8:1e6d3d9ae1d3 179 //Left motor
protongamer 8:1e6d3d9ae1d3 180 send(TPDO1_L, command, 'R', 0); //Ask position for second length
protongamer 8:1e6d3d9ae1d3 181 if(can2.read(msg)){
protongamer 8:1e6d3d9ae1d3 182 p_actual = msg.data[3];
protongamer 8:1e6d3d9ae1d3 183 p_actual = p_actual << 8;
protongamer 8:1e6d3d9ae1d3 184 p_actual = p_actual | msg.data[2];
protongamer 8:1e6d3d9ae1d3 185 p_actual = p_actual << 8;
protongamer 8:1e6d3d9ae1d3 186 p_actual = p_actual | msg.data[1];
protongamer 8:1e6d3d9ae1d3 187 p_actual = p_actual << 8;
protongamer 8:1e6d3d9ae1d3 188 p_actual = p_actual | msg.data[0];
protongamer 8:1e6d3d9ae1d3 189 }
protongamer 8:1e6d3d9ae1d3 190 //timer_process_read = 1;
protongamer 9:0f63d4cb5613 191 wait(0.005);
protongamer 8:1e6d3d9ae1d3 192 send(TPDO1_R, command, 'R', 0); //Ask position for first length
protongamer 8:1e6d3d9ae1d3 193 if(can2.read(msg)){
protongamer 8:1e6d3d9ae1d3 194 p_actual2 = msg.data[3];
protongamer 8:1e6d3d9ae1d3 195 p_actual2 = p_actual2 << 8;
protongamer 8:1e6d3d9ae1d3 196 p_actual2 = p_actual2 | msg.data[2];
protongamer 8:1e6d3d9ae1d3 197 p_actual2 = p_actual2 << 8;
protongamer 8:1e6d3d9ae1d3 198 p_actual2 = p_actual2 | msg.data[1];
protongamer 8:1e6d3d9ae1d3 199 p_actual2 = p_actual2 << 8;
protongamer 8:1e6d3d9ae1d3 200 p_actual2 = p_actual2 | msg.data[0];
protongamer 8:1e6d3d9ae1d3 201 }
protongamer 8:1e6d3d9ae1d3 202
protongamer 6:ffffa9dfadfc 203
protongamer 6:ffffa9dfadfc 204 }//fin de fonction
protongamer 6:ffffa9dfadfc 205
protongamer 6:ffffa9dfadfc 206
protongamer 6:ffffa9dfadfc 207
Ringslev 5:d5a021bbe81b 208 void control_Moteur()
Ringslev 5:d5a021bbe81b 209 {
Ringslev 5:d5a021bbe81b 210 ///////////// CONTROLE MOTEUR //////////////////////////////////////////////////////////////////////////////
Ringslev 5:d5a021bbe81b 211 // LECTURE Joystick + stockage valeurs dans x, y
Ringslev 5:d5a021bbe81b 212 ctr_x = int(-((joystick_ctr.read()*100)-50));
Ringslev 5:d5a021bbe81b 213 ctr_y = int((joystick_ctr.read()*100)-50);
Ringslev 5:d5a021bbe81b 214 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 215 if(SWV){y = int((joystick_y.read()*100)-50)+ctr_y;}else{y=0;} // Detection y avec correction ctr
protongamer 8:1e6d3d9ae1d3 216 float VX; // Calcule brut vélocité x, y
protongamer 8:1e6d3d9ae1d3 217 float VY;
protongamer 8:1e6d3d9ae1d3 218 long int VM_L; // Calcule des vélocités exactes de chaques moteurs
protongamer 8:1e6d3d9ae1d3 219 long int VM_R;
protongamer 8:1e6d3d9ae1d3 220
Ringslev 5:d5a021bbe81b 221 if(mode ==0)
Ringslev 5:d5a021bbe81b 222 {
Ringslev 5:d5a021bbe81b 223 ///////////// MODE DEGRADE /////////////////////////////////////
protongamer 8:1e6d3d9ae1d3 224 VX = (float(x)/42)*425000; // Calcule brut vélocité x, y
protongamer 8:1e6d3d9ae1d3 225 VY = (float(y)/42)*425000;
protongamer 8:1e6d3d9ae1d3 226 VM_L = VX - VY; // Calcule des vélocités exactes de chaques moteurs
protongamer 8:1e6d3d9ae1d3 227 VM_R = -VX - VY;
Ringslev 5:d5a021bbe81b 228
Ringslev 5:d5a021bbe81b 229 command[0]= (VM_L & 0x000000FF); // Masque + décalage pour translation big vers little endian
Ringslev 5:d5a021bbe81b 230 command[1]= (VM_L & 0x0000FF00)>>8;
Ringslev 5:d5a021bbe81b 231 command[2]= (VM_L & 0x00FF0000)>>16;
Ringslev 5:d5a021bbe81b 232 command[3]= (VM_L & 0xFF000000)>>24;
Ringslev 5:d5a021bbe81b 233 send(RPDO1_L, command, 'D', 4); // Controle moteur gauche
Ringslev 5:d5a021bbe81b 234
Ringslev 5:d5a021bbe81b 235 command[0]= (VM_R & 0x000000FF);
Ringslev 5:d5a021bbe81b 236 command[1]= (VM_R & 0x0000FF00)>>8;
Ringslev 5:d5a021bbe81b 237 command[2]= (VM_R & 0x00FF0000)>>16;
Ringslev 5:d5a021bbe81b 238 command[3]= (VM_R & 0xFF000000)>>24;
Ringslev 5:d5a021bbe81b 239 send(RPDO1_R, command, 'D', 4); // Controle moteur droit
Ringslev 5:d5a021bbe81b 240 ////////////////////////////////////////////////////////////////
Ringslev 5:d5a021bbe81b 241 }
Ringslev 5:d5a021bbe81b 242 else if(mode ==1)
Ringslev 5:d5a021bbe81b 243 {
protongamer 8:1e6d3d9ae1d3 244 ///////////// MODE NORMAL //////////////////////////////////////
protongamer 8:1e6d3d9ae1d3 245 VX = x;
protongamer 8:1e6d3d9ae1d3 246 VY = y;
protongamer 9:0f63d4cb5613 247 VM_L = ((dx*VX)-(dy*VY));
protongamer 9:0f63d4cb5613 248 VM_L = (VM_L/l1);
protongamer 9:0f63d4cb5613 249 VM_L = VM_L*(ALPHA/42);
protongamer 9:0f63d4cb5613 250 VM_R = ((-(lx-dx)*VX)-(dy*VY));
protongamer 9:0f63d4cb5613 251 VM_R = (VM_R/l2);
protongamer 9:0f63d4cb5613 252 VM_R = VM_R*(ALPHA/42);
protongamer 8:1e6d3d9ae1d3 253
protongamer 8:1e6d3d9ae1d3 254 command[0]= (VM_L & 0x000000FF); // Masque + décalage pour translation big vers little endian
protongamer 8:1e6d3d9ae1d3 255 command[1]= (VM_L & 0x0000FF00)>>8;
protongamer 8:1e6d3d9ae1d3 256 command[2]= (VM_L & 0x00FF0000)>>16;
protongamer 8:1e6d3d9ae1d3 257 command[3]= (VM_L & 0xFF000000)>>24;
protongamer 8:1e6d3d9ae1d3 258 send(RPDO1_L, command, 'D', 4); // Controle moteur gauche
protongamer 8:1e6d3d9ae1d3 259
protongamer 8:1e6d3d9ae1d3 260 command[0]= (VM_R & 0x000000FF);
protongamer 8:1e6d3d9ae1d3 261 command[1]= (VM_R & 0x0000FF00)>>8;
protongamer 8:1e6d3d9ae1d3 262 command[2]= (VM_R & 0x00FF0000)>>16;
protongamer 8:1e6d3d9ae1d3 263 command[3]= (VM_R & 0xFF000000)>>24;
protongamer 8:1e6d3d9ae1d3 264 send(RPDO1_R, command, 'D', 4); // Controle moteur droit
Ringslev 5:d5a021bbe81b 265 }
protongamer 8:1e6d3d9ae1d3 266 pVx = VM_R;
protongamer 8:1e6d3d9ae1d3 267 pVy = VM_L;
Ringslev 5:d5a021bbe81b 268 //////////////////////////////////////////////////////////////////////////////////////////////////////////////
Ringslev 5:d5a021bbe81b 269 }
Ringslev 5:d5a021bbe81b 270
Ringslev 5:d5a021bbe81b 271 int main() {
Ringslev 5:d5a021bbe81b 272
Ringslev 5:d5a021bbe81b 273 //define Pullup switch
Ringslev 5:d5a021bbe81b 274 SWH.mode(PullUp);
Ringslev 5:d5a021bbe81b 275 SWV.mode(PullUp);
Ringslev 5:d5a021bbe81b 276 BPO.mode(PullUp);
Ringslev 5:d5a021bbe81b 277
Ringslev 5:d5a021bbe81b 278 initialisation(); // Mise en mode opérationnel des moteurs
Ringslev 5:d5a021bbe81b 279
protongamer 6:ffffa9dfadfc 280
protongamer 6:ffffa9dfadfc 281
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 7:e87feff62bfd 294
protongamer 8:1e6d3d9ae1d3 295 read_position();
Ringslev 5:d5a021bbe81b 296 control_Moteur(); // Controle du meteur mode degradé et normal
Ringslev 5:d5a021bbe81b 297 display_mode(); // Controle des led affichant le mode
protongamer 1:4d70e593345f 298
protongamer 1:4d70e593345f 299 }// fin while(1)
protongamer 1:4d70e593345f 300
protongamer 1:4d70e593345f 301 } // fin main
protongamer 4:3fd7c53d31c1 302
protongamer 4:3fd7c53d31c1 303
protongamer 4:3fd7c53d31c1 304
protongamer 1:4d70e593345f 305
protongamer 3:86e21a36eecb 306