mbed_motor_dc_driver_nextion_nx8048t050_011_2019_v0008 - motor dc driver with lcd nextion nx8048t050_011

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yacine sidhoum / Mbed 2 deprecated mbed_motor_dc_driver_nextion_nx8048t050_011_2019_v0008

motor dc driver with lcd nextion nx8048t050_011

Dependencies: mbed QEI_hw NVIC_set_all_priorities SoftPWM

main.cpp@1:2fe82be93e80, 2019-10-18 (annotated)

Committer:: exarkun
Date:: Fri Oct 18 13:14:40 2019 +0000
Revision:: 1:2fe82be93e80
Parent:: 0:ea04a1655f3b
Child:: 2:e72b06f87c8b

dc motor driver with nextion nx8048t050_011

Who changed what in which revision?

User	Revision	Line number	New contents of line
exarkun	0:ea04a1655f3b	1	////////////////////////////////////////////////////////////////////////////
exarkun	0:ea04a1655f3b	2	//rajout du spi1(p5, p6, p7, p8)--------( 14 / 11 / 2017 ) task5
exarkun	0:ea04a1655f3b	3	//rajout de la conversion AD p20--------( 15 / 11 / 2017 ) task6
exarkun	0:ea04a1655f3b	4	//rajout fonction generation trajectoire a tester "il y as un probleme de position final lorsque on change "slope_time"
exarkun	0:ea04a1655f3b	5	//rajout en task2 visualisation des pulses avec "telemetry viewer v0.4"
exarkun	1:2fe82be93e80	6	//rajout afficheur nextion nx8048t050_011 ---------( 05 / 10 / 2019 )
exarkun	0:ea04a1655f3b	7
exarkun	0:ea04a1655f3b	8	#include "mbed.h"
exarkun	0:ea04a1655f3b	9	#include "qeihw.h"
exarkun	0:ea04a1655f3b	10	#include "NVIC_set_all_priorities.h"
exarkun	1:2fe82be93e80	11	#include "timer.hpp"
exarkun	1:2fe82be93e80	12	#include "NextionLCD.h"
exarkun	0:ea04a1655f3b	13
exarkun	1:2fe82be93e80	14	//declaration des variables afficheur
exarkun	1:2fe82be93e80	15
exarkun	1:2fe82be93e80	16	#define BLACK 0
exarkun	1:2fe82be93e80	17	#define BLUE 31
exarkun	1:2fe82be93e80	18	#define BROWN 48192
exarkun	1:2fe82be93e80	19	#define GREEN 2016
exarkun	1:2fe82be93e80	20	#define YELLOW 65504
exarkun	1:2fe82be93e80	21	#define RED 63488
exarkun	1:2fe82be93e80	22	#define GRAY 33840
exarkun	1:2fe82be93e80	23	#define WHITE 65535
exarkun	1:2fe82be93e80	24
exarkun	1:2fe82be93e80	25	typedef struct ButtonCommand
exarkun	1:2fe82be93e80	26	{
exarkun	1:2fe82be93e80	27	char IsNewCommandAvailable;
exarkun	1:2fe82be93e80	28	char IsButtonPressed;
exarkun	1:2fe82be93e80	29	char cmdNb;
exarkun	1:2fe82be93e80	30	char buttonId;
exarkun	1:2fe82be93e80	31	char data1;
exarkun	1:2fe82be93e80	32	char data2;
exarkun	1:2fe82be93e80	33	char var1;
exarkun	1:2fe82be93e80	34	}ButtonCommand;
exarkun	1:2fe82be93e80	35
exarkun	1:2fe82be93e80	36	typedef enum
exarkun	1:2fe82be93e80	37	{
exarkun	1:2fe82be93e80	38	ButtonCmd = 0x65,//Touch event return data
exarkun	1:2fe82be93e80	39	PageCmd = 0x66,//Current page ID number returns
exarkun	1:2fe82be93e80	40	TouchCmd = 0x67,//Touch coordinate data return
exarkun	1:2fe82be93e80	41	TouchEentCmd = 0x68,//Touch Event in sleep mode
exarkun	1:2fe82be93e80	42	StringDataCmd = 0x70,//String variable data returns
exarkun	1:2fe82be93e80	43	NumericDataCmd = 0x71,//Numeric variable data returns
exarkun	1:2fe82be93e80	44	SleepModeCmd = 0x86,//Device automatically enters into sleep mode
exarkun	1:2fe82be93e80	45	WakeUpCmd = 0x87,//Device automatically wake up
exarkun	1:2fe82be93e80	46	StartUpCmd = 0x88,//System successful start up
exarkun	1:2fe82be93e80	47	StartSDCmd = 0x89,//Start SD card upgrade
exarkun	1:2fe82be93e80	48	DataTTRCmd = 0xfe,//Data transparent transmit ready
exarkun	1:2fe82be93e80	49
exarkun	1:2fe82be93e80	50	}CommandNb;
exarkun	1:2fe82be93e80	51
exarkun	1:2fe82be93e80	52	typedef enum
exarkun	1:2fe82be93e80	53	{
exarkun	1:2fe82be93e80	54	Page0 = 0x00,
exarkun	1:2fe82be93e80	55	Page1 = 0x01,
exarkun	1:2fe82be93e80	56	Page2 = 0x02,
exarkun	1:2fe82be93e80	57	Page3 = 0x03,
exarkun	1:2fe82be93e80	58	Page4 = 0x04,
exarkun	1:2fe82be93e80	59	Page5 = 0x05,
exarkun	1:2fe82be93e80	60	Page6 = 0x06,
exarkun	1:2fe82be93e80	61	Page7 = 0x07,
exarkun	1:2fe82be93e80	62	}PageNb;
exarkun	1:2fe82be93e80	63
exarkun	1:2fe82be93e80	64	typedef enum
exarkun	1:2fe82be93e80	65	{
exarkun	1:2fe82be93e80	66	Invalid_instruction = 0x0,
exarkun	1:2fe82be93e80	67	Successful_execution_of_instruction = 0x01,
exarkun	1:2fe82be93e80	68	Page_ID_invalid = 0x03,
exarkun	1:2fe82be93e80	69	Picture_ID_invalid = 0x04,
exarkun	1:2fe82be93e80	70	Font_ID_invalid = 0x05,
exarkun	1:2fe82be93e80	71	Baud_rate_setting_invalid = 0x11,
exarkun	1:2fe82be93e80	72	Curve_control_ID_number_or_channel_number_is_invalid = 0x12,
exarkun	1:2fe82be93e80	73	Variable_name_invalid = 0x1a,
exarkun	1:2fe82be93e80	74	Variable_operation_invalid = 0x1b,
exarkun	1:2fe82be93e80	75	Failed_to_assign = 0x1c,
exarkun	1:2fe82be93e80	76	Operate_PERFROM_failed = 0x1d,
exarkun	1:2fe82be93e80	77	Parameter_quantity_invalid = 0x1e,
exarkun	1:2fe82be93e80	78	IO_operate_failed = 0x1f,
exarkun	1:2fe82be93e80	79
exarkun	1:2fe82be93e80	80	}ErrorNb;
exarkun	1:2fe82be93e80	81
exarkun	1:2fe82be93e80	82	ButtonCommand buttonCmd;
exarkun	1:2fe82be93e80	83	char Cmd;
exarkun	1:2fe82be93e80	84	bool newCmdAvailable = false;
exarkun	1:2fe82be93e80	85	PageNb CurrentPageNb = Page0;
exarkun	1:2fe82be93e80	86
exarkun	0:ea04a1655f3b	87	// déclaration du hardware
exarkun	0:ea04a1655f3b	88	Serial pc(USBTX, USBRX);//utilisation de la liaison usb
exarkun	0:ea04a1655f3b	89
exarkun	0:ea04a1655f3b	90	QEIHW qei(QEI_DIRINV_NONE, QEI_SIGNALMODE_QUAD, QEI_CAPMODE_4X, QEI_INVINX_NONE );
exarkun	0:ea04a1655f3b	91
exarkun	0:ea04a1655f3b	92	Serial device(p9, p10);// tx, rx.//definition de la liaison rs232
exarkun	0:ea04a1655f3b	93
exarkun	0:ea04a1655f3b	94	DigitalOut frein_moteur1(p15); //changement momentané pour le projet r2d de p5 a p15
exarkun	0:ea04a1655f3b	95
exarkun	0:ea04a1655f3b	96	DigitalOut sens_rotation_moteur1(p13);
exarkun	0:ea04a1655f3b	97
exarkun	0:ea04a1655f3b	98	PwmOut PWM1(p21);
exarkun	0:ea04a1655f3b	99
exarkun	0:ea04a1655f3b	100	SPISlave spi1(p5, p6, p7, p8); // mosi, miso, sclk, ssel
exarkun	0:ea04a1655f3b	101
exarkun	1:2fe82be93e80	102	AnalogIn Ain(p20);
exarkun	0:ea04a1655f3b	103
exarkun	0:ea04a1655f3b	104	// définition des timers.
exarkun	1:2fe82be93e80	105	//Timer timer1;
exarkun	0:ea04a1655f3b	106	Timer timer2;
exarkun	0:ea04a1655f3b	107
exarkun	0:ea04a1655f3b	108	//definition spi1
exarkun	0:ea04a1655f3b	109	int reply = 0xAAAA;// en bin "1010101010101010"
exarkun	0:ea04a1655f3b	110	int valueFromMaster;
exarkun	0:ea04a1655f3b	111
exarkun	0:ea04a1655f3b	112	int Spi_val_RX[10]={0x0000,0x0000,0x0000,0x0000,0x0000,0x0000,0x0000,0x0000,0x0000,0x0000};//buffer reception données SPI
exarkun	0:ea04a1655f3b	113	int Spi_val_TX[10]={0x0000,0x0000,0x0000,0x0000,0x0000,0x0000,0x0000,0x0000,0x0000,0x0000};//buffer transmission données SPI
exarkun	0:ea04a1655f3b	114
exarkun	0:ea04a1655f3b	115	// définition des sorties leds
exarkun	0:ea04a1655f3b	116	DigitalOut led1(LED1);
exarkun	0:ea04a1655f3b	117	DigitalOut led3(LED3);
exarkun	0:ea04a1655f3b	118
exarkun	0:ea04a1655f3b	119	char c ;
exarkun	0:ea04a1655f3b	120	int t ;
exarkun	0:ea04a1655f3b	121	int x=0 ;
exarkun	0:ea04a1655f3b	122
exarkun	0:ea04a1655f3b	123	float PI=3.141592653589793;
exarkun	0:ea04a1655f3b	124
exarkun	0:ea04a1655f3b	125	//vitesse moteur
exarkun	0:ea04a1655f3b	126	int vitesse_actuelle;
exarkun	0:ea04a1655f3b	127
exarkun	0:ea04a1655f3b	128	//position codeur en pulses 2000pulses/rotation
exarkun	0:ea04a1655f3b	129	int position_actuelle;//position du codeur
exarkun	0:ea04a1655f3b	130	int position_actuelle_n1;//position du codeur a n-1
exarkun	0:ea04a1655f3b	131
exarkun	0:ea04a1655f3b	132	//données mecanique & moteur
exarkun	0:ea04a1655f3b	133	float J=3.375*1e-5;//0.005;//inertie en kg.m²
exarkun	0:ea04a1655f3b	134	float K=0.05;//2;//constante de couple N.m/v
exarkun	0:ea04a1655f3b	135	float R=5;//K;//resistance du moteur en Ohms
exarkun	0:ea04a1655f3b	136	float Umax=24;//24vdc tension max en volts
exarkun	0:ea04a1655f3b	137
exarkun	0:ea04a1655f3b	138	//parametres reglage
exarkun	0:ea04a1655f3b	139	float dt_vit(5*1e-4);
exarkun	0:ea04a1655f3b	140	float Ki=12;//default value=10;
exarkun	0:ea04a1655f3b	141	float Kp;
exarkun	0:ea04a1655f3b	142	float Kv;
exarkun	0:ea04a1655f3b	143	float K_sw(K);
exarkun	0:ea04a1655f3b	144	float tau;
exarkun	0:ea04a1655f3b	145	float taud=(10*dt_vit);
exarkun	0:ea04a1655f3b	146	float r1=3;//default value=2.5;derniere valeur =3
exarkun	0:ea04a1655f3b	147	float r2=r1;//default value=2.5;
exarkun	0:ea04a1655f3b	148
exarkun	0:ea04a1655f3b	149	//variables generateur de consigne///////////////////////////////////////////////////////////////////////////////////////////
exarkun	0:ea04a1655f3b	150	float Teta_debut, Teta_fin, Teta_diff;
exarkun	0:ea04a1655f3b	151	float delta_Teta;
exarkun	0:ea04a1655f3b	152	float consigne;//en pulse
exarkun	0:ea04a1655f3b	153	float slope_time(1.);//en seconde
exarkun	0:ea04a1655f3b	154	bool start_slope(false);//flag debut de montee
exarkun	0:ea04a1655f3b	155	int ticks_total;
exarkun	0:ea04a1655f3b	156	int count_ticks;
exarkun	0:ea04a1655f3b	157	int count_slope(0);
exarkun	0:ea04a1655f3b	158	int count_max(0);
exarkun	0:ea04a1655f3b	159
exarkun	0:ea04a1655f3b	160	//variables calcul de l'asservissement en vitesse et position
exarkun	0:ea04a1655f3b	161	float Tetaco; //valeur de la consigne position en radians
exarkun	0:ea04a1655f3b	162	float Tetam;//valeur mesuree de la position en radians
exarkun	0:ea04a1655f3b	163
exarkun	0:ea04a1655f3b	164	float dTetam;
exarkun	0:ea04a1655f3b	165	float integ;
exarkun	0:ea04a1655f3b	166	float A;
exarkun	0:ea04a1655f3b	167
exarkun	0:ea04a1655f3b	168	float dTetam_n1;
exarkun	0:ea04a1655f3b	169	float Tetaco_n1;
exarkun	0:ea04a1655f3b	170	float Tetam_n1;
exarkun	0:ea04a1655f3b	171	float integ_n1;
exarkun	0:ea04a1655f3b	172	float cyclic;
exarkun	0:ea04a1655f3b	173	int signe_rot;
exarkun	0:ea04a1655f3b	174
exarkun	0:ea04a1655f3b	175	//variable ADC
exarkun	0:ea04a1655f3b	176	float ADCdata;
exarkun	0:ea04a1655f3b	177	float imax=1.8;
exarkun	0:ea04a1655f3b	178
exarkun	0:ea04a1655f3b	179	//declaration des differantes taches
exarkun	0:ea04a1655f3b	180	void task1_switch(void);
exarkun	0:ea04a1655f3b	181	void task2_switch(void);
exarkun	0:ea04a1655f3b	182	void task3_switch(void);
exarkun	0:ea04a1655f3b	183	void task4_switch(void);
exarkun	0:ea04a1655f3b	184	void task5_switch(void);
exarkun	0:ea04a1655f3b	185	void task6_switch(void);
exarkun	0:ea04a1655f3b	186	void task7_switch(void);
exarkun	0:ea04a1655f3b	187	void task8_switch(void);
exarkun	0:ea04a1655f3b	188
exarkun	0:ea04a1655f3b	189	//declaration des differantes interuption timer
exarkun	0:ea04a1655f3b	190	Ticker time_up1; //definition du Ticker, avec le nom “time_up1”
exarkun	0:ea04a1655f3b	191	Ticker time_up2; //definition du Ticker, avec le nom “time_up2”
exarkun	0:ea04a1655f3b	192	Ticker time_up3; //definition du Ticker, avec le nom “time_up3”
exarkun	0:ea04a1655f3b	193	Ticker time_up4; //definition du Ticker, avec le nom “time_up4”
exarkun	0:ea04a1655f3b	194	Ticker time_up5; //definition du Ticker, avec le nom_up5”
exarkun	0:ea04a1655f3b	195	Ticker time_up6; //definition du Ticker, avec le nom_up6”
exarkun	0:ea04a1655f3b	196	Ticker time_up7; //definition du Ticker, avec le nom “time_up7”
exarkun	0:ea04a1655f3b	197	Ticker time_up8; //definition du Ticker, avec le nom “time_up8”
exarkun	0:ea04a1655f3b	198
exarkun	0:ea04a1655f3b	199	//declaration des leds visuelle utiliser pour mesurer le temps des taches
exarkun	0:ea04a1655f3b	200	DigitalOut myled1(LED1);
exarkun	0:ea04a1655f3b	201	DigitalOut myled3(LED3);
exarkun	0:ea04a1655f3b	202
exarkun	0:ea04a1655f3b	203	//declaration des variables afficheur
exarkun	0:ea04a1655f3b	204	char mRxMsg[40];
exarkun	0:ea04a1655f3b	205	int mRxIdx;
exarkun	0:ea04a1655f3b	206	char charac;
exarkun	0:ea04a1655f3b	207	bool mTouch;
exarkun	0:ea04a1655f3b	208	int mTouchX, mTouchY;
exarkun	0:ea04a1655f3b	209
exarkun	0:ea04a1655f3b	210	int val_temp;//valleur temporaire
exarkun	0:ea04a1655f3b	211	int val_temp1;//valleur temporaire
exarkun	0:ea04a1655f3b	212
exarkun	0:ea04a1655f3b	213	////////////////////////////////////////////////////////////
exarkun	0:ea04a1655f3b	214	// fonction affichage sur nextion //
exarkun	0:ea04a1655f3b	215	////////////////////////////////////////////////////////////
exarkun	0:ea04a1655f3b	216
exarkun	0:ea04a1655f3b	217	bool Touch(void) {
exarkun	0:ea04a1655f3b	218	return mTouch;
exarkun	0:ea04a1655f3b	219	}
exarkun	0:ea04a1655f3b	220
exarkun	0:ea04a1655f3b	221	int TouchX(void) {
exarkun	0:ea04a1655f3b	222	return mTouchX;
exarkun	0:ea04a1655f3b	223	}
exarkun	0:ea04a1655f3b	224
exarkun	0:ea04a1655f3b	225	int TouchY(void) {
exarkun	0:ea04a1655f3b	226	return mTouchY;
exarkun	0:ea04a1655f3b	227	}
exarkun	0:ea04a1655f3b	228
exarkun	0:ea04a1655f3b	229	bool lectureRSlcd(void)
exarkun	0:ea04a1655f3b	230	{
exarkun	0:ea04a1655f3b	231	if(device.readable())
exarkun	0:ea04a1655f3b	232	{
exarkun	0:ea04a1655f3b	233	charac = device.getc();
exarkun	0:ea04a1655f3b	234	mRxMsg[mRxIdx] = charac;
exarkun	0:ea04a1655f3b	235	mRxIdx++;
exarkun	0:ea04a1655f3b	236	if ((mRxIdx >= 3) && (mRxMsg[mRxIdx-1] == 0xff) && (mRxMsg[mRxIdx-2] == 0xff) && (mRxMsg[mRxIdx-3] == 0xff)) //valid rx message
exarkun	0:ea04a1655f3b	237	{
exarkun	0:ea04a1655f3b	238	mRxIdx=0;
exarkun	0:ea04a1655f3b	239
exarkun	0:ea04a1655f3b	240	if(mRxMsg[0] == 0x67) //Touch coordinate data return
exarkun	0:ea04a1655f3b	241	{ mTouchX = (mRxMsg[1]*256) + mRxMsg[2];
exarkun	0:ea04a1655f3b	242	mTouchY = (mRxMsg[3]*256) + mRxMsg[4];
exarkun	0:ea04a1655f3b	243	if(mRxMsg[5] == 0x01)
exarkun	0:ea04a1655f3b	244	mTouch = true;
exarkun	0:ea04a1655f3b	245	else
exarkun	0:ea04a1655f3b	246	mTouch = false;
exarkun	0:ea04a1655f3b	247	}
exarkun	0:ea04a1655f3b	248	}
exarkun	0:ea04a1655f3b	249	}
exarkun	0:ea04a1655f3b	250	return mTouch;
exarkun	0:ea04a1655f3b	251	}
exarkun	0:ea04a1655f3b	252
exarkun	0:ea04a1655f3b	253	//lecture de la donnée val d une reponse de sliders
exarkun	0:ea04a1655f3b	254	int lecture_slider_RS_lcd(void)
exarkun	0:ea04a1655f3b	255	{
exarkun	0:ea04a1655f3b	256	if(device.readable())
exarkun	0:ea04a1655f3b	257	{
exarkun	0:ea04a1655f3b	258	charac = device.getc();
exarkun	0:ea04a1655f3b	259	mRxMsg[mRxIdx] = charac;
exarkun	0:ea04a1655f3b	260	mRxIdx++;
exarkun	0:ea04a1655f3b	261	if ((mRxIdx >= 3) && (mRxMsg[mRxIdx-1] == 0xff) && (mRxMsg[mRxIdx-2] == 0xff) && (mRxMsg[mRxIdx-3] == 0xff)) //valid rx message
exarkun	0:ea04a1655f3b	262	{
exarkun	0:ea04a1655f3b	263	mRxIdx=0;
exarkun	0:ea04a1655f3b	264
exarkun	0:ea04a1655f3b	265	if(mRxMsg[0] == 0x71) //sliders data return
exarkun	0:ea04a1655f3b	266	{
exarkun	0:ea04a1655f3b	267	val_temp=mRxMsg[1];
exarkun	0:ea04a1655f3b	268
exarkun	0:ea04a1655f3b	269	}
exarkun	0:ea04a1655f3b	270	}
exarkun	0:ea04a1655f3b	271	}
exarkun	0:ea04a1655f3b	272	return val_temp;
exarkun	0:ea04a1655f3b	273	}
exarkun	0:ea04a1655f3b	274
exarkun	0:ea04a1655f3b	275	//recuperation de la valeur val du sliders h0
exarkun	1:2fe82be93e80	276	//example : get_val(0);
exarkun	0:ea04a1655f3b	277	void get_val(int n)
exarkun	0:ea04a1655f3b	278	{
exarkun	0:ea04a1655f3b	279	device.printf("get h%d.val %c%c%c",n, 0xff, 0xff, 0xff);//recuperation de la valeur val du sliders h0
exarkun	0:ea04a1655f3b	280	}
exarkun	0:ea04a1655f3b	281	//fonction general recuperation de la valeur val de h0
exarkun	0:ea04a1655f3b	282	void get_val_h0()
exarkun	0:ea04a1655f3b	283	{
exarkun	0:ea04a1655f3b	284	device.printf("get h0.val %c%c%c", 0xff, 0xff, 0xff);//recuperation de la valeur val du sliders h0
exarkun	0:ea04a1655f3b	285	}
exarkun	0:ea04a1655f3b	286
exarkun	0:ea04a1655f3b	287	////////////////////////////////////////
exarkun	0:ea04a1655f3b	288	// Convertion pulses to radians //
exarkun	0:ea04a1655f3b	289	////////////////////////////////////////
exarkun	0:ea04a1655f3b	290
exarkun	0:ea04a1655f3b	291	//PI =3.141592653589793 =1000 pulses codeurs
exarkun	0:ea04a1655f3b	292	float pulsesToRadians(int pulses)
exarkun	0:ea04a1655f3b	293	{
exarkun	0:ea04a1655f3b	294	float radians_VAL;
exarkun	0:ea04a1655f3b	295	radians_VAL=(pulses*PI)/1000.;
exarkun	0:ea04a1655f3b	296	return radians_VAL;
exarkun	0:ea04a1655f3b	297	};
exarkun	0:ea04a1655f3b	298
exarkun	0:ea04a1655f3b	299	////////////////////////////////////////
exarkun	0:ea04a1655f3b	300	// calcule de la vitesse angulaire //
exarkun	0:ea04a1655f3b	301	////////////////////////////////////////
exarkun	0:ea04a1655f3b	302
exarkun	0:ea04a1655f3b	303	// ici le code du calcule pas encore fait !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
exarkun	0:ea04a1655f3b	304
exarkun	0:ea04a1655f3b	305	// Convert ASCII string to unsigned 32-bit decimal "string is null-terminated"
exarkun	0:ea04a1655f3b	306	unsigned long Str2UDec(unsigned char string[]){
exarkun	0:ea04a1655f3b	307	unsigned long i = 0; // index
exarkun	0:ea04a1655f3b	308	unsigned long n = 0; // number
exarkun	0:ea04a1655f3b	309	while(string[i] != 0){
exarkun	0:ea04a1655f3b	310	n = 10*n +(string[i]-0x30);
exarkun	0:ea04a1655f3b	311	i++;
exarkun	0:ea04a1655f3b	312	}
exarkun	0:ea04a1655f3b	313	return n;
exarkun	0:ea04a1655f3b	314	}
exarkun	0:ea04a1655f3b	315
exarkun	0:ea04a1655f3b	316	/////////////////////////////////////////////////////////////////////////////
exarkun	0:ea04a1655f3b	317	// declaration de la fonction moteur1 //
exarkun	0:ea04a1655f3b	318	/////////////////////////////////////////////////////////////////////////////
exarkun	0:ea04a1655f3b	319
exarkun	0:ea04a1655f3b	320	void motor1_mouve(int position1,int T1,int position2,int T2,int position3,int T3)
exarkun	0:ea04a1655f3b	321	{
exarkun	0:ea04a1655f3b	322
exarkun	0:ea04a1655f3b	323	/////////////////////////////////////////////////////////////////////
exarkun	0:ea04a1655f3b	324	// mouvement trapezoide non tésté //
exarkun	0:ea04a1655f3b	325	/////////////////////////////////////////////////////////////////////
exarkun	1:2fe82be93e80	326	/*
exarkun	0:ea04a1655f3b	327	timer1.start(); // déclenchement du timer1
exarkun	0:ea04a1655f3b	328	timer2.start(); // déclenchement du timer2
exarkun	0:ea04a1655f3b	329	//ACC
exarkun	0:ea04a1655f3b	330	consigne=position1 ;
exarkun	0:ea04a1655f3b	331	slope_time=T1;
exarkun	0:ea04a1655f3b	332	start_slope=true;
exarkun	0:ea04a1655f3b	333	//do{} while (timer1.read_ms()!=T1);
exarkun	0:ea04a1655f3b	334	do{} while (timer1.read_ms()<T1);
exarkun	0:ea04a1655f3b	335	if (timer1.read_ms()>T1) // lecture du temps du timer1 en ms
exarkun	0:ea04a1655f3b	336	{
exarkun	0:ea04a1655f3b	337	//device.printf("TIME out T1 ms \r\n");
exarkun	0:ea04a1655f3b	338	device.printf("t0.txt=\"time1out\"%c%c%c", 0xff, 0xff, 0xff);
exarkun	0:ea04a1655f3b	339	}
exarkun	0:ea04a1655f3b	340
exarkun	0:ea04a1655f3b	341	timer1.reset(); // remise à zéro du timer1
exarkun	0:ea04a1655f3b	342	//vmax
exarkun	0:ea04a1655f3b	343	timer1.start(); // déclenchement du timer1
exarkun	0:ea04a1655f3b	344	consigne=position2 ;
exarkun	0:ea04a1655f3b	345	slope_time=T2;
exarkun	0:ea04a1655f3b	346	start_slope=true;
exarkun	0:ea04a1655f3b	347	//do{} while (timer1.read_ms()!=T2);
exarkun	0:ea04a1655f3b	348	do{} while (timer1.read_ms()<T2);
exarkun	0:ea04a1655f3b	349	if (timer1.read_ms()>T2) // lecture du temps du timer1 en ms
exarkun	0:ea04a1655f3b	350	{
exarkun	0:ea04a1655f3b	351	//device.printf("TIME out T2 ms \r\n");
exarkun	0:ea04a1655f3b	352	device.printf("t0.txt=\"time2out\"%c%c%c", 0xff, 0xff, 0xff);
exarkun	0:ea04a1655f3b	353	}
exarkun	0:ea04a1655f3b	354	timer1.reset(); // remise à zéro du timer1
exarkun	0:ea04a1655f3b	355	//DCC
exarkun	0:ea04a1655f3b	356	timer1.start(); // déclenchement du timer1
exarkun	0:ea04a1655f3b	357	consigne=position3 ;
exarkun	0:ea04a1655f3b	358	slope_time=T3;
exarkun	0:ea04a1655f3b	359	start_slope=true;
exarkun	0:ea04a1655f3b	360	//do{} while (timer1.read_ms()!=T3);
exarkun	0:ea04a1655f3b	361	do{} while (timer1.read_ms()<T3);
exarkun	0:ea04a1655f3b	362	if (timer1.read_ms()>T3) // lecture du temps du timer1 en ms
exarkun	0:ea04a1655f3b	363	{
exarkun	0:ea04a1655f3b	364	//device.printf("TIME out T3 ms \r\n");
exarkun	0:ea04a1655f3b	365	device.printf("t0.txt=\"time3out\"%c%c%c", 0xff, 0xff, 0xff);
exarkun	0:ea04a1655f3b	366	}
exarkun	0:ea04a1655f3b	367	timer1.reset(); // remise à zéro du timer1
exarkun	0:ea04a1655f3b	368
exarkun	0:ea04a1655f3b	369	if (timer2.read_ms()>(T1+T2+T3)) // lecture du temps du timer1 en ms
exarkun	0:ea04a1655f3b	370	{
exarkun	0:ea04a1655f3b	371	//device.printf("TIME out motor \r\n");
exarkun	0:ea04a1655f3b	372	device.printf("t0.txt=\"timeMout\"%c%c%c", 0xff, 0xff, 0xff);
exarkun	0:ea04a1655f3b	373	}
exarkun	0:ea04a1655f3b	374
exarkun	0:ea04a1655f3b	375	timer2.reset(); // remise à zéro du timer2
exarkun	1:2fe82be93e80	376	*/
exarkun	0:ea04a1655f3b	377	};
exarkun	0:ea04a1655f3b	378
exarkun	0:ea04a1655f3b	379	//////////////////////////////////////////////////////////////////////////////////////////
exarkun	0:ea04a1655f3b	380	// declaration des differantes pages //
exarkun	0:ea04a1655f3b	381	//////////////////////////////////////////////////////////////////////////////////////////
exarkun	0:ea04a1655f3b	382
exarkun	0:ea04a1655f3b	383	void page0()//code de la page : 6600ffffff
exarkun	0:ea04a1655f3b	384	{
exarkun	0:ea04a1655f3b	385
exarkun	0:ea04a1655f3b	386	//device.printf("cls RED %c%c%c", 0xff, 0xff, 0xff); //clear screen color red fonnctionne pas ??
exarkun	0:ea04a1655f3b	387	//device.printf("rest%c%c%c", 0xff, 0xff, 0xff);//y as un bug toute les commande prochine fonctionne plus ???
exarkun	0:ea04a1655f3b	388	//wait_ms(10);
exarkun	0:ea04a1655f3b	389
exarkun	0:ea04a1655f3b	390	//device.printf("page %d%c%c%c",0x0, 0xff, 0xff, 0xff);// saut a la page0------sy
exarkun	1:2fe82be93e80	391	//wait_ms(10);
exarkun	1:2fe82be93e80	392	device.printf("t0.txt=\"position\"%c%c%c", 0xff, 0xff, 0xff);//affiche la version soft -------sy
exarkun	1:2fe82be93e80	393	device.printf("t6.txt=\"soft V0.014\"%c%c%c", 0xff, 0xff, 0xff);//affiche la version soft -------sy
exarkun	1:2fe82be93e80	394	//wait_ms(5);
exarkun	0:ea04a1655f3b	395	device.printf("b13.txt=\"flyready\"%c%c%c", 0xff, 0xff, 0xff);//affiche la version soft -------sy
exarkun	1:2fe82be93e80	396	//wait_ms(5);
exarkun	0:ea04a1655f3b	397	device.printf("b12.txt=\"BREAK\"%c%c%c", 0xff, 0xff, 0xff);//affiche la version soft -------sy
exarkun	1:2fe82be93e80	398	//wait_ms(5);
exarkun	0:ea04a1655f3b	399	device.printf("b11.txt=\"LANDING\"%c%c%c", 0xff, 0xff, 0xff);//affiche la version soft -------sy
exarkun	1:2fe82be93e80	400	//wait_ms(5);
exarkun	0:ea04a1655f3b	401	device.printf("b21.txt=\"Quantum\"%c%c%c", 0xff, 0xff, 0xff);//affiche la version soft -------sy
exarkun	1:2fe82be93e80	402	//wait_ms(5);
exarkun	0:ea04a1655f3b	403
exarkun	0:ea04a1655f3b	404	device.printf("b18.txt=\"Speed M\"%c%c%c", 0xff, 0xff, 0xff);//affiche la version soft -------sy
exarkun	1:2fe82be93e80	405	//wait_ms(5);
exarkun	0:ea04a1655f3b	406	device.printf("b19.txt=\"couple M\"%c%c%c", 0xff, 0xff, 0xff);//affiche la version soft -------sy
exarkun	1:2fe82be93e80	407	//wait_ms(5);
exarkun	0:ea04a1655f3b	408	device.printf("b20.txt=\"Afterburner\"%c%c%c", 0xff, 0xff, 0xff);//affiche la version soft -------sy
exarkun	1:2fe82be93e80	409	//wait_ms(5);
exarkun	0:ea04a1655f3b	410
exarkun	0:ea04a1655f3b	411	//device.printf("b0.pic=17%c%c%c", 0xff, 0xff, 0xff);//chager l image du bouton b0 par l image n°17------sy
exarkun	0:ea04a1655f3b	412	//wait_ms(10);
exarkun	0:ea04a1655f3b	413	//device.printf("ref b0%c%c%c", 0xff, 0xff, 0xff);//rafrechir b0--------------sy
exarkun	0:ea04a1655f3b	414
exarkun	0:ea04a1655f3b	415	//wait_ms(10);
exarkun	0:ea04a1655f3b	416
exarkun	0:ea04a1655f3b	417	/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
exarkun	0:ea04a1655f3b	418	//FLY READY switch
exarkun	0:ea04a1655f3b	419	if((mRxMsg[0] == 0x65)&&(mRxMsg[1] == 0x00)&&(mRxMsg[2] == 0x19)&&(mRxMsg[3] == 0x01))
exarkun	1:2fe82be93e80	420	{ myled3=1;
exarkun	0:ea04a1655f3b	421	//keyboard.printf("r");//flight ready
exarkun	0:ea04a1655f3b	422	}//uniquement le bouton allumeras la led 1 en release ---------------SY
exarkun	0:ea04a1655f3b	423	/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
exarkun	0:ea04a1655f3b	424	//space break switch
exarkun	0:ea04a1655f3b	425	if((mRxMsg[0] == 0x65)&&(mRxMsg[1] == 0x00)&&(mRxMsg[2] == 0x18)&&(mRxMsg[3] == 0x01))//press
exarkun	0:ea04a1655f3b	426	{myled3=1;
exarkun	0:ea04a1655f3b	427	//keyboard.printf("x");//spacebreak
exarkun	0:ea04a1655f3b	428	//wait(0.5);
exarkun	0:ea04a1655f3b	429	while (mRxMsg[3]!=0x00)
exarkun	0:ea04a1655f3b	430	{
exarkun	0:ea04a1655f3b	431	//lectureRSlcd();
exarkun	0:ea04a1655f3b	432	//keyboard.printf("x");//spacebreak
exarkun	0:ea04a1655f3b	433	//wait(0.035);
exarkun	0:ea04a1655f3b	434	}
exarkun	0:ea04a1655f3b	435	}//uniquement le bouton allumeras la led 2 en press event ---------------SY
exarkun	0:ea04a1655f3b	436	/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
exarkun	0:ea04a1655f3b	437	//LANDING switch
exarkun	0:ea04a1655f3b	438	if((mRxMsg[0] == 0x65)&&(mRxMsg[1] == 0x00)&&(mRxMsg[2] == 0x17)&&(mRxMsg[3] == 0x01))
exarkun	1:2fe82be93e80	439	{myled3=1;
exarkun	0:ea04a1655f3b	440	//keyboard.printf("n");//landing mode
exarkun	0:ea04a1655f3b	441	}//uniquement le bouton home allumeras la led 3 en release ---------------SY
exarkun	0:ea04a1655f3b	442
exarkun	0:ea04a1655f3b	443	/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
exarkun	0:ea04a1655f3b	444	//strafe up switch
exarkun	0:ea04a1655f3b	445	if((mRxMsg[0] == 0x65)&&(mRxMsg[1] == 0x00)&&(mRxMsg[2] == 0x13)&&(mRxMsg[3] == 0x01))//press
exarkun	0:ea04a1655f3b	446	{myled3=1;
exarkun	0:ea04a1655f3b	447	//keyboard.printf(" ");//strafe up
exarkun	0:ea04a1655f3b	448	//wait(0.5);
exarkun	0:ea04a1655f3b	449	while (mRxMsg[3]!=0x00)
exarkun	0:ea04a1655f3b	450	{
exarkun	0:ea04a1655f3b	451	//lectureRSlcd();
exarkun	0:ea04a1655f3b	452	//keyboard.printf(" ");//strafe up
exarkun	0:ea04a1655f3b	453	//wait(0.035);
exarkun	0:ea04a1655f3b	454	}
exarkun	0:ea04a1655f3b	455
exarkun	0:ea04a1655f3b	456	}//uniquement le bouton allumeras la led 4 en release ---------------SY
exarkun	0:ea04a1655f3b	457
exarkun	0:ea04a1655f3b	458	/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
exarkun	0:ea04a1655f3b	459	//strafe down switch
exarkun	0:ea04a1655f3b	460	if((mRxMsg[0] == 0x65)&&(mRxMsg[1] == 0x00)&&(mRxMsg[2] == 0x14)&&(mRxMsg[3] == 0x01))//press
exarkun	0:ea04a1655f3b	461	{myled3=1;
exarkun	0:ea04a1655f3b	462	//keyboard.keyCode(KEY_CTRL);//strafe down
exarkun	0:ea04a1655f3b	463	//wait(0.5);
exarkun	0:ea04a1655f3b	464	while (mRxMsg[3]!=0x00)
exarkun	0:ea04a1655f3b	465	{
exarkun	0:ea04a1655f3b	466	//lectureRSlcd();
exarkun	0:ea04a1655f3b	467	//keyboard.keyCode(KEY_CTRL);//strafe down
exarkun	0:ea04a1655f3b	468	//wait(0.035);
exarkun	0:ea04a1655f3b	469	}
exarkun	0:ea04a1655f3b	470
exarkun	0:ea04a1655f3b	471	}//uniquement le bouton allumeras la led 4 en release ---------------SY
exarkun	0:ea04a1655f3b	472
exarkun	0:ea04a1655f3b	473	/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
exarkun	0:ea04a1655f3b	474	//forward switch
exarkun	0:ea04a1655f3b	475	if((mRxMsg[0] == 0x65)&&(mRxMsg[1] == 0x00)&&(mRxMsg[2] == 0x02)&&(mRxMsg[3] == 0x01))//press
exarkun	0:ea04a1655f3b	476	{myled3=1;
exarkun	0:ea04a1655f3b	477	//keyboard.printf("w");//vers l'avant
exarkun	0:ea04a1655f3b	478	//wait(0.5);
exarkun	0:ea04a1655f3b	479
exarkun	0:ea04a1655f3b	480	while (mRxMsg[3]!=0x00)
exarkun	0:ea04a1655f3b	481	{
exarkun	0:ea04a1655f3b	482	//lectureRSlcd();
exarkun	0:ea04a1655f3b	483	//keyboard.printf("w");//vers l'avant
exarkun	0:ea04a1655f3b	484	//wait(0.035);
exarkun	0:ea04a1655f3b	485	}
exarkun	0:ea04a1655f3b	486
exarkun	0:ea04a1655f3b	487	}//uniquement le bouton allumeras la led 4 en release ---------------SY
exarkun	0:ea04a1655f3b	488
exarkun	0:ea04a1655f3b	489	/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
exarkun	0:ea04a1655f3b	490	//rearward switch
exarkun	0:ea04a1655f3b	491	if((mRxMsg[0] == 0x65)&&(mRxMsg[1] == 0x00)&&(mRxMsg[2] == 0x01)&&(mRxMsg[3] == 0x01))//press
exarkun	0:ea04a1655f3b	492	{myled3=1;
exarkun	0:ea04a1655f3b	493	//keyboard.printf("s");//vers l arriere
exarkun	0:ea04a1655f3b	494	//wait(0.5);
exarkun	0:ea04a1655f3b	495
exarkun	0:ea04a1655f3b	496	while (mRxMsg[3]!=0x00)
exarkun	0:ea04a1655f3b	497	{
exarkun	0:ea04a1655f3b	498	//lectureRSlcd();
exarkun	0:ea04a1655f3b	499	//keyboard.printf("s");//vers l arriere
exarkun	0:ea04a1655f3b	500	//wait(0.035);
exarkun	0:ea04a1655f3b	501	}
exarkun	0:ea04a1655f3b	502
exarkun	0:ea04a1655f3b	503	}//uniquement le bouton allumeras la led 4 en release ---------------SY
exarkun	0:ea04a1655f3b	504
exarkun	0:ea04a1655f3b	505	/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
exarkun	0:ea04a1655f3b	506	//Right switch
exarkun	0:ea04a1655f3b	507	if((mRxMsg[0] == 0x65)&&(mRxMsg[1] == 0x00)&&(mRxMsg[2] == 0x03)&&(mRxMsg[3] == 0x01))//press
exarkun	0:ea04a1655f3b	508	{myled3=1;
exarkun	0:ea04a1655f3b	509	//keyboard.printf("d");//vers la droite
exarkun	0:ea04a1655f3b	510	//wait(0.5);
exarkun	0:ea04a1655f3b	511
exarkun	0:ea04a1655f3b	512	while (mRxMsg[3]!=0x00)
exarkun	0:ea04a1655f3b	513	{
exarkun	0:ea04a1655f3b	514	//lectureRSlcd();
exarkun	0:ea04a1655f3b	515	//keyboard.printf("d");//vers la droite
exarkun	0:ea04a1655f3b	516	//wait(0.035);
exarkun	0:ea04a1655f3b	517	}
exarkun	0:ea04a1655f3b	518
exarkun	0:ea04a1655f3b	519	}//uniquement le bouton allumeras la led 4 en release ---------------SY
exarkun	0:ea04a1655f3b	520
exarkun	0:ea04a1655f3b	521	/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
exarkun	0:ea04a1655f3b	522	//Left switch
exarkun	0:ea04a1655f3b	523	if((mRxMsg[0] == 0x65)&&(mRxMsg[1] == 0x00)&&(mRxMsg[2] == 0x04)&&(mRxMsg[3] == 0x01))//press
exarkun	0:ea04a1655f3b	524	{myled3=1;
exarkun	0:ea04a1655f3b	525
exarkun	0:ea04a1655f3b	526	//keyboard.printf("a");//vers la gauche
exarkun	0:ea04a1655f3b	527	//wait(0.5);
exarkun	0:ea04a1655f3b	528
exarkun	0:ea04a1655f3b	529	while (mRxMsg[3]!=0x00)
exarkun	0:ea04a1655f3b	530	{
exarkun	0:ea04a1655f3b	531	//lectureRSlcd();
exarkun	0:ea04a1655f3b	532	//keyboard.printf("a");//vers la gauche
exarkun	0:ea04a1655f3b	533	//wait(0.035);
exarkun	0:ea04a1655f3b	534	}
exarkun	0:ea04a1655f3b	535
exarkun	0:ea04a1655f3b	536	}//uniquement le bouton allumeras la led 4 en release ---------------SY
exarkun	0:ea04a1655f3b	537
exarkun	0:ea04a1655f3b	538	/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
exarkun	0:ea04a1655f3b	539	//roll left switch
exarkun	0:ea04a1655f3b	540	if((mRxMsg[0] == 0x65)&&(mRxMsg[1] == 0x00)&&(mRxMsg[2] == 0x1a)&&(mRxMsg[3] == 0x01))//press
exarkun	0:ea04a1655f3b	541	{myled3=1;
exarkun	0:ea04a1655f3b	542	//keyboard.printf("e");//rouli gauche
exarkun	0:ea04a1655f3b	543	//wait(0.5);
exarkun	0:ea04a1655f3b	544
exarkun	0:ea04a1655f3b	545	while (mRxMsg[3]!=0x00)
exarkun	0:ea04a1655f3b	546	{
exarkun	0:ea04a1655f3b	547	//lectureRSlcd();
exarkun	0:ea04a1655f3b	548	//keyboard.printf("e");//rouli gauche
exarkun	0:ea04a1655f3b	549	//wait(0.035);
exarkun	0:ea04a1655f3b	550	}
exarkun	0:ea04a1655f3b	551
exarkun	0:ea04a1655f3b	552	}//uniquement le bouton allumeras la led 4 en release ---------------SY
exarkun	0:ea04a1655f3b	553
exarkun	0:ea04a1655f3b	554	/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
exarkun	0:ea04a1655f3b	555	//roll Right switch
exarkun	0:ea04a1655f3b	556	if((mRxMsg[0] == 0x65)&&(mRxMsg[1] == 0x00)&&(mRxMsg[2] == 0x05)&&(mRxMsg[3] == 0x01))//press
exarkun	0:ea04a1655f3b	557	{myled3=1;
exarkun	0:ea04a1655f3b	558
exarkun	0:ea04a1655f3b	559	//keyboard.printf("q");//rouli droit
exarkun	0:ea04a1655f3b	560	//wait(0.5);
exarkun	0:ea04a1655f3b	561
exarkun	0:ea04a1655f3b	562	while (mRxMsg[3]!=0x00)
exarkun	0:ea04a1655f3b	563	{
exarkun	0:ea04a1655f3b	564	//lectureRSlcd();
exarkun	0:ea04a1655f3b	565	//keyboard.printf("q");//rouli droit
exarkun	0:ea04a1655f3b	566	//wait(0.035);
exarkun	0:ea04a1655f3b	567	}
exarkun	0:ea04a1655f3b	568
exarkun	0:ea04a1655f3b	569	}//uniquement le bouton allumeras la led 4 en release ---------------SY
exarkun	0:ea04a1655f3b	570
exarkun	0:ea04a1655f3b	571	/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
exarkun	0:ea04a1655f3b	572	//tangage vers le bas switch
exarkun	0:ea04a1655f3b	573	if((mRxMsg[0] == 0x65)&&(mRxMsg[1] == 0x00)&&(mRxMsg[2] == 0x1b)&&(mRxMsg[3] == 0x01))//press
exarkun	0:ea04a1655f3b	574	{myled3=1;
exarkun	0:ea04a1655f3b	575
exarkun	0:ea04a1655f3b	576	//keyboard.printf("");//touche non affecté
exarkun	0:ea04a1655f3b	577	//wait(0.5);
exarkun	0:ea04a1655f3b	578
exarkun	0:ea04a1655f3b	579	while (mRxMsg[3]!=0x00)
exarkun	0:ea04a1655f3b	580	{
exarkun	0:ea04a1655f3b	581	//lectureRSlcd();
exarkun	0:ea04a1655f3b	582	//keyboard.printf("");//touche non affecté la touche non connue
exarkun	0:ea04a1655f3b	583	//wait(0.035);
exarkun	0:ea04a1655f3b	584	}
exarkun	0:ea04a1655f3b	585
exarkun	0:ea04a1655f3b	586	}//uniquement le bouton allumeras la led 4 en release ---------------SY
exarkun	0:ea04a1655f3b	587
exarkun	0:ea04a1655f3b	588	/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
exarkun	0:ea04a1655f3b	589	//tangage vers le haut switch
exarkun	0:ea04a1655f3b	590	if((mRxMsg[0] == 0x65)&&(mRxMsg[1] == 0x00)&&(mRxMsg[2] == 0x1b)&&(mRxMsg[3] == 0x01))//press
exarkun	0:ea04a1655f3b	591	{myled3=1;
exarkun	0:ea04a1655f3b	592
exarkun	0:ea04a1655f3b	593	//keyboard.printf("");//touche non affecté la touche non connue
exarkun	0:ea04a1655f3b	594	//wait(0.5);
exarkun	0:ea04a1655f3b	595
exarkun	0:ea04a1655f3b	596	while (mRxMsg[3]!=0x00)
exarkun	0:ea04a1655f3b	597	{
exarkun	0:ea04a1655f3b	598	//lectureRSlcd();
exarkun	0:ea04a1655f3b	599	//keyboard.printf("");//touche non affecté
exarkun	0:ea04a1655f3b	600	//wait(0.035);
exarkun	0:ea04a1655f3b	601	}
exarkun	0:ea04a1655f3b	602
exarkun	0:ea04a1655f3b	603	}//uniquement le bouton allumeras la led 4 en release ---------------SY
exarkun	0:ea04a1655f3b	604
exarkun	0:ea04a1655f3b	605
exarkun	0:ea04a1655f3b	606
exarkun	0:ea04a1655f3b	607	/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
exarkun	0:ea04a1655f3b	608	//quantum drive
exarkun	0:ea04a1655f3b	609	if((mRxMsg[0] == 0x65)&&(mRxMsg[1] == 0x00)&&(mRxMsg[2] == 0x1f)&&(mRxMsg[3] == 0x01))//press
exarkun	0:ea04a1655f3b	610	{myled3=1;
exarkun	0:ea04a1655f3b	611
exarkun	0:ea04a1655f3b	612	//keyboard.printf("b");//touche non affecté la touche non connue
exarkun	0:ea04a1655f3b	613	//wait(0.5);
exarkun	0:ea04a1655f3b	614
exarkun	0:ea04a1655f3b	615	while (mRxMsg[3]!=0x00)
exarkun	0:ea04a1655f3b	616	{
exarkun	0:ea04a1655f3b	617	//lectureRSlcd();
exarkun	0:ea04a1655f3b	618	//keyboard.printf("b");//touche non affecté
exarkun	0:ea04a1655f3b	619	//wait(0.035);
exarkun	0:ea04a1655f3b	620	}
exarkun	0:ea04a1655f3b	621
exarkun	0:ea04a1655f3b	622	}//uniquement le bouton allumeras la led 4 en release ---------------SY
exarkun	0:ea04a1655f3b	623
exarkun	0:ea04a1655f3b	624	/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
exarkun	0:ea04a1655f3b	625	//Speed M
exarkun	0:ea04a1655f3b	626	if((mRxMsg[0] == 0x65)&&(mRxMsg[1] == 0x00)&&(mRxMsg[2] == 0x1c)&&(mRxMsg[3] == 0x01))//press
exarkun	0:ea04a1655f3b	627	{myled3=1;
exarkun	0:ea04a1655f3b	628
exarkun	0:ea04a1655f3b	629	//keyboard.printf("c");//touche non affecté la touche non connue
exarkun	0:ea04a1655f3b	630	//wait(0.5);
exarkun	0:ea04a1655f3b	631
exarkun	0:ea04a1655f3b	632	while (mRxMsg[3]!=0x00)
exarkun	0:ea04a1655f3b	633	{
exarkun	0:ea04a1655f3b	634	//lectureRSlcd();
exarkun	0:ea04a1655f3b	635	//keyboard.printf("c");//touche non affecté
exarkun	0:ea04a1655f3b	636	//wait(0.035);
exarkun	0:ea04a1655f3b	637	}
exarkun	0:ea04a1655f3b	638
exarkun	0:ea04a1655f3b	639	}//uniquement le bouton allumeras la led 4 en release ---------------SY
exarkun	0:ea04a1655f3b	640
exarkun	0:ea04a1655f3b	641	/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
exarkun	0:ea04a1655f3b	642	//Speed M
exarkun	0:ea04a1655f3b	643	if((mRxMsg[0] == 0x65)&&(mRxMsg[1] == 0x00)&&(mRxMsg[2] == 0x1c)&&(mRxMsg[3] == 0x01))//press
exarkun	0:ea04a1655f3b	644	{myled3=1;
exarkun	0:ea04a1655f3b	645
exarkun	0:ea04a1655f3b	646	//keyboard.printf("b");//touche non affecté la touche non connue
exarkun	0:ea04a1655f3b	647	//wait(0.5);
exarkun	0:ea04a1655f3b	648
exarkun	0:ea04a1655f3b	649	while (mRxMsg[3]!=0x00)
exarkun	0:ea04a1655f3b	650	{
exarkun	0:ea04a1655f3b	651	//lectureRSlcd();
exarkun	0:ea04a1655f3b	652	//keyboard.printf("c");//touche non affecté
exarkun	0:ea04a1655f3b	653	//wait(0.035);
exarkun	0:ea04a1655f3b	654	}
exarkun	0:ea04a1655f3b	655
exarkun	0:ea04a1655f3b	656	}//uniquement le bouton allumeras la led 4 en release ---------------SY
exarkun	0:ea04a1655f3b	657
exarkun	0:ea04a1655f3b	658	/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
exarkun	0:ea04a1655f3b	659	//Afterburner
exarkun	0:ea04a1655f3b	660	if((mRxMsg[0] == 0x65)&&(mRxMsg[1] == 0x00)&&(mRxMsg[2] == 0x1c)&&(mRxMsg[3] == 0x01))//press
exarkun	0:ea04a1655f3b	661	{myled3=1;
exarkun	0:ea04a1655f3b	662
exarkun	0:ea04a1655f3b	663	//keyboard.keyCode(KEY_SHIFT);
exarkun	0:ea04a1655f3b	664	//wait(0.5);
exarkun	0:ea04a1655f3b	665
exarkun	0:ea04a1655f3b	666	while (mRxMsg[3]!=0x00)
exarkun	0:ea04a1655f3b	667	{
exarkun	0:ea04a1655f3b	668	//lectureRSlcd();
exarkun	0:ea04a1655f3b	669	//keyboard.keyCode(KEY_SHIFT);
exarkun	0:ea04a1655f3b	670	//wait(0.035);
exarkun	0:ea04a1655f3b	671	}
exarkun	0:ea04a1655f3b	672
exarkun	0:ea04a1655f3b	673	}//uniquement le bouton allumeras la led 4 en release ---------------SY
exarkun	0:ea04a1655f3b	674
exarkun	0:ea04a1655f3b	675
exarkun	0:ea04a1655f3b	676	/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
exarkun	0:ea04a1655f3b	677
exarkun	0:ea04a1655f3b	678	//ici il faut completer le code pour pouvoir detecter le bon bouton en press event et release event
exarkun	0:ea04a1655f3b	679	//example le bouton start press event 65 01 01 01 ff ff ff et en release event 65 01 01 00 ff ff ff . rem:code touche repris par simulation avec le soft nextion
exarkun	1:2fe82be93e80	680	myled3=0;
exarkun	0:ea04a1655f3b	681	}
exarkun	0:ea04a1655f3b	682
exarkun	0:ea04a1655f3b	683	/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
exarkun	0:ea04a1655f3b	684	//****************************************************************page1****************************************************************//
exarkun	0:ea04a1655f3b	685	/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
exarkun	1:2fe82be93e80	686
exarkun	0:ea04a1655f3b	687	void page1()//code de la page : 6601ffffff
exarkun	0:ea04a1655f3b	688	{
exarkun	0:ea04a1655f3b	689	device.printf("bt0.txt=\"BREAK1\"%c%c%c", 0xff, 0xff, 0xff);//affiche break sur bouton bt0 -------sy
exarkun	0:ea04a1655f3b	690	}
exarkun	0:ea04a1655f3b	691
exarkun	0:ea04a1655f3b	692	/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
exarkun	0:ea04a1655f3b	693	//****************************************************************page2****************************************************************//
exarkun	0:ea04a1655f3b	694	/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
exarkun	1:2fe82be93e80	695
exarkun	0:ea04a1655f3b	696	void page2()//code de la page : 6602ffffff
exarkun	0:ea04a1655f3b	697	{
exarkun	0:ea04a1655f3b	698	device.printf("b0.txt=\"BREAK2\"%c%c%c", 0xff, 0xff, 0xff);//affiche break sur bouton b0 -------sy
exarkun	1:2fe82be93e80	699	//get_val(3);//donner l'ordre d envoyer la valeur val de h3
exarkun	1:2fe82be93e80	700	//int valeur_val=lecture_slider_RS_lcd();//recuperation de la valeur val de h3
exarkun	1:2fe82be93e80	701	//device.printf("n3.val=%d %c%c%c", valeur_val, 0xff, 0xff, 0xff);//affiche le nombre sur n1 -------sy
exarkun	1:2fe82be93e80	702	//device.printf("z0.val=%d %c%c%c", valeur_val, 0xff, 0xff, 0xff);//affiche le nombre sur z0 gauge -------sy
exarkun	0:ea04a1655f3b	703	}
exarkun	0:ea04a1655f3b	704
exarkun	0:ea04a1655f3b	705	/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
exarkun	0:ea04a1655f3b	706	//****************************************************************page3****************************************************************//
exarkun	0:ea04a1655f3b	707	/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
exarkun	1:2fe82be93e80	708
exarkun	0:ea04a1655f3b	709	void page3()//code de la page : 6603ffffff
exarkun	0:ea04a1655f3b	710	{
exarkun	1:2fe82be93e80	711	device.printf("t0.txt=\"BREAK3\"%c%c%c", 0xff, 0xff, 0xff);//affiche break sur bouton b19 -------sy
exarkun	0:ea04a1655f3b	712	}
exarkun	0:ea04a1655f3b	713
exarkun	0:ea04a1655f3b	714	/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
exarkun	0:ea04a1655f3b	715	//****************************************************************page4****************************************************************//
exarkun	0:ea04a1655f3b	716	/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
exarkun	1:2fe82be93e80	717
exarkun	0:ea04a1655f3b	718	void page4()//code de la page : 6604ffffff
exarkun	0:ea04a1655f3b	719	{
exarkun	0:ea04a1655f3b	720	device.printf("t0.txt=\"BREAK4\"%c%c%c", 0xff, 0xff, 0xff);//affiche break sur bouton bt0 -------sy
exarkun	0:ea04a1655f3b	721
exarkun	1:2fe82be93e80	722	// get_val_h0();
exarkun	1:2fe82be93e80	723	// val_temp1=lecture_slider_RS_lcd();//recuperation de la valeur du sliders h0 dans val_temp
exarkun	1:2fe82be93e80	724	// device.printf("n1.val=%d %c%c%c", val_temp1, 0xff, 0xff, 0xff);//affiche le nombre sur n1 -------sy
exarkun	0:ea04a1655f3b	725
exarkun	0:ea04a1655f3b	726	}
exarkun	0:ea04a1655f3b	727
exarkun	0:ea04a1655f3b	728	/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
exarkun	0:ea04a1655f3b	729	//****************************************************************page5****************************************************************//
exarkun	0:ea04a1655f3b	730	/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
exarkun	1:2fe82be93e80	731
exarkun	0:ea04a1655f3b	732	void page5()//code de la page : 6605ffffff
exarkun	0:ea04a1655f3b	733	{
exarkun	1:2fe82be93e80	734	//device.printf("t0.txt=\"BREAK5\"%c%c%c", 0xff, 0xff, 0xff);//affiche break sur bouton bt0 -------sy
exarkun	1:2fe82be93e80	735	//device.printf("t1.txt=\"500ms/div\"%c%c%c", 0xff, 0xff, 0xff);//affiche break sur bouton bt0 -------sy
exarkun	1:2fe82be93e80	736	//device.printf("g0.txt=\"position M\"%c%c%c", 0xff, 0xff, 0xff);//affiche break sur bouton bt0 -------sy
exarkun	0:ea04a1655f3b	737	device.printf("add 1,0,%d%c%c%c", (position_actuelle/500), 0xff, 0xff, 0xff);// pour la fonction waveform add id1,chanel0,position actu
exarkun	0:ea04a1655f3b	738	}
exarkun	0:ea04a1655f3b	739
exarkun	0:ea04a1655f3b	740	/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
exarkun	0:ea04a1655f3b	741	//****************************************************************page6****************************************************************//
exarkun	0:ea04a1655f3b	742	/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
exarkun	0:ea04a1655f3b	743
exarkun	0:ea04a1655f3b	744	void page6()//code de la page : 6606ffffff
exarkun	0:ea04a1655f3b	745	{
exarkun	1:2fe82be93e80	746	//device.printf("t1.txt=\"courant\"%c%c%c", 0xff, 0xff, 0xff);//affiche break sur bouton bt0 -------sy
exarkun	1:2fe82be93e80	747	//device.printf("t0.txt=\"position\"%c%c%c", 0xff, 0xff, 0xff);//affiche break sur bouton bt0 -------sy
exarkun	0:ea04a1655f3b	748	device.printf("add 2,0,%d%c%c%c", (position_actuelle/500), 0xff, 0xff, 0xff);// pour la fonction waveform add id1,chanel0,position actu
exarkun	0:ea04a1655f3b	749	}
exarkun	0:ea04a1655f3b	750
exarkun	1:2fe82be93e80	751	/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
exarkun	1:2fe82be93e80	752	//****************************************************************page7****************************************************************//
exarkun	1:2fe82be93e80	753	/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
exarkun	1:2fe82be93e80	754
exarkun	1:2fe82be93e80	755	void page7()//code de la page : 6607ffffff
exarkun	1:2fe82be93e80	756	{
exarkun	1:2fe82be93e80	757	device.printf("t0.txt=\"%x\"%c%c%c", mRxMsg[0], 0xff, 0xff, 0xff);//affiche break sur bouton bt0 -------sy
exarkun	1:2fe82be93e80	758	device.printf("t1.txt=\"%x\"%c%c%c", mRxMsg[1], 0xff, 0xff, 0xff);//affiche break sur bouton bt0 -------sy
exarkun	1:2fe82be93e80	759	device.printf("t2.txt=\"%x\"%c%c%c", mRxMsg[2], 0xff, 0xff, 0xff);//affiche break sur bouton bt0 -------sy
exarkun	1:2fe82be93e80	760	device.printf("t3.txt=\"%x\"%c%c%c", mRxMsg[3], 0xff, 0xff, 0xff);//affiche break sur bouton bt0 -------sy
exarkun	1:2fe82be93e80	761	device.printf("t4.txt=\"%x\"%c%c%c", mRxMsg[4], 0xff, 0xff, 0xff);//affiche break sur bouton bt0 -------sy
exarkun	1:2fe82be93e80	762	device.printf("t5.txt=\"%x\"%c%c%c", mRxMsg[5], 0xff, 0xff, 0xff);//affiche break sur bouton bt0 -------sy
exarkun	1:2fe82be93e80	763	device.printf("t6.txt=\"%x\"%c%c%c", mRxMsg[6], 0xff, 0xff, 0xff);//affiche break sur bouton bt0 -------sy
exarkun	1:2fe82be93e80	764	device.printf("t7.txt=\"%x\"%c%c%c", mRxMsg[7], 0xff, 0xff, 0xff);//affiche break sur bouton bt0 -------sy
exarkun	1:2fe82be93e80	765	device.printf("t8.txt=\"%x\"%c%c%c", mRxMsg[8], 0xff, 0xff, 0xff);//affiche break sur bouton bt0 -------sy
exarkun	1:2fe82be93e80	766	device.printf("t9.txt=\"%x\"%c%c%c", mRxMsg[9], 0xff, 0xff, 0xff);//affiche break sur bouton bt0 -------sy
exarkun	1:2fe82be93e80	767	device.printf("t10.txt=\"%x\"%c%c%c", mRxMsg[10], 0xff, 0xff, 0xff);//affiche break sur bouton bt0 -------sy
exarkun	1:2fe82be93e80	768	device.printf("t11.txt=\"%x\"%c%c%c", mRxMsg[11], 0xff, 0xff, 0xff);//affiche break sur bouton bt0 -------sy
exarkun	1:2fe82be93e80	769	device.printf("t12.txt=\"%x\"%c%c%c", mRxMsg[12], 0xff, 0xff, 0xff);//affiche break sur bouton bt0 -------sy
exarkun	1:2fe82be93e80	770	device.printf("t13.txt=\"%x\"%c%c%c", mRxMsg[13], 0xff, 0xff, 0xff);//affiche break sur bouton bt0 -------sy
exarkun	1:2fe82be93e80	771	device.printf("t15.txt=\"%x\"%c%c%c", mRxMsg[14], 0xff, 0xff, 0xff);//affiche break sur bouton bt0 -------sy
exarkun	1:2fe82be93e80	772	device.printf("t16.txt=\"%x\"%c%c%c", mRxMsg[15], 0xff, 0xff, 0xff);//affiche break sur bouton bt0 -------sy
exarkun	1:2fe82be93e80	773	device.printf("t17.txt=\"%x\"%c%c%c", mRxMsg[16], 0xff, 0xff, 0xff);//affiche break sur bouton bt0 -------sy
exarkun	1:2fe82be93e80	774	device.printf("t18.txt=\"%x\"%c%c%c", mRxMsg[17], 0xff, 0xff, 0xff);//affiche break sur bouton bt0 -------sy
exarkun	1:2fe82be93e80	775	device.printf("t19.txt=\"%x\"%c%c%c", mRxMsg[18], 0xff, 0xff, 0xff);//affiche break sur bouton bt0 -------sy
exarkun	1:2fe82be93e80	776	device.printf("t20.txt=\"%x\"%c%c%c", mRxMsg[19], 0xff, 0xff, 0xff);//affiche break sur bouton bt0 -------sy
exarkun	1:2fe82be93e80	777	device.printf("t21.txt=\"%x\"%c%c%c", mRxMsg[20], 0xff, 0xff, 0xff);//affiche break sur bouton bt0 -------sy
exarkun	1:2fe82be93e80	778	device.printf("t22.txt=\"%x\"%c%c%c", mRxMsg[21], 0xff, 0xff, 0xff);//affiche break sur bouton bt0 -------sy
exarkun	1:2fe82be93e80	779	device.printf("t23.txt=\"%x\"%c%c%c", mRxMsg[22], 0xff, 0xff, 0xff);//affiche break sur bouton bt0 -------sy
exarkun	1:2fe82be93e80	780	device.printf("t24.txt=\"%x\"%c%c%c", mRxMsg[23], 0xff, 0xff, 0xff);//affiche break sur bouton bt0 -------sy
exarkun	1:2fe82be93e80	781	device.printf("t25.txt=\"%x\"%c%c%c", mRxMsg[24], 0xff, 0xff, 0xff);//affiche break sur bouton bt0 -------sy
exarkun	1:2fe82be93e80	782	device.printf("t26.txt=\"%x\"%c%c%c", mRxMsg[25], 0xff, 0xff, 0xff);//affiche break sur bouton bt0 -------sy
exarkun	1:2fe82be93e80	783	device.printf("t27.txt=\"%x\"%c%c%c", mRxMsg[26], 0xff, 0xff, 0xff);//affiche break sur bouton bt0 -------sy
exarkun	1:2fe82be93e80	784	device.printf("t28.txt=\"%x\"%c%c%c", mRxMsg[27], 0xff, 0xff, 0xff);//affiche break sur bouton bt0 -------sy
exarkun	1:2fe82be93e80	785	device.printf("t30.txt=\"%x\"%c%c%c", mRxMsg[28], 0xff, 0xff, 0xff);//affiche break sur bouton bt0 -------sy
exarkun	1:2fe82be93e80	786	device.printf("t31.txt=\"%x\"%c%c%c", mRxMsg[29], 0xff, 0xff, 0xff);//affiche break sur bouton bt0 -------sy
exarkun	1:2fe82be93e80	787	device.printf("t32.txt=\"%x\"%c%c%c", mRxMsg[30], 0xff, 0xff, 0xff);//affiche break sur bouton bt0 -------sy
exarkun	1:2fe82be93e80	788	device.printf("t33.txt=\"%x\"%c%c%c", mRxMsg[31], 0xff, 0xff, 0xff);//affiche break sur bouton bt0 -------sy
exarkun	1:2fe82be93e80	789	device.printf("t34.txt=\"%x\"%c%c%c", mRxMsg[32], 0xff, 0xff, 0xff);//affiche break sur bouton bt0 -------sy
exarkun	1:2fe82be93e80	790	device.printf("t35.txt=\"%x\"%c%c%c", mRxMsg[33], 0xff, 0xff, 0xff);//affiche break sur bouton bt0 -------sy
exarkun	1:2fe82be93e80	791	device.printf("t36.txt=\"%x\"%c%c%c", mRxMsg[34], 0xff, 0xff, 0xff);//affiche break sur bouton bt0 -------sy
exarkun	1:2fe82be93e80	792	device.printf("t37.txt=\"%x\"%c%c%c", mRxMsg[35], 0xff, 0xff, 0xff);//affiche break sur bouton bt0 -------sy
exarkun	1:2fe82be93e80	793	device.printf("t38.txt=\"%x\"%c%c%c", mRxMsg[36], 0xff, 0xff, 0xff);//affiche break sur bouton bt0 -------sy
exarkun	1:2fe82be93e80	794	device.printf("t39.txt=\"%x\"%c%c%c", mRxMsg[37], 0xff, 0xff, 0xff);//affiche break sur bouton bt0 -------sy
exarkun	1:2fe82be93e80	795	device.printf("t40.txt=\"%x\"%c%c%c", mRxMsg[38], 0xff, 0xff, 0xff);//affiche break sur bouton bt0 -------sy
exarkun	1:2fe82be93e80	796	device.printf("t41.txt=\"%x\"%c%c%c", mRxMsg[39], 0xff, 0xff, 0xff);//affiche break sur bouton bt0 -------sy
exarkun	1:2fe82be93e80	797	}
exarkun	0:ea04a1655f3b	798
exarkun	0:ea04a1655f3b	799	/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
exarkun	0:ea04a1655f3b	800	//****************************************************************LES TASKS************************************************************//
exarkun	0:ea04a1655f3b	801	/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
exarkun	0:ea04a1655f3b	802
exarkun	0:ea04a1655f3b	803	////////////////////////////////////////
exarkun	0:ea04a1655f3b	804	// TASKS1 //
exarkun	0:ea04a1655f3b	805	////////////////////////////////////////
exarkun	1:2fe82be93e80	806
exarkun	0:ea04a1655f3b	807	void task1_switch()
exarkun	0:ea04a1655f3b	808	{
exarkun	0:ea04a1655f3b	809
exarkun	0:ea04a1655f3b	810	//lecture valeur codeur et conversion en radians
exarkun	0:ea04a1655f3b	811	position_actuelle=qei.GetPosition();//lecture valeur codeur et affectation a la variable globale
exarkun	0:ea04a1655f3b	812	Tetam=pulsesToRadians(position_actuelle);//conversion valeur impulsionel en radians
exarkun	0:ea04a1655f3b	813
exarkun	0:ea04a1655f3b	814	//Calcul de la nouvelle consigne:
exarkun	0:ea04a1655f3b	815
exarkun	0:ea04a1655f3b	816	//Etape1:derivee filtree
exarkun	0:ea04a1655f3b	817	dTetam=1./(1.+taud2./dt_vit)(-dTetam_n1(1.-taud2./dt_vit)+2./dt_vit*(Tetam-Tetam_n1));
exarkun	0:ea04a1655f3b	818
exarkun	0:ea04a1655f3b	819	//Etape2:calcul de integ non saturee
exarkun	0:ea04a1655f3b	820	integ=integ_n1+dt_vit/2.*((Tetaco-Tetam)+(Tetaco_n1-Tetam_n1));
exarkun	0:ea04a1655f3b	821
exarkun	0:ea04a1655f3b	822	//Etape3:Calcul de A non saturee
exarkun	0:ea04a1655f3b	823	A=KvK_sw/Umax(-dTetam+KpKiinteg-Kp*Tetam);
exarkun	0:ea04a1655f3b	824
exarkun	0:ea04a1655f3b	825	//Etape 4 et 5 : calcul de integ saturee
exarkun	0:ea04a1655f3b	826	if (A>1)
exarkun	0:ea04a1655f3b	827	{
exarkun	0:ea04a1655f3b	828	integ=1./Kp/Ki(Umax/Kv/K_sw+dTetam+KpTetam);
exarkun	0:ea04a1655f3b	829	A=1;
exarkun	0:ea04a1655f3b	830	}
exarkun	0:ea04a1655f3b	831	if(A<-1)
exarkun	0:ea04a1655f3b	832	{
exarkun	0:ea04a1655f3b	833	integ=1./Kp/Ki(-Umax/Kv/K_sw+dTetam+KpTetam);
exarkun	0:ea04a1655f3b	834	A=-1;
exarkun	0:ea04a1655f3b	835	}
exarkun	0:ea04a1655f3b	836
exarkun	0:ea04a1655f3b	837	//Etape 6:affectation du signe de rotation a l'etage de puissance
exarkun	0:ea04a1655f3b	838	if (A>0)
exarkun	0:ea04a1655f3b	839	{
exarkun	0:ea04a1655f3b	840	signe_rot=1;
exarkun	0:ea04a1655f3b	841	sens_rotation_moteur1.write(signe_rot); //affectation du sens de rotation moteur1
exarkun	0:ea04a1655f3b	842	cyclic=A;
exarkun	0:ea04a1655f3b	843	}
exarkun	0:ea04a1655f3b	844	else
exarkun	0:ea04a1655f3b	845	{
exarkun	0:ea04a1655f3b	846	signe_rot=0;
exarkun	0:ea04a1655f3b	847	sens_rotation_moteur1.write(signe_rot); //affectation du sens de rotation moteur1
exarkun	0:ea04a1655f3b	848	cyclic=-A;//peut etre une erreur ici sy??
exarkun	0:ea04a1655f3b	849	}
exarkun	0:ea04a1655f3b	850
exarkun	0:ea04a1655f3b	851	PWM1.write(cyclic);// affectation de la valeur calculé en pwm
exarkun	0:ea04a1655f3b	852
exarkun	0:ea04a1655f3b	853	// enregistrement des valeurs N-1
exarkun	0:ea04a1655f3b	854	position_actuelle_n1=position_actuelle;
exarkun	0:ea04a1655f3b	855	dTetam_n1=dTetam;
exarkun	0:ea04a1655f3b	856	Tetaco_n1=Tetaco;
exarkun	0:ea04a1655f3b	857	Tetam_n1=Tetam;
exarkun	0:ea04a1655f3b	858	integ_n1=integ;
exarkun	0:ea04a1655f3b	859
exarkun	0:ea04a1655f3b	860	//myled1=!myled1;//changement etat de la led1
exarkun	0:ea04a1655f3b	861	}
exarkun	0:ea04a1655f3b	862
exarkun	0:ea04a1655f3b	863	////////////////////////////////////////
exarkun	0:ea04a1655f3b	864	// TASKS2 //
exarkun	0:ea04a1655f3b	865	////////////////////////////////////////
exarkun	1:2fe82be93e80	866
exarkun	0:ea04a1655f3b	867	void task2_switch()
exarkun	0:ea04a1655f3b	868	{
exarkun	0:ea04a1655f3b	869	// pc.printf("%f\r\n", Tetaco);//valeur float consigne en radians le renvoyé par usb
exarkun	0:ea04a1655f3b	870	// pc.printf("%i\r\n", position_actuelle);//valeur int du codeur renvoyé par usb
exarkun	0:ea04a1655f3b	871	// pc.printf("%f\r\n", Tetam);//valeur float du codeur en radians renvoyé par usb
exarkun	0:ea04a1655f3b	872	// pc.printf("dTetam : %f\r\n", dTetam);//valeur float dTetam
exarkun	0:ea04a1655f3b	873	// pc.printf("integ : %f\r\n", integ);//valeur float integ
exarkun	0:ea04a1655f3b	874	// pc.printf("%f\r\n", A);//valeur float du codeur en radians le renvoyé par usb
exarkun	0:ea04a1655f3b	875	// pc.printf("%e\r\n", cyclic);//valeur float du codeur en radians le renvoyé par usb
exarkun	0:ea04a1655f3b	876	// pc.printf("\r\n");//retour chario
exarkun	0:ea04a1655f3b	877	// pc.printf("$%d %d %d;", position_actuelle,position_actuelle/2,position_actuelle/10 ); //utiliser avec logicielle serial port ploter
exarkun	0:ea04a1655f3b	878	// pc.printf("$%d ;", position_actuelle); //utiliser avec logicielle serial port ploter
exarkun	0:ea04a1655f3b	879	// pc.printf("%d",position_actuelle); //utiliser avec logicielle serial port ploter
exarkun	0:ea04a1655f3b	880
exarkun	0:ea04a1655f3b	881	// this code is a crude template
exarkun	0:ea04a1655f3b	882	// you will need to edit this
exarkun	0:ea04a1655f3b	883
exarkun	0:ea04a1655f3b	884
exarkun	0:ea04a1655f3b	885	// use this loop if sending integers----------------------------------------------SY
exarkun	0:ea04a1655f3b	886
exarkun	0:ea04a1655f3b	887	// int ppp = position_actuelle;
exarkun	0:ea04a1655f3b	888	// char text[7];
exarkun	0:ea04a1655f3b	889	// snprintf(text, 7, "%d", ppp);
exarkun	0:ea04a1655f3b	890	// pc.printf("\r");
exarkun	0:ea04a1655f3b	891	// pc.printf(text);
exarkun	0:ea04a1655f3b	892
exarkun	0:ea04a1655f3b	893
exarkun	0:ea04a1655f3b	894	// or use this loop if sending floats
exarkun	0:ea04a1655f3b	895
exarkun	0:ea04a1655f3b	896	// float ppp =position_actuelle;
exarkun	0:ea04a1655f3b	897	// char ppp_text[30];
exarkun	0:ea04a1655f3b	898	// dtostrf(ppp, 10, 10, ppp_text);
exarkun	0:ea04a1655f3b	899	// char text[31];
exarkun	0:ea04a1655f3b	900	// snprintf(text, 31, "%s", ppp_text);
exarkun	0:ea04a1655f3b	901	// pc.printf(text);
exarkun	1:2fe82be93e80	902	device.printf("n0.val=%d%c%c%c", (LPC_QEI->QEIPOS)/position_actuelle/, 0xff, 0xff, 0xff);// affiche la valeur de position sur l afficheur nextion
exarkun	1:2fe82be93e80	903
exarkun	0:ea04a1655f3b	904	};
exarkun	0:ea04a1655f3b	905
exarkun	0:ea04a1655f3b	906	////////////////////////////////////////
exarkun	0:ea04a1655f3b	907	// TASKS3 //
exarkun	0:ea04a1655f3b	908	////////////////////////////////////////
exarkun	1:2fe82be93e80	909
exarkun	0:ea04a1655f3b	910	void task3_switch()
exarkun	0:ea04a1655f3b	911	{
exarkun	0:ea04a1655f3b	912
exarkun	0:ea04a1655f3b	913	//generation de la trajectoire
exarkun	0:ea04a1655f3b	914	if(start_slope)
exarkun	0:ea04a1655f3b	915	{
exarkun	0:ea04a1655f3b	916	Teta_debut=Tetam;//affectation de la mesure a la variable globale
exarkun	0:ea04a1655f3b	917	Teta_fin=pulsesToRadians(consigne);//affectation de la consigne a la variable globale
exarkun	0:ea04a1655f3b	918	Teta_diff = Teta_fin - Teta_debut;//calcule de la position a parcourir
exarkun	0:ea04a1655f3b	919	delta_Teta=(Teta_diff/slope_time)51e-4;//calcule de la distance ideal parcouru en 500us "regle de trois"!!!
exarkun	0:ea04a1655f3b	920	count_slope = 0;//mise a zero du conteur de pas
exarkun	0:ea04a1655f3b	921	count_max = slope_time/(5*1e-4);//calcule du nombre max de pas
exarkun	0:ea04a1655f3b	922	start_slope=false;
exarkun	0:ea04a1655f3b	923	}
exarkun	0:ea04a1655f3b	924	count_slope++;//incrementation nombre de pas
exarkun	0:ea04a1655f3b	925	if (count_slope<=count_max){Tetaco=Tetaco+delta_Teta;}
exarkun	0:ea04a1655f3b	926
exarkun	0:ea04a1655f3b	927	}
exarkun	0:ea04a1655f3b	928
exarkun	0:ea04a1655f3b	929	////////////////////////////////////////
exarkun	0:ea04a1655f3b	930	// TASKS4 //
exarkun	0:ea04a1655f3b	931	////////////////////////////////////////
exarkun	1:2fe82be93e80	932
exarkun	0:ea04a1655f3b	933	void task4_switch()
exarkun	0:ea04a1655f3b	934	{
exarkun	0:ea04a1655f3b	935	//device.printf("$%d;", position_actuelle); //utiliser avec logicielle serial port ploter
exarkun	0:ea04a1655f3b	936	//pc.printf("0x%04x\n", valueFromMaster);
exarkun	0:ea04a1655f3b	937	//pc.printf("%04x", valueFromMaster);
exarkun	1:2fe82be93e80	938	device.printf("add 1,0,%d%c%c%c", (position_actuelle/500), 0xff, 0xff, 0xff);// pour la fonction waveform add id1,chanel0,position actu
exarkun	0:ea04a1655f3b	939	//device.printf("add 1,0,%d%c%c%c", (ADCdata)/10, 0xff, 0xff, 0xff);// pour la fonction waveform add id1,chanel0,position actu
exarkun	0:ea04a1655f3b	940
exarkun	0:ea04a1655f3b	941	}
exarkun	0:ea04a1655f3b	942
exarkun	0:ea04a1655f3b	943	//////////////////////////////////////////////////////////////////////////////
exarkun	0:ea04a1655f3b	944	// TASKS5 reception et transfert données sur SPI //
exarkun	0:ea04a1655f3b	945	//////////////////////////////////////////////////////////////////////////////
exarkun	1:2fe82be93e80	946
exarkun	0:ea04a1655f3b	947	void task5_switch()
exarkun	0:ea04a1655f3b	948	{
exarkun	0:ea04a1655f3b	949	//reply=0xAAAA;
exarkun	0:ea04a1655f3b	950	//spi1.reply(reply);
exarkun	0:ea04a1655f3b	951	if (spi1.receive())
exarkun	0:ea04a1655f3b	952	{
exarkun	0:ea04a1655f3b	953	valueFromMaster = spi1.read();
exarkun	0:ea04a1655f3b	954
exarkun	0:ea04a1655f3b	955	Spi_val_RX[x]=valueFromMaster;
exarkun	0:ea04a1655f3b	956	if (x==9){x=0;}
exarkun	0:ea04a1655f3b	957	else {x++;}
exarkun	0:ea04a1655f3b	958
exarkun	0:ea04a1655f3b	959	// pc.printf("%d Something rxvd, and should have replied with %d\n\r", counter++, reply);
exarkun	0:ea04a1655f3b	960	//reply=valueFromMaster;
exarkun	0:ea04a1655f3b	961	//spi1.reply(reply); // Prime SPI with next reply
exarkun	0:ea04a1655f3b	962	//reply--;
exarkun	0:ea04a1655f3b	963
exarkun	0:ea04a1655f3b	964	// pc.printf(" Received value from Master (%d) Next reply will be %d \r\n", valueFromMaster, reply);
exarkun	0:ea04a1655f3b	965	//if (reply==0){reply=65535;}//100
exarkun	0:ea04a1655f3b	966	}
exarkun	0:ea04a1655f3b	967
exarkun	0:ea04a1655f3b	968	// ici code de la tache 5
exarkun	0:ea04a1655f3b	969	}
exarkun	0:ea04a1655f3b	970
exarkun	0:ea04a1655f3b	971	/////////////////////////////////////////////////////////////////////////
exarkun	0:ea04a1655f3b	972	// TASKS6 lecture de l'image courant moteur //
exarkun	0:ea04a1655f3b	973	/////////////////////////////////////////////////////////////////////////
exarkun	1:2fe82be93e80	974
exarkun	0:ea04a1655f3b	975	void task6_switch()
exarkun	0:ea04a1655f3b	976	{
exarkun	1:2fe82be93e80	977	// ADCdata=Ain*3.3; //lecture de l'image du courant
exarkun	0:ea04a1655f3b	978
exarkun	0:ea04a1655f3b	979	for (int z=0;z<=9;z++)
exarkun	0:ea04a1655f3b	980	{
exarkun	1:2fe82be93e80	981	ADCdata=ADCdata+Ain*3.3; //sum 10 samples
exarkun	0:ea04a1655f3b	982	}
exarkun	1:2fe82be93e80	983	//ADCdata=ADCdata/10; //divide by 10
exarkun	1:2fe82be93e80	984	device.printf("n0.val=%d%c%c%c", ADCdata, 0xff, 0xff, 0xff);// affiche la valeur de position sur l afficheur nextion
exarkun	0:ea04a1655f3b	985	//ADCdata=Ain.read_u16();
exarkun	0:ea04a1655f3b	986	if(ADCdata>=imax)//si l'image du courant egale a 0.5v je coupe le moteur .
exarkun	0:ea04a1655f3b	987	{
exarkun	1:2fe82be93e80	988	while(1){
exarkun	0:ea04a1655f3b	989	PWM1.write(0);//mise du signal pwm a zero.
exarkun	0:ea04a1655f3b	990	// pc.printf("%1.3f",ADCdata);
exarkun	0:ea04a1655f3b	991	// pc.printf("V\n\r");
exarkun	0:ea04a1655f3b	992	// pc.printf("current overload \n\r");
exarkun	0:ea04a1655f3b	993
exarkun	0:ea04a1655f3b	994	//attendre que le manipulateur appuis sur le bouton restart a coder .
exarkun	0:ea04a1655f3b	995	//veriffier que les plaques sont bien en position .
exarkun	0:ea04a1655f3b	996	//faire une home ou continuer la trajectoire .a voir !!!!
exarkun	1:2fe82be93e80	997	}
exarkun	0:ea04a1655f3b	998	}
exarkun	0:ea04a1655f3b	999	// ici code de la tache 6
exarkun	0:ea04a1655f3b	1000
exarkun	0:ea04a1655f3b	1001	}
exarkun	0:ea04a1655f3b	1002
exarkun	0:ea04a1655f3b	1003	////////////////////////////////////////
exarkun	0:ea04a1655f3b	1004	// TASKS7 //
exarkun	0:ea04a1655f3b	1005	////////////////////////////////////////
exarkun	1:2fe82be93e80	1006
exarkun	1:2fe82be93e80	1007	int ReadSerialMsg(char *Msg)
exarkun	1:2fe82be93e80	1008	{
exarkun	1:2fe82be93e80	1009	if(device.readable())
exarkun	1:2fe82be93e80	1010	{
exarkun	1:2fe82be93e80	1011
exarkun	1:2fe82be93e80	1012	Msg[mRxIdx] = device.getc();
exarkun	1:2fe82be93e80	1013	mRxIdx++;
exarkun	1:2fe82be93e80	1014	if(mRxIdx > 3)
exarkun	1:2fe82be93e80	1015	{
exarkun	1:2fe82be93e80	1016	if ((Msg[mRxIdx-1] == 0xff) && (Msg[mRxIdx-2] == 0xff) && (Msg[mRxIdx-3] == 0xff)) //valid rx message
exarkun	1:2fe82be93e80	1017	{
exarkun	1:2fe82be93e80	1018	mRxIdx=0;
exarkun	1:2fe82be93e80	1019	return 1;
exarkun	1:2fe82be93e80	1020	}
exarkun	1:2fe82be93e80	1021	}
exarkun	1:2fe82be93e80	1022	}
exarkun	1:2fe82be93e80	1023	return 0;
exarkun	1:2fe82be93e80	1024	}
exarkun	1:2fe82be93e80	1025
exarkun	1:2fe82be93e80	1026	void FillButtonCmd(char mRxMsg, ButtonCommand cmd)
exarkun	1:2fe82be93e80	1027	{
exarkun	1:2fe82be93e80	1028	cmd->IsNewCommandAvailable = 1;
exarkun	1:2fe82be93e80	1029	cmd->cmdNb = mRxMsg[0];
exarkun	1:2fe82be93e80	1030	cmd->var1 = mRxMsg[1];
exarkun	1:2fe82be93e80	1031	cmd->buttonId = mRxMsg[2];
exarkun	1:2fe82be93e80	1032	cmd->IsButtonPressed = mRxMsg[3];
exarkun	1:2fe82be93e80	1033	}
exarkun	1:2fe82be93e80	1034
exarkun	0:ea04a1655f3b	1035	void task7_switch()
exarkun	0:ea04a1655f3b	1036	{
exarkun	1:2fe82be93e80	1037	if(1 == ReadSerialMsg(mRxMsg))
exarkun	1:2fe82be93e80	1038	{
exarkun	1:2fe82be93e80	1039	Cmd = mRxMsg[0];
exarkun	1:2fe82be93e80	1040	//newCmdAvailable = true;
exarkun	1:2fe82be93e80	1041
exarkun	1:2fe82be93e80	1042	switch(Cmd)
exarkun	1:2fe82be93e80	1043	{
exarkun	1:2fe82be93e80	1044	case PageCmd:
exarkun	1:2fe82be93e80	1045	//resetPageSteps();
exarkun	1:2fe82be93e80	1046	CurrentPageNb = (PageNb)mRxMsg[1];
exarkun	1:2fe82be93e80	1047	break;
exarkun	1:2fe82be93e80	1048
exarkun	1:2fe82be93e80	1049	case ButtonCmd:
exarkun	1:2fe82be93e80	1050	FillButtonCmd(mRxMsg, &buttonCmd);
exarkun	1:2fe82be93e80	1051	break;
exarkun	1:2fe82be93e80	1052	}
exarkun	1:2fe82be93e80	1053	}
exarkun	1:2fe82be93e80	1054	//lectureRSlcd();
exarkun	1:2fe82be93e80	1055	/*
exarkun	1:2fe82be93e80	1056	if(device.readable())
exarkun	0:ea04a1655f3b	1057	{
exarkun	0:ea04a1655f3b	1058	myled1=1;
exarkun	0:ea04a1655f3b	1059	charac = device.getc();
exarkun	0:ea04a1655f3b	1060	mRxMsg[mRxIdx] = charac;
exarkun	0:ea04a1655f3b	1061	mRxIdx++;
exarkun	0:ea04a1655f3b	1062	if ((mRxIdx >= 3) && (mRxMsg[mRxIdx-1] == 0xff) && (mRxMsg[mRxIdx-2] == 0xff) && (mRxMsg[mRxIdx-3] == 0xff)) //valid rx message
exarkun	1:2fe82be93e80	1063	{
exarkun	1:2fe82be93e80	1064	myled3=1;
exarkun	1:2fe82be93e80	1065	mRxIdx=0;
exarkun	1:2fe82be93e80	1066	myled3=0;
exarkun	1:2fe82be93e80	1067	if(mRxMsg[0] == 0x67) //Touch coordinate data return
exarkun	1:2fe82be93e80	1068	{
exarkun	1:2fe82be93e80	1069	mTouchX = (mRxMsg[1]*256) + mRxMsg[2];
exarkun	0:ea04a1655f3b	1070	mTouchY = (mRxMsg[3]*256) + mRxMsg[4];
exarkun	0:ea04a1655f3b	1071	if(mRxMsg[5] == 0x01)
exarkun	0:ea04a1655f3b	1072	mTouch = true;
exarkun	0:ea04a1655f3b	1073	else
exarkun	0:ea04a1655f3b	1074	mTouch = false;
exarkun	1:2fe82be93e80	1075	}
exarkun	1:2fe82be93e80	1076	}
exarkun	1:2fe82be93e80	1077
exarkun	0:ea04a1655f3b	1078	//vitesse_actuelle=qei.GetVelocity(); //fonctionne pas ...
exarkun	0:ea04a1655f3b	1079	// ici code de la tache 7
exarkun	1:2fe82be93e80	1080	myled1=0;
exarkun	1:2fe82be93e80	1081	} */
exarkun	0:ea04a1655f3b	1082	}
exarkun	0:ea04a1655f3b	1083
exarkun	0:ea04a1655f3b	1084	////////////////////////////////////////
exarkun	0:ea04a1655f3b	1085	// TASKS8 //
exarkun	0:ea04a1655f3b	1086	////////////////////////////////////////
exarkun	0:ea04a1655f3b	1087
exarkun	1:2fe82be93e80	1088	void task8_switch()//detection code page
exarkun	0:ea04a1655f3b	1089	{
exarkun	1:2fe82be93e80	1090	if((mRxMsg[0] == 0x66))
exarkun	0:ea04a1655f3b	1091	{
exarkun	0:ea04a1655f3b	1092	switch ( mRxMsg[1])
exarkun	0:ea04a1655f3b	1093	{
exarkun	0:ea04a1655f3b	1094	case 0x00:
exarkun	0:ea04a1655f3b	1095	page0();//ici la page0 es traité ----------- code de la page : 66 00 ff ff ff
exarkun	1:2fe82be93e80	1096	mRxMsg[0] = 0x00;mRxMsg[1] = 0x00;mRxMsg[2] = 0x00;mRxMsg[3] = 0x00;mRxMsg[4] = 0x00;
exarkun	0:ea04a1655f3b	1097	break;
exarkun	0:ea04a1655f3b	1098
exarkun	0:ea04a1655f3b	1099	case 0x01:
exarkun	0:ea04a1655f3b	1100	page1();//ici la page0 es traité ----------- code de la page : 66 01 ff ff ff
exarkun	1:2fe82be93e80	1101	mRxMsg[0] = 0x00;mRxMsg[1] = 0x00;mRxMsg[2] = 0x00;mRxMsg[3] = 0x00;mRxMsg[4] = 0x00;
exarkun	0:ea04a1655f3b	1102	break;
exarkun	0:ea04a1655f3b	1103
exarkun	0:ea04a1655f3b	1104	case 0x02:
exarkun	0:ea04a1655f3b	1105	page2();//ici la page0 es traité ----------- code de la page : 66 02 ff ff ff
exarkun	1:2fe82be93e80	1106	mRxMsg[0] = 0x00;mRxMsg[1] = 0x00;mRxMsg[2] = 0x00;mRxMsg[3] = 0x00;mRxMsg[4] = 0x00;
exarkun	0:ea04a1655f3b	1107	break;
exarkun	0:ea04a1655f3b	1108
exarkun	0:ea04a1655f3b	1109	case 0x03:
exarkun	0:ea04a1655f3b	1110	page3();//ici la page0 es traité ----------- code de la page : 66 03 ff ff ff
exarkun	1:2fe82be93e80	1111	mRxMsg[0] = 0x00;mRxMsg[1] = 0x00;mRxMsg[2] = 0x00;mRxMsg[3] = 0x00;mRxMsg[4] = 0x00;
exarkun	0:ea04a1655f3b	1112	break;
exarkun	0:ea04a1655f3b	1113
exarkun	0:ea04a1655f3b	1114	case 0x04:
exarkun	0:ea04a1655f3b	1115	page4();//ici la page0 es traité ----------- code de la page : 66 04 ff ff ff
exarkun	1:2fe82be93e80	1116	mRxMsg[0] = 0x00;mRxMsg[1] = 0x00;mRxMsg[2] = 0x00;mRxMsg[3] = 0x00;mRxMsg[4] = 0x00;
exarkun	0:ea04a1655f3b	1117	break;
exarkun	0:ea04a1655f3b	1118
exarkun	0:ea04a1655f3b	1119	case 0x05:
exarkun	0:ea04a1655f3b	1120	page5();//ici la page0 es traité ----------- code de la page : 66 05 ff ff ff
exarkun	1:2fe82be93e80	1121	mRxMsg[0] = 0x00;mRxMsg[1] = 0x00;mRxMsg[2] = 0x00;mRxMsg[3] = 0x00;mRxMsg[4] = 0x00;
exarkun	0:ea04a1655f3b	1122	break;
exarkun	0:ea04a1655f3b	1123
exarkun	0:ea04a1655f3b	1124	case 0x06:
exarkun	0:ea04a1655f3b	1125	page6();//ici la page6 es traité ----------- code de la page : 66 06 ff ff ff
exarkun	1:2fe82be93e80	1126	mRxMsg[0] = 0x00;mRxMsg[1] = 0x00;mRxMsg[2] = 0x00;mRxMsg[3] = 0x00;mRxMsg[4] = 0x00;
exarkun	0:ea04a1655f3b	1127	break;
exarkun	1:2fe82be93e80	1128
exarkun	1:2fe82be93e80	1129	case 0x07:
exarkun	1:2fe82be93e80	1130	page7();//ici la page7 es traité ----------- code de la page : 66 07 ff ff ff
exarkun	1:2fe82be93e80	1131	mRxMsg[0] = 0x00;mRxMsg[1] = 0x00;mRxMsg[2] = 0x00;mRxMsg[3] = 0x00;mRxMsg[4] = 0x00;
exarkun	1:2fe82be93e80	1132	//memset(mRxMsg, 0, 5);
exarkun	1:2fe82be93e80	1133	break;
exarkun	0:ea04a1655f3b	1134
exarkun	0:ea04a1655f3b	1135	}
exarkun	1:2fe82be93e80	1136
exarkun	0:ea04a1655f3b	1137	// ici code de la tache 8
exarkun	0:ea04a1655f3b	1138	}
exarkun	0:ea04a1655f3b	1139	}
exarkun	0:ea04a1655f3b	1140
exarkun	1:2fe82be93e80	1141	/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
exarkun	1:2fe82be93e80	1142	// PROGRAMME PRINCIPAL //
exarkun	1:2fe82be93e80	1143	/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
exarkun	1:2fe82be93e80	1144	int motorStep = 0;
exarkun	1:2fe82be93e80	1145	int position_a_cmd_darret = 0;
exarkun	0:ea04a1655f3b	1146
exarkun	0:ea04a1655f3b	1147	int main()
exarkun	0:ea04a1655f3b	1148	{
exarkun	1:2fe82be93e80	1149	// int cycles;
exarkun	0:ea04a1655f3b	1150	//NVIC_SetPriority(EINT3_IRQn, 252);//set interupt to highest priority 0.
exarkun	0:ea04a1655f3b	1151	//NVIC_SetPriority(TIMER1_IRQn, 253);// set mbed tickers to lower priority than other things
exarkun	0:ea04a1655f3b	1152	//NVIC_SetPriority(TIMER2_IRQn, 254);// set mbed tickers to lower priority than other things
exarkun	0:ea04a1655f3b	1153	//NVIC_SetPriority(TIMER3_IRQn, 255);// set mbed tickers to lower priority than other things
exarkun	0:ea04a1655f3b	1154	//NVIC_set_all_irq_priorities(0);
exarkun	0:ea04a1655f3b	1155
exarkun	0:ea04a1655f3b	1156	qei.SetDigiFilter(480UL);//filtre
exarkun	0:ea04a1655f3b	1157	qei.SetMaxPosition(0xFFFFFFFF);//position max 4294967295 pulses
exarkun	0:ea04a1655f3b	1158
exarkun	0:ea04a1655f3b	1159	//initialisation de la com rs232
exarkun	0:ea04a1655f3b	1160	device.baud(9600);//rs232 28800 baud
exarkun	0:ea04a1655f3b	1161	device.printf("serial rs232 ok \n");
exarkun	0:ea04a1655f3b	1162
exarkun	0:ea04a1655f3b	1163	//calculs de tau ,Kv,Kp
exarkun	0:ea04a1655f3b	1164	tau=(J*R)/K;
exarkun	0:ea04a1655f3b	1165	Kv=r1r2tau*Ki-1.;
exarkun	0:ea04a1655f3b	1166	if(Kv<0){Kv = -Kv;}
exarkun	0:ea04a1655f3b	1167	Kp=r1Ki(1.+Kv)/Kv;
exarkun	0:ea04a1655f3b	1168
exarkun	0:ea04a1655f3b	1169	//initialisation moteur
exarkun	0:ea04a1655f3b	1170	PWM1.period(0.00005);// initialisation du rapport cyclique fixe la période à 50us----f=20Khz
exarkun	0:ea04a1655f3b	1171	frein_moteur1.write(0);//affectation de la valeur du frein moteur1
exarkun	0:ea04a1655f3b	1172	sens_rotation_moteur1.write(0); //affectation du sens de rotation moteur1 non utiliser puisque c'est la tache1 qui le fait non pas la generation de trajectoire
exarkun	0:ea04a1655f3b	1173
exarkun	0:ea04a1655f3b	1174	//initialisation du spi
exarkun	0:ea04a1655f3b	1175	spi1.format(16,3); // Setup: bit data, high steady state clock, 2nd edge capture
exarkun	0:ea04a1655f3b	1176	spi1.frequency(1000000); // 1MHz
exarkun	0:ea04a1655f3b	1177
exarkun	0:ea04a1655f3b	1178	//lancement des tasks
exarkun	0:ea04a1655f3b	1179	time_up1.attach(&task1_switch, 0.0005);//"calcule de l'asservissement" initialisation du ticker a 2Khz "500us".
exarkun	1:2fe82be93e80	1180	time_up2.attach(&task2_switch, 0.034);//"retour d'information position.
exarkun	0:ea04a1655f3b	1181	time_up3.attach(&task3_switch, 0.0005);//"generation trajectoire" initialisation du ticker a 2khz "500us".
exarkun	0:ea04a1655f3b	1182	//time_up4.attach(&task4_switch, 0.0005);//"retour d'information position par rs232"initialisation du ticker a 100hz "10ms".
exarkun	0:ea04a1655f3b	1183	//time_up5.attach(&task5_switch, 0.0001);//"lecture et ecriture DATA SPI1 initialisation du ticker 10khz.
exarkun	0:ea04a1655f3b	1184
exarkun	1:2fe82be93e80	1185	//time_up6.attach(&task6_switch, 0.034);//retour d'information courant.
exarkun	1:2fe82be93e80	1186	time_up7.attach(&task7_switch, 0.00005);//lecture de la com rs tous les 100us.
exarkun	1:2fe82be93e80	1187	// time_up8.attach(&task8_switch, 0.5);//detection numero de page tous les 100 ms.
exarkun	1:2fe82be93e80	1188
exarkun	1:2fe82be93e80	1189	device.printf("sendme");
exarkun	1:2fe82be93e80	1190	count_ticks=0;
exarkun	1:2fe82be93e80	1191	c='0';
exarkun	1:2fe82be93e80	1192
exarkun	1:2fe82be93e80	1193	while(1)
exarkun	1:2fe82be93e80	1194	{
exarkun	1:2fe82be93e80	1195
exarkun	0:ea04a1655f3b	1196
exarkun	1:2fe82be93e80	1197	if(buttonCmd.IsNewCommandAvailable == 1)//si y as eu un bouton appuyé et que nous somme bien en la page n°7
exarkun	1:2fe82be93e80	1198
exarkun	1:2fe82be93e80	1199	{
exarkun	1:2fe82be93e80	1200	motorStep = 0;
exarkun	1:2fe82be93e80	1201	myled1 = 0;
exarkun	1:2fe82be93e80	1202	switch(buttonCmd.cmdNb)
exarkun	1:2fe82be93e80	1203	{
exarkun	1:2fe82be93e80	1204	case PageCmd:
exarkun	1:2fe82be93e80	1205	switch ( buttonCmd.var1)
exarkun	1:2fe82be93e80	1206	{
exarkun	1:2fe82be93e80	1207	case 0x00:
exarkun	1:2fe82be93e80	1208	page0();//ici la page0 es traité ----------- code de la page : 66 00 ff ff ff
exarkun	1:2fe82be93e80	1209	mRxMsg[0] = 0x00;mRxMsg[1] = 0x00;mRxMsg[2] = 0x00;mRxMsg[3] = 0x00;mRxMsg[4] = 0x00;
exarkun	1:2fe82be93e80	1210	break;
exarkun	1:2fe82be93e80	1211
exarkun	1:2fe82be93e80	1212	case 0x01:
exarkun	1:2fe82be93e80	1213	page1();//ici la page0 es traité ----------- code de la page : 66 01 ff ff ff
exarkun	1:2fe82be93e80	1214	mRxMsg[0] = 0x00;mRxMsg[1] = 0x00;mRxMsg[2] = 0x00;mRxMsg[3] = 0x00;mRxMsg[4] = 0x00;
exarkun	1:2fe82be93e80	1215	break;
exarkun	1:2fe82be93e80	1216
exarkun	1:2fe82be93e80	1217	case 0x02:
exarkun	1:2fe82be93e80	1218	page2();//ici la page0 es traité ----------- code de la page : 66 02 ff ff ff
exarkun	1:2fe82be93e80	1219	mRxMsg[0] = 0x00;mRxMsg[1] = 0x00;mRxMsg[2] = 0x00;mRxMsg[3] = 0x00;mRxMsg[4] = 0x00;
exarkun	1:2fe82be93e80	1220	break;
exarkun	1:2fe82be93e80	1221
exarkun	1:2fe82be93e80	1222	case 0x03:
exarkun	1:2fe82be93e80	1223	page3();//ici la page0 es traité ----------- code de la page : 66 03 ff ff ff
exarkun	1:2fe82be93e80	1224	mRxMsg[0] = 0x00;mRxMsg[1] = 0x00;mRxMsg[2] = 0x00;mRxMsg[3] = 0x00;mRxMsg[4] = 0x00;
exarkun	1:2fe82be93e80	1225	break;
exarkun	1:2fe82be93e80	1226
exarkun	1:2fe82be93e80	1227	case 0x04:
exarkun	1:2fe82be93e80	1228	page4();//ici la page0 es traité ----------- code de la page : 66 04 ff ff ff
exarkun	1:2fe82be93e80	1229	mRxMsg[0] = 0x00;mRxMsg[1] = 0x00;mRxMsg[2] = 0x00;mRxMsg[3] = 0x00;mRxMsg[4] = 0x00;
exarkun	1:2fe82be93e80	1230	break;
exarkun	1:2fe82be93e80	1231
exarkun	1:2fe82be93e80	1232	case 0x05:
exarkun	1:2fe82be93e80	1233	page5();//ici la page0 es traité ----------- code de la page : 66 05 ff ff ff
exarkun	1:2fe82be93e80	1234	mRxMsg[0] = 0x00;mRxMsg[1] = 0x00;mRxMsg[2] = 0x00;mRxMsg[3] = 0x00;mRxMsg[4] = 0x00;
exarkun	1:2fe82be93e80	1235	break;
exarkun	1:2fe82be93e80	1236
exarkun	1:2fe82be93e80	1237	case 0x06:
exarkun	1:2fe82be93e80	1238	page6();//ici la page6 es traité ----------- code de la page : 66 06 ff ff ff
exarkun	1:2fe82be93e80	1239	mRxMsg[0] = 0x00;mRxMsg[1] = 0x00;mRxMsg[2] = 0x00;mRxMsg[3] = 0x00;mRxMsg[4] = 0x00;
exarkun	1:2fe82be93e80	1240	break;
exarkun	1:2fe82be93e80	1241
exarkun	1:2fe82be93e80	1242	case 0x07:
exarkun	1:2fe82be93e80	1243	page7();//ici la page7 es traité ----------- code de la page : 66 07 ff ff ff
exarkun	1:2fe82be93e80	1244	mRxMsg[0] = 0x00;mRxMsg[1] = 0x00;mRxMsg[2] = 0x00;mRxMsg[3] = 0x00;mRxMsg[4] = 0x00;
exarkun	1:2fe82be93e80	1245	//memset(mRxMsg, 0, 5);
exarkun	1:2fe82be93e80	1246	break;
exarkun	1:2fe82be93e80	1247
exarkun	1:2fe82be93e80	1248	}
exarkun	1:2fe82be93e80	1249	break;
exarkun	1:2fe82be93e80	1250	}
exarkun	1:2fe82be93e80	1251	}
exarkun	0:ea04a1655f3b	1252
exarkun	1:2fe82be93e80	1253	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
exarkun	1:2fe82be93e80	1254	////////////////////////////////////////////////// page0 ////////////////////////////////////////////////////////////
exarkun	1:2fe82be93e80	1255	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
exarkun	1:2fe82be93e80	1256
exarkun	1:2fe82be93e80	1257	if((buttonCmd.IsNewCommandAvailable == 1)&&(mRxMsg[1]==0x00))//si y as eu un bouton appuyé et que nous somme bien en la page n°0
exarkun	1:2fe82be93e80	1258	{
exarkun	1:2fe82be93e80	1259	motorStep = 0;
exarkun	1:2fe82be93e80	1260	myled1 = 0;
exarkun	1:2fe82be93e80	1261
exarkun	1:2fe82be93e80	1262	switch(buttonCmd.buttonId)
exarkun	1:2fe82be93e80	1263	{
exarkun	1:2fe82be93e80	1264	case 0x02: // boutn 'A' de la page 0
exarkun	1:2fe82be93e80	1265	myled1 = 1;
exarkun	1:2fe82be93e80	1266	c='a';
exarkun	1:2fe82be93e80	1267	buttonCmd.IsNewCommandAvailable = 0;
exarkun	1:2fe82be93e80	1268	break;
exarkun	1:2fe82be93e80	1269
exarkun	1:2fe82be93e80	1270	case 0x01: // boutn 'B' de la page 0
exarkun	1:2fe82be93e80	1271	myled1 = 1;
exarkun	1:2fe82be93e80	1272	c='b';
exarkun	1:2fe82be93e80	1273	buttonCmd.IsNewCommandAvailable = 0;
exarkun	1:2fe82be93e80	1274	break;
exarkun	1:2fe82be93e80	1275
exarkun	1:2fe82be93e80	1276	case 0x03: // boutn 'R' de la page 0
exarkun	1:2fe82be93e80	1277	myled1 = 1;
exarkun	1:2fe82be93e80	1278	c='c';
exarkun	1:2fe82be93e80	1279	buttonCmd.IsNewCommandAvailable = 0;
exarkun	1:2fe82be93e80	1280	break;
exarkun	1:2fe82be93e80	1281
exarkun	1:2fe82be93e80	1282	case 0x04: // boutn 'L' de la page 0
exarkun	1:2fe82be93e80	1283	myled1 = 1;
exarkun	1:2fe82be93e80	1284	c='d';
exarkun	1:2fe82be93e80	1285	buttonCmd.IsNewCommandAvailable = 0;
exarkun	1:2fe82be93e80	1286	break;
exarkun	1:2fe82be93e80	1287
exarkun	1:2fe82be93e80	1288	case 0x05: // boutn 'R2' de la page 0
exarkun	1:2fe82be93e80	1289	myled1 = 1;
exarkun	1:2fe82be93e80	1290	c='d';
exarkun	1:2fe82be93e80	1291	buttonCmd.IsNewCommandAvailable = 0;
exarkun	1:2fe82be93e80	1292	break;
exarkun	1:2fe82be93e80	1293	}
exarkun	1:2fe82be93e80	1294	}
exarkun	1:2fe82be93e80	1295
exarkun	1:2fe82be93e80	1296	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
exarkun	1:2fe82be93e80	1297	////////////////////////////////////////////////// page1 ////////////////////////////////////////////////////////////
exarkun	1:2fe82be93e80	1298	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
exarkun	1:2fe82be93e80	1299
exarkun	1:2fe82be93e80	1300	if((buttonCmd.IsNewCommandAvailable == 1)&&(mRxMsg[1]==0x01))//si y as eu un bouton appuyé et que nous somme bien en la page n°1
exarkun	0:ea04a1655f3b	1301	{
exarkun	1:2fe82be93e80	1302	//page1();
exarkun	1:2fe82be93e80	1303	}
exarkun	1:2fe82be93e80	1304
exarkun	1:2fe82be93e80	1305	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
exarkun	1:2fe82be93e80	1306	////////////////////////////////////////////////// page2 ////////////////////////////////////////////////////////////
exarkun	1:2fe82be93e80	1307	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
exarkun	1:2fe82be93e80	1308
exarkun	1:2fe82be93e80	1309	if((buttonCmd.IsNewCommandAvailable == 1)&&(mRxMsg[1]==0x02))//si y as eu un bouton appuyé et que nous somme bien en la page n°2
exarkun	1:2fe82be93e80	1310	{
exarkun	1:2fe82be93e80	1311	//page2();
exarkun	1:2fe82be93e80	1312	}
exarkun	1:2fe82be93e80	1313
exarkun	1:2fe82be93e80	1314	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
exarkun	1:2fe82be93e80	1315	////////////////////////////////////////////////// page3 ////////////////////////////////////////////////////////////
exarkun	1:2fe82be93e80	1316	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
exarkun	1:2fe82be93e80	1317
exarkun	1:2fe82be93e80	1318	if((buttonCmd.IsNewCommandAvailable == 1)&&(mRxMsg[1]==0x03))//si y as eu un bouton appuyé et que nous somme bien en la page n°3
exarkun	1:2fe82be93e80	1319	{
exarkun	1:2fe82be93e80	1320	//page3();
exarkun	1:2fe82be93e80	1321	}
exarkun	1:2fe82be93e80	1322
exarkun	1:2fe82be93e80	1323	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
exarkun	1:2fe82be93e80	1324	////////////////////////////////////////////////// page4 ////////////////////////////////////////////////////////////
exarkun	1:2fe82be93e80	1325	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
exarkun	1:2fe82be93e80	1326
exarkun	1:2fe82be93e80	1327	if((buttonCmd.IsNewCommandAvailable == 1)&&(mRxMsg[1]==0x04))//si y as eu un bouton appuyé et que nous somme bien en la page n°4
exarkun	1:2fe82be93e80	1328	{
exarkun	1:2fe82be93e80	1329	//page4();
exarkun	1:2fe82be93e80	1330	}
exarkun	1:2fe82be93e80	1331
exarkun	1:2fe82be93e80	1332	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
exarkun	1:2fe82be93e80	1333	////////////////////////////////////////////////// page5 ////////////////////////////////////////////////////////////
exarkun	1:2fe82be93e80	1334	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
exarkun	1:2fe82be93e80	1335
exarkun	1:2fe82be93e80	1336	if((buttonCmd.IsNewCommandAvailable == 1)&&(mRxMsg[1]==0x05))//si y as eu un bouton appuyé et que nous somme bien en la page n°5
exarkun	1:2fe82be93e80	1337	{
exarkun	1:2fe82be93e80	1338	//page5();
exarkun	1:2fe82be93e80	1339	}
exarkun	1:2fe82be93e80	1340
exarkun	1:2fe82be93e80	1341	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
exarkun	1:2fe82be93e80	1342	////////////////////////////////////////////////// page6 ////////////////////////////////////////////////////////////
exarkun	1:2fe82be93e80	1343	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
exarkun	0:ea04a1655f3b	1344
exarkun	1:2fe82be93e80	1345	if((buttonCmd.IsNewCommandAvailable == 1)&&(mRxMsg[1]==0x06))//si y as eu un bouton appuyé et que nous somme bien en la page n°6
exarkun	1:2fe82be93e80	1346	{
exarkun	1:2fe82be93e80	1347	//page6();
exarkun	1:2fe82be93e80	1348	}
exarkun	1:2fe82be93e80	1349
exarkun	1:2fe82be93e80	1350	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
exarkun	1:2fe82be93e80	1351	////////////////////////////////////////////////// page7 ////////////////////////////////////////////////////////////
exarkun	1:2fe82be93e80	1352	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
exarkun	1:2fe82be93e80	1353
exarkun	1:2fe82be93e80	1354	if((buttonCmd.IsNewCommandAvailable == 1)&&(mRxMsg[1]==0x07))//si y as eu un bouton appuyé et que nous somme bien en la page n°7
exarkun	1:2fe82be93e80	1355	{
exarkun	1:2fe82be93e80	1356	motorStep = 0;
exarkun	1:2fe82be93e80	1357	myled1 = 1;
exarkun	1:2fe82be93e80	1358
exarkun	1:2fe82be93e80	1359	switch(buttonCmd.buttonId)
exarkun	0:ea04a1655f3b	1360	{
exarkun	1:2fe82be93e80	1361	case 0x2f: // boutn 'A' de la page 7
exarkun	1:2fe82be93e80	1362	myled1 = 0;
exarkun	1:2fe82be93e80	1363	c='a';
exarkun	1:2fe82be93e80	1364	buttonCmd.IsNewCommandAvailable = 0;
exarkun	1:2fe82be93e80	1365	break;
exarkun	0:ea04a1655f3b	1366
exarkun	1:2fe82be93e80	1367	case 0x30: // boutn 'B' de la page 7
exarkun	1:2fe82be93e80	1368	myled1 = 0;
exarkun	1:2fe82be93e80	1369	c='b';
exarkun	1:2fe82be93e80	1370	buttonCmd.IsNewCommandAvailable = 0;
exarkun	1:2fe82be93e80	1371	break;
exarkun	1:2fe82be93e80	1372
exarkun	1:2fe82be93e80	1373	case 0x31: // boutn 'C' de la page 7
exarkun	1:2fe82be93e80	1374	myled1 = 0;
exarkun	1:2fe82be93e80	1375	c='c';
exarkun	1:2fe82be93e80	1376	buttonCmd.IsNewCommandAvailable = 0;
exarkun	1:2fe82be93e80	1377	break;
exarkun	1:2fe82be93e80	1378
exarkun	1:2fe82be93e80	1379	case 0x32: // boutn 'D' de la page 7
exarkun	1:2fe82be93e80	1380	myled1 = 0;
exarkun	1:2fe82be93e80	1381	c='d';
exarkun	1:2fe82be93e80	1382	buttonCmd.IsNewCommandAvailable = 0;
exarkun	1:2fe82be93e80	1383	break;
exarkun	1:2fe82be93e80	1384
exarkun	1:2fe82be93e80	1385	case 0x01: // boutn 'D' de la page 7
exarkun	1:2fe82be93e80	1386	myled1 = 0;
exarkun	1:2fe82be93e80	1387	c='d';
exarkun	1:2fe82be93e80	1388	buttonCmd.IsNewCommandAvailable = 0;
exarkun	1:2fe82be93e80	1389	break;
exarkun	1:2fe82be93e80	1390
exarkun	1:2fe82be93e80	1391	}
exarkun	1:2fe82be93e80	1392	}
exarkun	1:2fe82be93e80	1393	//c=valueFromMaster;//valeur par la liaison spi par le master
exarkun	1:2fe82be93e80	1394	//device.scanf("%c",&c);//capture du caract ascii
exarkun	1:2fe82be93e80	1395
exarkun	1:2fe82be93e80	1396	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
exarkun	1:2fe82be93e80	1397	////////////////////////////////////////////////// differants mouvement ////////////////////////////////////////////////////////////
exarkun	1:2fe82be93e80	1398	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
exarkun	1:2fe82be93e80	1399	(LPC_QEI->QEIPOS)=0;
exarkun	1:2fe82be93e80	1400	switch(c)//commande moteur
exarkun	1:2fe82be93e80	1401	{
exarkun	0:ea04a1655f3b	1402	case 'a':
exarkun	0:ea04a1655f3b	1403	//qei.Reset(0);
exarkun	1:2fe82be93e80	1404	switch(motorStep)
exarkun	1:2fe82be93e80	1405	{
exarkun	1:2fe82be93e80	1406	case 0:
exarkun	1:2fe82be93e80	1407	consigne=70000 ; //4 tour
exarkun	1:2fe82be93e80	1408	slope_time=2.5;//t =2500ms
exarkun	1:2fe82be93e80	1409	start_slope=true;
exarkun	1:2fe82be93e80	1410	{
exarkun	1:2fe82be93e80	1411	myled3 = 0;
exarkun	1:2fe82be93e80	1412	motorStep = 1;
exarkun	1:2fe82be93e80	1413	}
exarkun	1:2fe82be93e80	1414	break;
exarkun	1:2fe82be93e80	1415
exarkun	1:2fe82be93e80	1416	case 1:
exarkun	1:2fe82be93e80	1417	if(true == Wait2(0, 3000))
exarkun	1:2fe82be93e80	1418	{
exarkun	1:2fe82be93e80	1419	myled3 = 1;
exarkun	1:2fe82be93e80	1420	motorStep = 2;
exarkun	1:2fe82be93e80	1421	}
exarkun	1:2fe82be93e80	1422	break;
exarkun	1:2fe82be93e80	1423
exarkun	1:2fe82be93e80	1424	case 2:
exarkun	1:2fe82be93e80	1425	consigne=0 ; //4 tour
exarkun	1:2fe82be93e80	1426	slope_time=2.5;//2500ms
exarkun	1:2fe82be93e80	1427	start_slope=true;
exarkun	1:2fe82be93e80	1428	{
exarkun	1:2fe82be93e80	1429	motorStep = 3;
exarkun	1:2fe82be93e80	1430	}
exarkun	1:2fe82be93e80	1431	break;
exarkun	1:2fe82be93e80	1432
exarkun	1:2fe82be93e80	1433	case 3:
exarkun	1:2fe82be93e80	1434	if(true == Wait2(0, 3000))
exarkun	1:2fe82be93e80	1435	{
exarkun	1:2fe82be93e80	1436	motorStep = 4;
exarkun	1:2fe82be93e80	1437	}
exarkun	1:2fe82be93e80	1438	break;
exarkun	1:2fe82be93e80	1439
exarkun	1:2fe82be93e80	1440	case 4:
exarkun	1:2fe82be93e80	1441	consigne=-70000 ; //4 tour
exarkun	1:2fe82be93e80	1442	slope_time=2.5;//2500ms
exarkun	1:2fe82be93e80	1443	start_slope=true;
exarkun	1:2fe82be93e80	1444	{
exarkun	1:2fe82be93e80	1445	motorStep = 5;
exarkun	1:2fe82be93e80	1446	}
exarkun	1:2fe82be93e80	1447	break;
exarkun	1:2fe82be93e80	1448
exarkun	1:2fe82be93e80	1449	case 5:
exarkun	1:2fe82be93e80	1450	if(true == Wait2(0, 3000))
exarkun	1:2fe82be93e80	1451	{
exarkun	1:2fe82be93e80	1452	motorStep = 6;
exarkun	1:2fe82be93e80	1453	}
exarkun	1:2fe82be93e80	1454	break;
exarkun	1:2fe82be93e80	1455
exarkun	1:2fe82be93e80	1456	case 6:
exarkun	1:2fe82be93e80	1457	consigne=0 ; //1 tour
exarkun	1:2fe82be93e80	1458	slope_time=2.5;//2500ms
exarkun	1:2fe82be93e80	1459	start_slope=true;
exarkun	1:2fe82be93e80	1460	{
exarkun	1:2fe82be93e80	1461	motorStep = 7;
exarkun	1:2fe82be93e80	1462	}
exarkun	1:2fe82be93e80	1463	break;
exarkun	1:2fe82be93e80	1464
exarkun	1:2fe82be93e80	1465	case 7:
exarkun	1:2fe82be93e80	1466	if(true == Wait2(0, 3000))
exarkun	1:2fe82be93e80	1467	{
exarkun	1:2fe82be93e80	1468	motorStep = 0;
exarkun	1:2fe82be93e80	1469	}
exarkun	1:2fe82be93e80	1470	break;
exarkun	1:2fe82be93e80	1471	}
exarkun	1:2fe82be93e80	1472	break;
exarkun	0:ea04a1655f3b	1473
exarkun	0:ea04a1655f3b	1474	case 'b':
exarkun	0:ea04a1655f3b	1475	//qei.Reset(0);
exarkun	1:2fe82be93e80	1476	switch(motorStep)
exarkun	1:2fe82be93e80	1477	{
exarkun	1:2fe82be93e80	1478	case 0:
exarkun	1:2fe82be93e80	1479	consigne=0 ; //1 tour
exarkun	1:2fe82be93e80	1480	slope_time=0.25;//2500ms
exarkun	1:2fe82be93e80	1481	start_slope=true;
exarkun	1:2fe82be93e80	1482	{
exarkun	1:2fe82be93e80	1483	motorStep = 1;
exarkun	1:2fe82be93e80	1484	}
exarkun	1:2fe82be93e80	1485	break;
exarkun	1:2fe82be93e80	1486
exarkun	1:2fe82be93e80	1487	case 1:
exarkun	1:2fe82be93e80	1488	if(true == Wait2(0, 400))
exarkun	1:2fe82be93e80	1489	{
exarkun	1:2fe82be93e80	1490	motorStep = 2;
exarkun	1:2fe82be93e80	1491	}
exarkun	1:2fe82be93e80	1492	break;
exarkun	1:2fe82be93e80	1493
exarkun	1:2fe82be93e80	1494	case 2:
exarkun	1:2fe82be93e80	1495	consigne=10000 ; //1 tour
exarkun	1:2fe82be93e80	1496	slope_time=0.25;//t=ms
exarkun	1:2fe82be93e80	1497	start_slope=true;
exarkun	1:2fe82be93e80	1498	{
exarkun	1:2fe82be93e80	1499	motorStep = 3;
exarkun	1:2fe82be93e80	1500	}
exarkun	1:2fe82be93e80	1501	break;
exarkun	1:2fe82be93e80	1502
exarkun	1:2fe82be93e80	1503	case 3:
exarkun	1:2fe82be93e80	1504	if(true == Wait2(0, 400))
exarkun	1:2fe82be93e80	1505	{
exarkun	1:2fe82be93e80	1506	motorStep = 4;
exarkun	1:2fe82be93e80	1507	}
exarkun	1:2fe82be93e80	1508	break;
exarkun	1:2fe82be93e80	1509
exarkun	1:2fe82be93e80	1510	case 4:
exarkun	1:2fe82be93e80	1511	consigne=20000 ; //1 tour
exarkun	1:2fe82be93e80	1512	slope_time=0.25;//t=ms
exarkun	1:2fe82be93e80	1513	start_slope=true;
exarkun	1:2fe82be93e80	1514	{
exarkun	1:2fe82be93e80	1515	motorStep = 5;
exarkun	1:2fe82be93e80	1516	}
exarkun	1:2fe82be93e80	1517	break;
exarkun	1:2fe82be93e80	1518
exarkun	1:2fe82be93e80	1519	case 5:
exarkun	1:2fe82be93e80	1520	if(true == Wait2(0, 400))
exarkun	1:2fe82be93e80	1521	{
exarkun	1:2fe82be93e80	1522	motorStep = 6;
exarkun	1:2fe82be93e80	1523	}
exarkun	1:2fe82be93e80	1524	break;
exarkun	1:2fe82be93e80	1525
exarkun	1:2fe82be93e80	1526	case 6:
exarkun	1:2fe82be93e80	1527	consigne=30000 ; //1 tour
exarkun	1:2fe82be93e80	1528	slope_time=0.25;//t=ms
exarkun	1:2fe82be93e80	1529	start_slope=true;
exarkun	1:2fe82be93e80	1530	{
exarkun	1:2fe82be93e80	1531	motorStep = 7;
exarkun	1:2fe82be93e80	1532	}
exarkun	1:2fe82be93e80	1533	break;
exarkun	1:2fe82be93e80	1534
exarkun	1:2fe82be93e80	1535	case 7:
exarkun	1:2fe82be93e80	1536	if(true == Wait2(0, 400))
exarkun	1:2fe82be93e80	1537	{
exarkun	1:2fe82be93e80	1538	motorStep = 8;
exarkun	1:2fe82be93e80	1539	}
exarkun	1:2fe82be93e80	1540	break;
exarkun	1:2fe82be93e80	1541
exarkun	1:2fe82be93e80	1542	case 8:
exarkun	1:2fe82be93e80	1543	consigne=40000 ; //1 tour
exarkun	1:2fe82be93e80	1544	slope_time=0.25;//t=ms
exarkun	1:2fe82be93e80	1545	start_slope=true;
exarkun	1:2fe82be93e80	1546	{
exarkun	1:2fe82be93e80	1547	motorStep = 9;
exarkun	1:2fe82be93e80	1548	}
exarkun	1:2fe82be93e80	1549	break;
exarkun	1:2fe82be93e80	1550
exarkun	1:2fe82be93e80	1551	case 9:
exarkun	1:2fe82be93e80	1552	if(true == Wait2(0, 400))
exarkun	1:2fe82be93e80	1553	{
exarkun	1:2fe82be93e80	1554	motorStep = 10;
exarkun	1:2fe82be93e80	1555	}
exarkun	1:2fe82be93e80	1556	break;
exarkun	1:2fe82be93e80	1557
exarkun	1:2fe82be93e80	1558	case 10:
exarkun	1:2fe82be93e80	1559	consigne=50000 ; //1 tour
exarkun	1:2fe82be93e80	1560	slope_time=0.25;//t=ms
exarkun	1:2fe82be93e80	1561	start_slope=true;
exarkun	1:2fe82be93e80	1562	{
exarkun	1:2fe82be93e80	1563	motorStep = 11;
exarkun	1:2fe82be93e80	1564	}
exarkun	1:2fe82be93e80	1565	break;
exarkun	1:2fe82be93e80	1566
exarkun	1:2fe82be93e80	1567	case 11:
exarkun	1:2fe82be93e80	1568	if(true == Wait2(0, 400))
exarkun	1:2fe82be93e80	1569	{
exarkun	1:2fe82be93e80	1570	motorStep = 12;
exarkun	1:2fe82be93e80	1571	}
exarkun	1:2fe82be93e80	1572	break;
exarkun	1:2fe82be93e80	1573
exarkun	1:2fe82be93e80	1574	case 12:
exarkun	1:2fe82be93e80	1575	consigne=60000 ; //1 tour
exarkun	1:2fe82be93e80	1576	slope_time=0.25;//t=ms
exarkun	1:2fe82be93e80	1577	start_slope=true;
exarkun	1:2fe82be93e80	1578	{
exarkun	1:2fe82be93e80	1579	motorStep = 13;
exarkun	1:2fe82be93e80	1580	}
exarkun	1:2fe82be93e80	1581	break;
exarkun	1:2fe82be93e80	1582
exarkun	1:2fe82be93e80	1583	case 13:
exarkun	1:2fe82be93e80	1584	if(true == Wait2(0, 400))
exarkun	1:2fe82be93e80	1585	{
exarkun	1:2fe82be93e80	1586	motorStep = 14;
exarkun	1:2fe82be93e80	1587	}
exarkun	1:2fe82be93e80	1588	break;
exarkun	1:2fe82be93e80	1589
exarkun	1:2fe82be93e80	1590	case 14:
exarkun	1:2fe82be93e80	1591	consigne=70000 ; //1 tour
exarkun	1:2fe82be93e80	1592	slope_time=0.25;//t=ms
exarkun	1:2fe82be93e80	1593	start_slope=true;
exarkun	1:2fe82be93e80	1594	{
exarkun	1:2fe82be93e80	1595	motorStep = 15;
exarkun	1:2fe82be93e80	1596	}
exarkun	1:2fe82be93e80	1597	break;
exarkun	1:2fe82be93e80	1598
exarkun	1:2fe82be93e80	1599	case 15:
exarkun	1:2fe82be93e80	1600	if(true == Wait2(0, 400))
exarkun	1:2fe82be93e80	1601	{
exarkun	1:2fe82be93e80	1602	motorStep = 0;
exarkun	1:2fe82be93e80	1603	}
exarkun	1:2fe82be93e80	1604	break;
exarkun	1:2fe82be93e80	1605
exarkun	1:2fe82be93e80	1606	}
exarkun	1:2fe82be93e80	1607	break;
exarkun	1:2fe82be93e80	1608
exarkun	1:2fe82be93e80	1609
exarkun	1:2fe82be93e80	1610	case 'c'://arret a la position actuelle
exarkun	1:2fe82be93e80	1611	//qei.Reset(0);
exarkun	1:2fe82be93e80	1612	switch(motorStep)
exarkun	1:2fe82be93e80	1613	{
exarkun	1:2fe82be93e80	1614	case 0:
exarkun	1:2fe82be93e80	1615	consigne=70000 ; //1 tour
exarkun	1:2fe82be93e80	1616	slope_time=0.5;//t =0.ms
exarkun	1:2fe82be93e80	1617	start_slope=true;
exarkun	1:2fe82be93e80	1618	{
exarkun	1:2fe82be93e80	1619	motorStep = 1;
exarkun	1:2fe82be93e80	1620	}
exarkun	1:2fe82be93e80	1621	break;
exarkun	1:2fe82be93e80	1622
exarkun	1:2fe82be93e80	1623	case 1:
exarkun	1:2fe82be93e80	1624	if(true == Wait2(0, 1000))
exarkun	1:2fe82be93e80	1625	{
exarkun	1:2fe82be93e80	1626	motorStep = 2;
exarkun	1:2fe82be93e80	1627	}
exarkun	1:2fe82be93e80	1628	break;
exarkun	1:2fe82be93e80	1629
exarkun	1:2fe82be93e80	1630	case 2:
exarkun	1:2fe82be93e80	1631	consigne=0 ; //1 tour
exarkun	1:2fe82be93e80	1632	slope_time=0.5;//t=ms
exarkun	1:2fe82be93e80	1633	start_slope=true;
exarkun	1:2fe82be93e80	1634	{
exarkun	1:2fe82be93e80	1635	motorStep = 3;
exarkun	1:2fe82be93e80	1636	}
exarkun	1:2fe82be93e80	1637	break;
exarkun	1:2fe82be93e80	1638
exarkun	1:2fe82be93e80	1639	case 3:
exarkun	1:2fe82be93e80	1640	if(true == Wait2(0, 1000))
exarkun	1:2fe82be93e80	1641	{
exarkun	1:2fe82be93e80	1642	motorStep = 0;
exarkun	1:2fe82be93e80	1643	}
exarkun	1:2fe82be93e80	1644	break;
exarkun	1:2fe82be93e80	1645	}
exarkun	1:2fe82be93e80	1646	break;
exarkun	1:2fe82be93e80	1647
exarkun	1:2fe82be93e80	1648	case 'd'://arret a la position actuelle
exarkun	1:2fe82be93e80	1649	//qei.Reset(0);
exarkun	1:2fe82be93e80	1650	position_a_cmd_darret=(LPC_QEI->QEIPOS);//sauvegarde position d'arret
exarkun	1:2fe82be93e80	1651	consigne=position_a_cmd_darret ; //arret a la position
exarkun	1:2fe82be93e80	1652	slope_time=0.25;//t =2000ms
exarkun	0:ea04a1655f3b	1653	start_slope=true;
exarkun	1:2fe82be93e80	1654	Wait2(0, 500);
exarkun	1:2fe82be93e80	1655
exarkun	0:ea04a1655f3b	1656	break;
exarkun	1:2fe82be93e80	1657
exarkun	0:ea04a1655f3b	1658	}
exarkun	1:2fe82be93e80	1659
exarkun	0:ea04a1655f3b	1660	/*if(device2.readable())//ici on utilise une seconde com rs avec un autre ecrant nextion
exarkun	0:ea04a1655f3b	1661	{
exarkun	0:ea04a1655f3b	1662	c2 = device2.getc();
exarkun	0:ea04a1655f3b	1663	mRxMsg2[mRxIdx2] = c2;
exarkun	0:ea04a1655f3b	1664	mRxIdx2++;
exarkun	0:ea04a1655f3b	1665	if ((mRxIdx2 >= 3) && (mRxMsg2[mRxIdx2-1] == 0xff) && (mRxMsg2[mRxIdx2-2] == 0xff) && (mRxMsg2[mRxIdx2-3] == 0xff)) //valid rx message
exarkun	0:ea04a1655f3b	1666	{
exarkun	0:ea04a1655f3b	1667	mRxIdx2=0;
exarkun	0:ea04a1655f3b	1668
exarkun	0:ea04a1655f3b	1669	if(mRxMsg2[0] == 0x67) //Touch coordinate data return
exarkun	0:ea04a1655f3b	1670	{ mTouchX2 = (mRxMsg2[1]*256) + mRxMsg2[2];
exarkun	0:ea04a1655f3b	1671	mTouchY2 = (mRxMsg2[3]*256) + mRxMsg2[4];
exarkun	0:ea04a1655f3b	1672	if(mRxMsg2[5] == 0x01)
exarkun	0:ea04a1655f3b	1673	mTouch2 = true;
exarkun	0:ea04a1655f3b	1674	else
exarkun	0:ea04a1655f3b	1675	mTouch2 = false;
exarkun	0:ea04a1655f3b	1676	}
exarkun	0:ea04a1655f3b	1677	//start switch
exarkun	0:ea04a1655f3b	1678	if((mRxMsg2[0] == 0x65)&&(mRxMsg2[1] == 0x01)&&(mRxMsg2[2] == 0x01)&&(mRxMsg2[3] == 0x00))
exarkun	0:ea04a1655f3b	1679	{
exarkun	0:ea04a1655f3b	1680	keyboard.printf("t");
exarkun	0:ea04a1655f3b	1681	}//uniquement le bouton start allumeras la led 1 en release ---------------SY
exarkun	0:ea04a1655f3b	1682
exarkun	0:ea04a1655f3b	1683	}
exarkun	0:ea04a1655f3b	1684	}*/
exarkun	0:ea04a1655f3b	1685
exarkun	0:ea04a1655f3b	1686	//wait(0.05);
exarkun	1:2fe82be93e80	1687	}
exarkun	0:ea04a1655f3b	1688	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	27 Sep 2019
Imports:	20
Forks:	0
Commits:	3
Dependents:	0
Dependencies:	4
Followers:	1

main.cpp@1:2fe82be93e80, 2019-10-18 (annotated)

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