Revision 256 branch/colomban/Emb_App/programme_principal_etud.c
| programme_principal_etud.c | ||
|---|---|---|
| 124 | 124 |
unsigned short dist ; |
| 125 | 125 |
unsigned short k=4; //pour augmenter la vitesse jusqu'a la position souhait?e |
| 126 | 126 |
unsigned short ka=1; |
| 127 |
unsigned short cpt; |
|
| 127 | 128 |
void vitesse(unsigned short vit); |
| 129 |
CanFrame comm; |
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CanFrame req; |
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UINT flag; |
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| 128 | 132 |
|
| 129 | 133 |
void main() |
| 130 | 134 |
{
|
| ... | ... | |
| 142 | 146 |
sta_cyc(ID_acqui); |
| 143 | 147 |
sta_tsk(ID_periph_rx); |
| 144 | 148 |
sta_tsk(ID_asserv); |
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sta_tsk(ID_roue); |
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sta_tsk(ID_roue); |
|
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sta_tsk(ID_capteur); |
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|
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| 146 | 152 |
dly_tsk(1500); |
| 147 | 153 |
|
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while(1) |
| ... | ... | |
| 150 | 156 |
LED_J=1; |
| 151 | 157 |
|
| 152 | 158 |
LED_J=0; |
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vitesse(30); |
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| 153 | 161 |
|
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vitesse(20); |
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|
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} |
| 157 | 163 |
|
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} |
| ... | ... | |
| 165 | 171 |
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{
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| 167 | 173 |
unsigned short consigne = 400; |
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CanFrame comm; |
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CanFrame req; |
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UINT flag; |
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while(1){
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| 172 | 175 |
|
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req.data.id = 'R'; |
| ... | ... | |
| 187 | 190 |
} |
| 188 | 191 |
|
| 189 | 192 |
void vitesse(unsigned short vit){
|
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CanFrame comm; |
|
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comm.data.id = 'V'; |
| 192 | 194 |
comm.data.rtr = 0; |
| 193 | 195 |
comm.data.val = vit; |
| ... | ... | |
| 198 | 200 |
|
| 199 | 201 |
void asserv_roue(){
|
| 200 | 202 |
unsigned short consignes = 770; |
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CanFrame comm; |
|
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CanFrame req; |
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UINT flag; |
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|
|
| 204 | 204 |
while(1){
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|
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req.data.id = 'U'; |
| 207 | 206 |
req.data.rtr = 1; |
| 208 | 207 |
periph[ADDR('U')].ev=0X01;
|
| 209 | 208 |
snd_dtq(CanTx, req.msg); |
| 210 | 209 |
wai_flg(ev_periph,0X01,TWF_ANDW, &flag); |
| 211 | 210 |
dist=periph[ADDR('U')].val;
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|
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if(dist>1600){
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comm.data.id = 'D'; |
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comm.data.rtr = 0; |
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comm.data.val = 0; |
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snd_dtq(CanTx, comm.msg); |
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dly_tsk(150); |
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|
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} |
|
| 213 | 219 |
comm.data.id = 'D'; |
| 214 | 220 |
comm.data.rtr = 0; |
| 215 | 221 |
comm.data.val = ka*(-consignes + dist); |
| ... | ... | |
| 217 | 223 |
|
| 218 | 224 |
|
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} |
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} |
|
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} |
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|
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void capteur(){
|
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while(1) |
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{
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req.data.id = 'C'; |
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req.data.rtr = 1; |
|
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periph[ADDR('C')].ev=0X01;
|
|
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snd_dtq(CanTx, req.msg); |
|
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wai_flg(ev_periph,0X01,TWF_ANDW, &flag); |
|
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cpt=periph[ADDR('C')].val;
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} |
|
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} |
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