CRAC Team / CRAC-Strat_2017-19-05-2017

strat des robots

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Asservissement/Asservissement.cpp@17:d1594579eec6, 2017-05-19 (annotated)

Committer:
ClementBreteau
Date:
Fri May 19 17:14:07 2017 +0000
Revision:
17:d1594579eec6
Parent:
14:c8fc06c4887f 
strat du robot, 19-05-2017, 19h

Who changed what in which revision?

UserRevisionLine numberNew contents of line
antbig 0:ad97421fb1fb 1 #include "Asservissement.h"
antbig 0:ad97421fb1fb 2
antbig 0:ad97421fb1fb 3 /*********************************************************************************************************/
antbig 0:ad97421fb1fb 4 /* FUNCTION NAME: SendRawId */
antbig 0:ad97421fb1fb 5 /* DESCRIPTION : Envoie un message sans donnée, c'est-à-dire contenant uniquement un ID, sur le bus CAN */
antbig 0:ad97421fb1fb 6 /*********************************************************************************************************/
antbig 0:ad97421fb1fb 7 void SendRawId (unsigned short id)
antbig 0:ad97421fb1fb 8 {
antbig 0:ad97421fb1fb 9 CANMessage msgTx=CANMessage();
antbig 0:ad97421fb1fb 10 msgTx.id=id;
antbig 0:ad97421fb1fb 11 msgTx.len=0;
antbig 0:ad97421fb1fb 12 can1.write(msgTx);
antbig 0:ad97421fb1fb 13 wait_us(200);
antbig 0:ad97421fb1fb 14 }
antbig 0:ad97421fb1fb 15
antbig 0:ad97421fb1fb 16 /*********************************************************************************************/
antbig 5:dcd817534b57 17 /* FUNCTION NAME: SendAck */
antbig 5:dcd817534b57 18 /* DESCRIPTION : Envoyer un acknowledge */
antbig 5:dcd817534b57 19 /*********************************************************************************************/
antbig 5:dcd817534b57 20 void SendAck(unsigned short id, unsigned short from)
antbig 5:dcd817534b57 21 {
antbig 5:dcd817534b57 22 CANMessage msgTx=CANMessage();
antbig 5:dcd817534b57 23 msgTx.id=id;
antbig 5:dcd817534b57 24 msgTx.len=2;
antbig 5:dcd817534b57 25 msgTx.format=CANStandard;
antbig 5:dcd817534b57 26 msgTx.type=CANData;
antbig 5:dcd817534b57 27 // from sur 2 octets
antbig 5:dcd817534b57 28 msgTx.data[0]=(unsigned char)from;
antbig 5:dcd817534b57 29 msgTx.data[1]=(unsigned char)(from>>8);
antbig 5:dcd817534b57 30
antbig 5:dcd817534b57 31 can1.write(msgTx);
antbig 5:dcd817534b57 32 }
antbig 5:dcd817534b57 33
antbig 5:dcd817534b57 34 /*********************************************************************************************/
antbig 0:ad97421fb1fb 35 /* FUNCTION NAME: GoToPosition */
antbig 0:ad97421fb1fb 36 /* DESCRIPTION : Transmission CAN correspondant à un asservissement en position (x,y,theta) */
antbig 0:ad97421fb1fb 37 /*********************************************************************************************/
antbig 0:ad97421fb1fb 38 void GoToPosition (unsigned short x,unsigned short y,signed short theta,signed char sens)
antbig 0:ad97421fb1fb 39 {
antbig 0:ad97421fb1fb 40 //id_to_expect=ACK_CONSIGNE;
antbig 0:ad97421fb1fb 41
antbig 0:ad97421fb1fb 42 CANMessage msgTx=CANMessage();
antbig 0:ad97421fb1fb 43 msgTx.id=ASSERVISSEMENT_XYT; // tx nouvelle position en (x,y,theta)
antbig 0:ad97421fb1fb 44 msgTx.len=7;
antbig 0:ad97421fb1fb 45 msgTx.format=CANStandard;
antbig 0:ad97421fb1fb 46 msgTx.type=CANData;
antbig 0:ad97421fb1fb 47 // x sur 2 octets
antbig 0:ad97421fb1fb 48 msgTx.data[0]=(unsigned char)x;
antbig 0:ad97421fb1fb 49 msgTx.data[1]=(unsigned char)(x>>8);
antbig 0:ad97421fb1fb 50 // y sur 2 octets
antbig 0:ad97421fb1fb 51 msgTx.data[2]=(unsigned char)y;
antbig 0:ad97421fb1fb 52 msgTx.data[3]=(unsigned char)(y>>8);
antbig 0:ad97421fb1fb 53 // theta signé sur 2 octets
antbig 0:ad97421fb1fb 54 msgTx.data[4]=(unsigned char)theta;
antbig 0:ad97421fb1fb 55 msgTx.data[5]=(unsigned char)(theta>>8);
antbig 0:ad97421fb1fb 56 msgTx.data[6]=sens;
antbig 0:ad97421fb1fb 57
antbig 0:ad97421fb1fb 58 can1.write(msgTx);
antbig 0:ad97421fb1fb 59 }
antbig 0:ad97421fb1fb 60
antbig 0:ad97421fb1fb 61 /****************************************************************************************/
antbig 0:ad97421fb1fb 62 /* FUNCTION NAME: Rotate */
antbig 0:ad97421fb1fb 63 /* DESCRIPTION : Transmission CAN correspondant à une rotation */
antbig 0:ad97421fb1fb 64 /****************************************************************************************/
antbig 0:ad97421fb1fb 65 void Rotate (signed short angle)
antbig 0:ad97421fb1fb 66 {
antbig 0:ad97421fb1fb 67 CANMessage msgTx=CANMessage();
antbig 0:ad97421fb1fb 68 msgTx.id=ASSERVISSEMENT_ROTATION; // Tx rotation autour du centre du robot
antbig 1:116040d14164 69 msgTx.len=2;
antbig 0:ad97421fb1fb 70 msgTx.format=CANStandard;
antbig 0:ad97421fb1fb 71 msgTx.type=CANData;
antbig 0:ad97421fb1fb 72 // Angle signé sur 2 octets
antbig 0:ad97421fb1fb 73 msgTx.data[0]=(unsigned char)angle;
antbig 0:ad97421fb1fb 74 msgTx.data[1]=(unsigned char)(angle>>8);
antbig 0:ad97421fb1fb 75
antbig 0:ad97421fb1fb 76 can1.write(msgTx);
antbig 1:116040d14164 77 }
antbig 1:116040d14164 78
antbig 1:116040d14164 79
antbig 1:116040d14164 80 /*********************************************************************************************/
antbig 1:116040d14164 81 /* FUNCTION NAME: GoStraight */
antbig 1:116040d14164 82 /* DESCRIPTION : Transmission CAN correspondant à une ligne droite, avec ou sans recalage */
antbig 1:116040d14164 83 /* recalage : 0 => pas de recalage */
antbig 1:116040d14164 84 /* 1 => recalage en X */
antbig 1:116040d14164 85 /* 2 => Recalage en Y */
antbig 1:116040d14164 86 /* newValue : Uniquement en cas de recalage, indique la nouvelle valeur de l'odo */
antbig 1:116040d14164 87 /* isEnchainement : Indique si il faut executer l'instruction en enchainement */
antbig 1:116040d14164 88 /* 0 => non */
antbig 1:116040d14164 89 /* 1 => oui */
antbig 6:eddfa414fd11 90 /* 2 => dernière instruction de l'enchainement */
antbig 1:116040d14164 91 /*********************************************************************************************/
antbig 1:116040d14164 92 void GoStraight (signed short distance,unsigned char recalage, unsigned short newValue, unsigned char isEnchainement)
antbig 1:116040d14164 93 {
antbig 1:116040d14164 94 CANMessage msgTx=CANMessage();
antbig 1:116040d14164 95 msgTx.id=ASSERVISSEMENT_RECALAGE;
antbig 1:116040d14164 96 msgTx.len=6;
antbig 1:116040d14164 97 msgTx.format=CANStandard;
antbig 1:116040d14164 98 msgTx.type=CANData;
antbig 1:116040d14164 99 // x sur 2 octets
antbig 1:116040d14164 100 msgTx.data[0]=(unsigned char)distance;
antbig 1:116040d14164 101 msgTx.data[1]=(unsigned char)(distance>>8);
antbig 1:116040d14164 102 //Recalage sur 1 octet
antbig 1:116040d14164 103 msgTx.data[2]=recalage;
antbig 1:116040d14164 104 //Valeur du recalage sur 2 octets
antbig 1:116040d14164 105 msgTx.data[3]=(unsigned char)newValue;
antbig 1:116040d14164 106 msgTx.data[4]=(unsigned char)(newValue>>8);
antbig 1:116040d14164 107 //Enchainement sur 1 octet
antbig 1:116040d14164 108 msgTx.data[5]=isEnchainement;
antbig 1:116040d14164 109
antbig 1:116040d14164 110 can1.write(msgTx);
antbig 11:ed13a480ddca 111 //wait_ms(500);
antbig 6:eddfa414fd11 112 }
antbig 6:eddfa414fd11 113
antbig 6:eddfa414fd11 114 /********************************************************************************************/
antbig 6:eddfa414fd11 115 /* FUNCTION NAME: BendRadius */
antbig 6:eddfa414fd11 116 /* DESCRIPTION : Transmission CAN correspondant à un rayon de courbure */
antbig 6:eddfa414fd11 117 /********************************************************************************************/
antbig 6:eddfa414fd11 118 void BendRadius (unsigned short rayon,signed short angle,signed char sens, unsigned char enchainement)
antbig 6:eddfa414fd11 119 {
antbig 6:eddfa414fd11 120 CANMessage msgTx=CANMessage();
antbig 6:eddfa414fd11 121 msgTx.id=ASSERVISSEMENT_COURBURE; // tx asservissement rayon de courbure
antbig 6:eddfa414fd11 122 msgTx.len=6;
antbig 6:eddfa414fd11 123 msgTx.format=CANStandard;
antbig 6:eddfa414fd11 124 msgTx.type=CANData;
antbig 6:eddfa414fd11 125 // Rayon sur 2 octets
antbig 6:eddfa414fd11 126 msgTx.data[0]=(unsigned char)rayon;
antbig 6:eddfa414fd11 127 msgTx.data[1]=(unsigned char)(rayon>>8);
antbig 6:eddfa414fd11 128 // Angle signé sur 2 octets
antbig 6:eddfa414fd11 129 msgTx.data[2]=(unsigned char)angle;
antbig 6:eddfa414fd11 130 msgTx.data[3]=(unsigned char)(angle>>8);
antbig 6:eddfa414fd11 131 // Sens signé sur 1 octet
antbig 6:eddfa414fd11 132 msgTx.data[4]=sens;
antbig 6:eddfa414fd11 133 // Enchainement sur 1 octet
antbig 6:eddfa414fd11 134 msgTx.data[5]=enchainement;
antbig 6:eddfa414fd11 135
antbig 6:eddfa414fd11 136 can1.write(msgTx);
antbig 6:eddfa414fd11 137 }
antbig 9:d0042422d95a 138
antbig 9:d0042422d95a 139 void SetOdometrie (unsigned short canId, unsigned short x,unsigned short y,signed short theta)
antbig 9:d0042422d95a 140 {
antbig 9:d0042422d95a 141 CANMessage msgTx=CANMessage();
antbig 9:d0042422d95a 142 msgTx.id=canId;
antbig 9:d0042422d95a 143 msgTx.format=CANStandard;
antbig 9:d0042422d95a 144 msgTx.type=CANData;
antbig 9:d0042422d95a 145 msgTx.len=6;
antbig 9:d0042422d95a 146
antbig 9:d0042422d95a 147 // x sur 2 octets
antbig 9:d0042422d95a 148 msgTx.data[0]=(unsigned char)x;
antbig 9:d0042422d95a 149 msgTx.data[1]=(unsigned char)(x>>8);
antbig 9:d0042422d95a 150 // y sur 2 octets
antbig 9:d0042422d95a 151 msgTx.data[2]=(unsigned char)y;
antbig 9:d0042422d95a 152 msgTx.data[3]=(unsigned char)(y>>8);
antbig 9:d0042422d95a 153 // theta signé sur 2 octets
antbig 9:d0042422d95a 154 msgTx.data[4]=(unsigned char)theta;
antbig 9:d0042422d95a 155 msgTx.data[5]=(unsigned char)(theta>>8);
antbig 9:d0042422d95a 156
antbig 9:d0042422d95a 157 can1.write(msgTx);
antbig 9:d0042422d95a 158 }
antbig 12:14729d584500 159
antbig 12:14729d584500 160 /****************************************************************************************/
antbig 12:14729d584500 161 /* FUNCTION NAME: setAsservissementEtat */
antbig 12:14729d584500 162 /* DESCRIPTION : Activer ou désactiver l'asservissement */
antbig 12:14729d584500 163 /****************************************************************************************/
antbig 12:14729d584500 164 void setAsservissementEtat(unsigned char enable)
antbig 12:14729d584500 165 {
antbig 12:14729d584500 166 CANMessage msgTx=CANMessage();
antbig 12:14729d584500 167 msgTx.id=ASSERVISSEMENT_ENABLE; // Tx rotation autour du centre du robot
antbig 12:14729d584500 168 msgTx.len=1;
antbig 12:14729d584500 169 msgTx.format=CANStandard;
antbig 12:14729d584500 170 msgTx.type=CANData;
antbig 12:14729d584500 171 // Angle signé sur 2 octets
antbig 12:14729d584500 172 msgTx.data[0]=(unsigned char)((enable==0)?0:1);
antbig 12:14729d584500 173
antbig 12:14729d584500 174 can1.write(msgTx);
antbig 12:14729d584500 175 }
antbig 12:14729d584500 176
antbig 12:14729d584500 177
antbig 12:14729d584500 178 /****************************************************************************************/
antbig 12:14729d584500 179 /* FUNCTION NAME: SendSpeed */
antbig 12:14729d584500 180 /* DESCRIPTION : Envoie un asservissement paramètre retournant à une vitesse */
antbig 12:14729d584500 181 /****************************************************************************************/
antbig 12:14729d584500 182 void SendSpeed (unsigned short vitesse, unsigned short acceleration)
antbig 12:14729d584500 183 {
antbig 12:14729d584500 184 CANMessage msgTx=CANMessage();
antbig 12:14729d584500 185 msgTx.id=ASSERVISSEMENT_CONFIG;
antbig 12:14729d584500 186 msgTx.format=CANStandard;
antbig 12:14729d584500 187 msgTx.type=CANData;
antbig 12:14729d584500 188 msgTx.len=4;
antbig 12:14729d584500 189 msgTx.data[0]=(unsigned char)(vitesse&0x00FF);
antbig 12:14729d584500 190 msgTx.data[1]=(unsigned char)((vitesse&0xFF00)>>8);
antbig 12:14729d584500 191 msgTx.data[2]=(unsigned char)(acceleration&0x00FF);
antbig 12:14729d584500 192 msgTx.data[3]=(unsigned char)((acceleration&0xFF00)>>8);
antbig 12:14729d584500 193
antbig 12:14729d584500 194 can1.write(msgTx);
ClementBreteau 14:c8fc06c4887f 195
antbig 12:14729d584500 196 }