From d29724470564726888302b24097c9694b12bcea8 Mon Sep 17 00:00:00 2001
From: sfaguet <sebastienfaguet@gmail.com>
Date: Sat, 13 Feb 2021 17:17:03 -0500
Subject: [PATCH] =?UTF-8?q?D=C3=A9placement=20par=20clavier/souris=20+=20g?=
=?UTF-8?q?estion=20des=20tirs?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
---
Inc/canon.h | 15 ++++
Inc/pilotes.h | 32 ++++++++
Inc/receiver_RadioController.h | 1 +
Inc/traitement.h | 1 +
MDK-ARM/RobotMaster_allRobots.uvoptx | 30 ++++---
MDK-ARM/RobotMaster_allRobots.uvprojx | 13 ++-
Src/BoardA_handle.c | 3 +-
Src/canon.c | 78 ++++++++++++++++++
Src/main.c | 8 +-
Src/pilotes.c | 36 +++++++++
Src/receiver_RadioController.c | 12 ++-
Src/traitement.c | 109 +++++++++++++++++++-------
12 files changed, 290 insertions(+), 48 deletions(-)
create mode 100644 Inc/canon.h
create mode 100644 Inc/pilotes.h
create mode 100644 Src/canon.c
create mode 100644 Src/pilotes.c
diff --git a/Inc/canon.h b/Inc/canon.h
new file mode 100644
index 0000000..8c60fa1
--- /dev/null
+++ b/Inc/canon.h
@@ -0,0 +1,15 @@
+/****************
+ Description : Gestion du cannon
+ Auteur : Sébastien FAGUET
+*****************/
+
+#ifndef CANON
+#define CANON
+
+#include "main.h"
+
+
+void canon_shoot(float speed, float rate);
+void traitement_shoot(void);
+void canon_shoot_end(void);
+#endif
diff --git a/Inc/pilotes.h b/Inc/pilotes.h
new file mode 100644
index 0000000..e093cc2
--- /dev/null
+++ b/Inc/pilotes.h
@@ -0,0 +1,32 @@
+/****************
+ Description : Configuration du robot
+ Auteur : Sébastien FAGUET
+*****************/
+
+#ifndef PILOTE
+#define PILOTE
+
+#include "main.h"
+
+#define PILOTE_ANTONIN 0
+
+typedef struct
+{
+ float sensitivity_ch_1;
+ float sensitivity_ch_2;
+ float sensitivity_mouse_x;
+ float sensitivity_mouse_y;
+
+ double sensitivity_chassis_RC_Vx;
+ double sensitivity_chassis_RC_Vy;
+ double sensitivity_chassis_RC_W;
+ float sensitivity_chassis_keyboard_Vx;
+ float sensitivity_chassis_keyboard_Vy;
+ float sensitivity_chassis_mouse_W;
+} pilote_t;
+
+
+/* Fonction qui premet de configurer le pilote */
+void piloteInit(uint8_t pilote_id);
+
+#endif
diff --git a/Inc/receiver_RadioController.h b/Inc/receiver_RadioController.h
index 621aa56..ca0b04b 100644
--- a/Inc/receiver_RadioController.h
+++ b/Inc/receiver_RadioController.h
@@ -72,6 +72,7 @@ struct receiver_RadioController_data
struct receiver_RadioController
{
+ char keyboard_mode; //0: RC, 1: Mouse and keyboard
struct receiver_RadioController_data data;
struct receiver_RadioController_data last_data;
uint16_t state;
diff --git a/Inc/traitement.h b/Inc/traitement.h
index 418c53d..e075d0f 100644
--- a/Inc/traitement.h
+++ b/Inc/traitement.h
@@ -23,4 +23,5 @@ void traitement_pids_compute(void);
/* Fonctions qui fait les liens entre les entrées (capteurs, radio controller, CV, ...) et les sorties (consignes moteurs), on peut créer plusieurs traitements */
void traitement_1(void);
+void chassis_consigne(double Vx, double Vy, double W);
#endif
diff --git a/MDK-ARM/RobotMaster_allRobots.uvoptx b/MDK-ARM/RobotMaster_allRobots.uvoptx
index 92e16ed..f61020c 100644
--- a/MDK-ARM/RobotMaster_allRobots.uvoptx
+++ b/MDK-ARM/RobotMaster_allRobots.uvoptx
@@ -525,7 +525,7 @@
<Group>
<GroupName>Application/User</GroupName>
- <tvExp>1</tvExp>
+ <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@@ -533,7 +533,7 @@
<GroupNumber>4</GroupNumber>
<FileNumber>23</FileNumber>
<FileType>1</FileType>
- <tvExp>1</tvExp>
+ <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>../Src/main.c</PathWithFileName>
@@ -653,7 +653,7 @@
<Group>
<GroupName>Libraries</GroupName>
- <tvExp>1</tvExp>
+ <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@@ -673,7 +673,7 @@
<Group>
<GroupName>BoardA</GroupName>
- <tvExp>1</tvExp>
+ <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@@ -693,7 +693,7 @@
<Group>
<GroupName>Devices</GroupName>
- <tvExp>1</tvExp>
+ <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@@ -737,7 +737,7 @@
<GroupNumber>7</GroupNumber>
<FileNumber>38</FileNumber>
<FileType>1</FileType>
- <tvExp>1</tvExp>
+ <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Src\referee_system.c</PathWithFileName>
@@ -784,12 +784,12 @@
<File>
<GroupNumber>7</GroupNumber>
<FileNumber>42</FileNumber>
- <FileType>5</FileType>
+ <FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
- <PathWithFileName>..\Inc\jetson.h</PathWithFileName>
- <FilenameWithoutPath>jetson.h</FilenameWithoutPath>
+ <PathWithFileName>..\Src\pilotes.c</PathWithFileName>
+ <FilenameWithoutPath>pilotes.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
@@ -813,6 +813,18 @@
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
+ <File>
+ <GroupNumber>8</GroupNumber>
+ <FileNumber>44</FileNumber>
+ <FileType>1</FileType>
+ <tvExp>0</tvExp>
+ <tvExpOptDlg>0</tvExpOptDlg>
+ <bDave2>0</bDave2>
+ <PathWithFileName>..\Src\canon.c</PathWithFileName>
+ <FilenameWithoutPath>canon.c</FilenameWithoutPath>
+ <RteFlg>0</RteFlg>
+ <bShared>0</bShared>
+ </File>
</Group>
<Group>
diff --git a/MDK-ARM/RobotMaster_allRobots.uvprojx b/MDK-ARM/RobotMaster_allRobots.uvprojx
index b05b14a..0f71675 100644
--- a/MDK-ARM/RobotMaster_allRobots.uvprojx
+++ b/MDK-ARM/RobotMaster_allRobots.uvprojx
@@ -10,7 +10,7 @@
<TargetName>RobotMaster_allRobots</TargetName>
<ToolsetNumber>0x4</ToolsetNumber>
<ToolsetName>ARM-ADS</ToolsetName>
- <pCCUsed>5060960::V5.06 update 7 (build 960)::ARMCC</pCCUsed>
+ <pCCUsed>5060960::V5.06 update 7 (build 960)::.\ARMCC</pCCUsed>
<uAC6>0</uAC6>
<TargetOption>
<TargetCommonOption>
@@ -619,9 +619,9 @@
<FilePath>..\Src\jetson.c</FilePath>
</File>
<File>
- <FileName>jetson.h</FileName>
- <FileType>5</FileType>
- <FilePath>..\Inc\jetson.h</FilePath>
+ <FileName>pilotes.c</FileName>
+ <FileType>1</FileType>
+ <FilePath>..\Src\pilotes.c</FilePath>
</File>
</Files>
</Group>
@@ -633,6 +633,11 @@
<FileType>1</FileType>
<FilePath>..\Src\traitement.c</FilePath>
</File>
+ <File>
+ <FileName>canon.c</FileName>
+ <FileType>1</FileType>
+ <FilePath>..\Src\canon.c</FilePath>
+ </File>
</Files>
</Group>
<Group>
diff --git a/Src/BoardA_handle.c b/Src/BoardA_handle.c
index c3e7423..ffacb2b 100644
--- a/Src/BoardA_handle.c
+++ b/Src/BoardA_handle.c
@@ -105,7 +105,7 @@ void uart_debug(){
return;
}
tickstart = HAL_GetTick();
- snprintf(buff2, 1000, " PITCH(%f/%f) YAW(%f/%f)\r\n", motors[TOURELLE_PITCH].info.angle_360, motors[TOURELLE_PITCH].consigne, motors[TOURELLE_YAW].info.angle_360, motors[TOURELLE_YAW].consigne);
+ snprintf(buff2, 1000, "Keyboard Z%i S%i Q%i D%i\r\n", receiver_RadioController.data.kb.bit.Z, receiver_RadioController.data.kb.bit.S, receiver_RadioController.data.kb.bit.Q, receiver_RadioController.data.kb.bit.D);
HAL_UART_Transmit_DMA(&huart8, (uint8_t*)buff2, strlen(buff2));
/*
uart_debug_command("[2J"); //Clear entire screen
@@ -137,6 +137,7 @@ void uart_debug_command(char* command){
HAL_UART_Transmit(&huart8, (uint8_t*) BUF, 4, 10);
}
/**
+
* @brief enable global uart it and do not use DMA transfer done it
* @param[in] huart: uart IRQHandler id
* @param[in] pData: receive buff
diff --git a/Src/canon.c b/Src/canon.c
new file mode 100644
index 0000000..f4dc583
--- /dev/null
+++ b/Src/canon.c
@@ -0,0 +1,78 @@
+/****************
+ Description : Gestion du cannon
+ Auteur : Sébastien FAGUET
+*****************/
+
+
+#include "canon.h"
+
+#define TIME_BEFORE_START_FEEDER 10
+#define TIME_BEFORE_STOP 100
+
+extern motor_t motors[MAX_MOTORS];
+uint32_t begin_canon_shoot = 0; //0: Pas de séquence de début de tir initialisé sinon temps du début de la séquence
+uint32_t end_canon_shoot = 0; //0: Pas de séquence de fin de tir initialisé sinon temps du début de la séquence
+uint32_t shooting = 0; //0: Pas de séquence de tir initialisé sinon temps du début de la séquence
+float shoot_rate = 0; //Cadance de tir
+
+//Demande de tirer
+void canon_shoot(float speed, float rate){
+ // Si une des valeurs est null, on demande l'arret des tirs
+ if(speed == 0 || rate == 0){
+ canon_shoot_end();
+ }else{
+ //Si nous ne sommes pas entrain de tirer, nous débutons la séquence de tir
+ if(begin_canon_shoot == 0 && end_canon_shoot == 0 && shooting == 0){
+ begin_canon_shoot = HAL_GetTick();
+
+ PWM_SetAllDuty(&htim1, speed, speed); //Démarage des snails
+ shoot_rate = rate; //Sauvegarde de la cadance de tir
+ }
+
+ //Prise en compte des nouvelles valeurs que si nous sommes entrain de tirer
+ if(begin_canon_shoot == 0 && end_canon_shoot == 0 && shooting != 0){
+ PWM_SetAllDuty(&htim1, speed, speed); //Changement de la vitesse
+ motors[FEEDER].consigne = rate; //Changement de la cadance de tir
+ shoot_rate = rate; //Changement de la cadance de tir
+ }
+ }
+}
+
+
+
+//Fonction de traitement des tirs, a appeler à chaque boucle
+void traitement_shoot(){
+ //Si on a demandé de commencer de tirer il y a plus de x ms, on démare maintenant le feeder
+ if(begin_canon_shoot != 0 && HAL_GetTick() - begin_canon_shoot > TIME_BEFORE_START_FEEDER){
+ begin_canon_shoot = 0;
+ end_canon_shoot = 0;
+ shooting = HAL_GetTick();
+
+ motors[FEEDER].consigne = shoot_rate; //Démarage du feeder
+ }
+
+ //Si on a demandé d'arreter de tirer il y a plus de x ms, on arrete tout
+ if(end_canon_shoot != 0 && HAL_GetTick() - end_canon_shoot > TIME_BEFORE_STOP){
+ begin_canon_shoot = 0;
+ end_canon_shoot = 0;
+ shooting = 0;
+
+ PWM_SetAllDuty(&htim1, 0, 0); //Arret des snails
+ motors[FEEDER].consigne = 0; //Arret du feeder
+ }
+}
+
+
+//Demande l'arret des tirs
+void canon_shoot_end(){
+ begin_canon_shoot = 0;
+ if(shooting != 0){
+ // Si nous étions entrain de tirer
+ motors[FEEDER].consigne = -7000; //On enlève les balles
+ shooting = 0;
+ }
+ if(end_canon_shoot == 0){
+ //Si nous n'avons pas encore commencer la séquence de fin de tir
+ end_canon_shoot = HAL_GetTick(); //Début de la séquence de fin de tir
+ }
+}
diff --git a/Src/main.c b/Src/main.c
index b256529..57de24d 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -26,6 +26,8 @@
#include "tim.h"
#include "usart.h"
#include "gpio.h"
+#include "pilotes.h"
+#include "canon.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
@@ -111,7 +113,8 @@ int main(void)
can1_init();
robotInit(5); //Initialise le robot comme un standard, l'objectif c'est que l'initialisation de fasse par le referee system
extern motor_t motors[MAX_MOTORS];
-
+ extern pilote_t pilote;
+ piloteInit(PILOTE_ANTONIN);
/* USER CODE END 2 */
/* Infinite loop */
@@ -120,8 +123,9 @@ int main(void)
{
signOfLife(); //LEDs BLINK
//oled_debug(); //Display debug menu on OLED
- //uart_debug(); //Display debug menu on UART
+ uart_debug(); //Display debug menu on UART
traitement_1(); //Calcul les consignes des moteurs
+ traitement_shoot(); //Traitement du canon
traitement_pids_compute(); //Calcul les commandes des moteurs
can_send_command(); //Envoie des commandes des moteurs
diff --git a/Src/pilotes.c b/Src/pilotes.c
new file mode 100644
index 0000000..7d00eec
--- /dev/null
+++ b/Src/pilotes.c
@@ -0,0 +1,36 @@
+/****************
+ Description : Gestion des pilotes, sauvegarde de leur configuration
+ Auteur : Sébastien FAGUET
+*****************/
+
+#include "pilotes.h"
+
+pilote_t pilote;
+
+/* Fonction qui premet de configurer le robot */
+void piloteInit(uint8_t pilote_id){
+ /*
+ Robot ID:
+ 0: Antonin;
+ */
+ pilote.sensitivity_ch_1 = 0.00005;
+ pilote.sensitivity_ch_2 = 0.00005;
+ pilote.sensitivity_mouse_x = 0.000005;
+ pilote.sensitivity_mouse_y = 0.000005;
+
+ pilote.sensitivity_chassis_RC_Vx = 10;
+ pilote.sensitivity_chassis_RC_Vy = 10;
+ pilote.sensitivity_chassis_RC_W = 3;
+
+ pilote.sensitivity_chassis_keyboard_Vx = 500;
+ pilote.sensitivity_chassis_keyboard_Vy = 500;
+ pilote.sensitivity_chassis_mouse_W = 2;
+
+ switch(pilote_id){ //Configuration personnalisée
+ /* Antonin */
+ case PILOTE_ANTONIN:
+ break;
+ default:
+ while(1);
+ }
+}
diff --git a/Src/receiver_RadioController.c b/Src/receiver_RadioController.c
index 474e283..114914a 100644
--- a/Src/receiver_RadioController.c
+++ b/Src/receiver_RadioController.c
@@ -8,7 +8,8 @@
uint8_t uart1_rx_buff[UART1_RX_BUFFLEN];
-receiver_RadioController_t receiver_RadioController;
+receiver_RadioController_t receiver_RadioController = {false};
+
/* On récupère les variables exterieurs */
extern uint32_t signOfLife_Receiver_RadioController_tick;
@@ -59,7 +60,7 @@ void receiver_RadioController_callback_handler()
if ((abs(receiver_RadioController.data.ch4) > 660)) receiver_RadioController.data.ch4 = 0;
receiver_RadioController.data.mouse.x = uart1_rx_buff[6] | (uart1_rx_buff[7] << 8); // x axis
- receiver_RadioController.data.mouse.y = uart1_rx_buff[8] | (uart1_rx_buff[9] << 8);
+ receiver_RadioController.data.mouse.y = -(uart1_rx_buff[8] | (uart1_rx_buff[9] << 8));
receiver_RadioController.data.mouse.z = uart1_rx_buff[10] | (uart1_rx_buff[11] << 8);
receiver_RadioController.data.mouse.l = uart1_rx_buff[12];
@@ -69,6 +70,13 @@ void receiver_RadioController_callback_handler()
receiver_RadioController.data.wheel = (uart1_rx_buff[16] | uart1_rx_buff[17] << 8);
receiver_RadioController.data.wheel -= 1024;
+ if(receiver_RadioController.data.mouse.x != 0 ||
+ receiver_RadioController.data.mouse.y != 0 ||
+ receiver_RadioController.data.mouse.z != 0 ||
+ receiver_RadioController.data.mouse.l != 0 ||
+ receiver_RadioController.data.kb.key_code != 0){
+ receiver_RadioController.keyboard_mode = true;
+ }
}
diff --git a/Src/traitement.c b/Src/traitement.c
index d944c4b..32919b2 100644
--- a/Src/traitement.c
+++ b/Src/traitement.c
@@ -5,12 +5,15 @@
#include "traitement.h"
+#include "pilotes.h"
+#include "canon.h"
#define MAX_BASE_SPEED_COEFF 10
/* On récupère les variables exterieurs */
extern receiver_RadioController_t receiver_RadioController;
extern motor_t motors[MAX_MOTORS];
+extern pilote_t pilote;
/* Calcul les pids de tous les moteurs (calcul des commandes en fonction des consignes */
void traitement_pids_compute(){
@@ -24,36 +27,82 @@ void traitement_pids_compute(){
/* Fonctions qui fait les liens entre les entrées (capteurs, radio controller, CV, ...) et les sorties (consignes moteurs), on peut créer plusieurs traitements */
void traitement_1(){
- add_consigne_position(&motors[TOURELLE_PITCH], (float)receiver_RadioController.data.ch2_float, 0.00005);
- add_consigne_position(&motors[TOURELLE_YAW], (float)receiver_RadioController.data.ch1_float, 0.00005);
-
+ if(receiver_RadioController.keyboard_mode){
+ double chassis_w;
+ double tourelle_yaw;
+ if(receiver_RadioController.data.kb.bit.CTRL){
+ chassis_w = -receiver_RadioController.data.mouse.x;
+ tourelle_yaw = 0;
+ }else{
+ chassis_w = 0;
+ tourelle_yaw = receiver_RadioController.data.mouse.x;
+ }
+ add_consigne_position(&motors[TOURELLE_PITCH], receiver_RadioController.data.mouse.y, pilote.sensitivity_mouse_y);
+ add_consigne_position(&motors[TOURELLE_YAW], tourelle_yaw, pilote.sensitivity_mouse_x);
+
+ chassis_consigne(receiver_RadioController.data.kb.bit.W - receiver_RadioController.data.kb.bit.S,
+ receiver_RadioController.data.kb.bit.D - receiver_RadioController.data.kb.bit.A,
+ chassis_w);
+
+
+ if(receiver_RadioController.data.mouse.l){
+ canon_shoot(0.15, 2000);
+ }else if(receiver_RadioController.data.mouse.r){
+ canon_shoot(0.20, 5000);
+ }else{
+ canon_shoot_end();
+ }
+ }else{
+ add_consigne_position(&motors[TOURELLE_PITCH], receiver_RadioController.data.ch2_float, pilote.sensitivity_ch_2);
+ add_consigne_position(&motors[TOURELLE_YAW], receiver_RadioController.data.ch1_float, pilote.sensitivity_ch_1);
- switch(receiver_RadioController.data.sw1){
- case 1:
- motors[FEEDER].consigne = 0;
- break;
- case 3:
- motors[FEEDER].consigne = 5000;
- break;
- case 2:
- motors[FEEDER].consigne = 10000;
- break;
- }
- switch(receiver_RadioController.data.sw2){
- case 1:
- PWM_SetAllDuty(&htim1, 0.0, 0.0);
- break;
- case 3:
- PWM_SetAllDuty(&htim1, 0.25, 0.25);
- break;
- case 2:
- PWM_SetAllDuty(&htim1, 0.50, 0.50);
- break;
+ switch(receiver_RadioController.data.sw1){
+ case 1:
+ motors[FEEDER].consigne = 0;
+ break;
+ case 3:
+ motors[FEEDER].consigne = 5000;
+ break;
+ case 2:
+ motors[FEEDER].consigne = 10000;
+ break;
+ }
+ switch(receiver_RadioController.data.sw2){
+ case 1:
+ PWM_SetAllDuty(&htim1, 0.0, 0.0);
+ break;
+ case 3:
+ PWM_SetAllDuty(&htim1, 0.25, 0.25);
+ break;
+ case 2:
+ PWM_SetAllDuty(&htim1, 0.50, 0.50);
+ break;
+ }
+
+ chassis_consigne(receiver_RadioController.data.ch4, receiver_RadioController.data.ch3, receiver_RadioController.data.wheel);
}
-
-
- motors[FRONT_LEFT].consigne = MAX_BASE_SPEED_COEFF*(receiver_RadioController.data.ch4 - receiver_RadioController.data.ch3 - 0.3*receiver_RadioController.data.wheel);
- motors[FRONT_RIGHT].consigne = -MAX_BASE_SPEED_COEFF*(receiver_RadioController.data.ch4 + receiver_RadioController.data.ch3 + 0.3*receiver_RadioController.data.wheel);
- motors[BACK_RIGHT].consigne = -MAX_BASE_SPEED_COEFF*(receiver_RadioController.data.ch4 - receiver_RadioController.data.ch3 + 0.3*receiver_RadioController.data.wheel);
- motors[BACK_LEFT].consigne = MAX_BASE_SPEED_COEFF*(receiver_RadioController.data.ch4 + receiver_RadioController.data.ch3 - 0.3*receiver_RadioController.data.wheel);
}
+
+void chassis_consigne(double Vx, double Vy, double W){
+ /*
+ Vx: Avant / Arrière
+ Vy: Translation gauche / Droite
+ W: Rotation
+ */
+ double sensitivity_Vx;
+ double sensitivity_Vy;
+ double sensitivity_W;
+ if(receiver_RadioController.keyboard_mode){
+ sensitivity_Vx = pilote.sensitivity_chassis_keyboard_Vx;
+ sensitivity_Vy = pilote.sensitivity_chassis_keyboard_Vy;
+ sensitivity_W = pilote.sensitivity_chassis_mouse_W;
+ }else{
+ sensitivity_Vx = pilote.sensitivity_chassis_RC_Vx;
+ sensitivity_Vy = pilote.sensitivity_chassis_RC_Vy;
+ sensitivity_W = pilote.sensitivity_chassis_RC_W;
+ }
+ motors[FRONT_LEFT].consigne = sensitivity_Vx*Vx - sensitivity_Vy*Vy - sensitivity_W*W;
+ motors[FRONT_RIGHT].consigne = -(sensitivity_Vx*Vx + sensitivity_Vy*Vy + sensitivity_W*W);
+ motors[BACK_RIGHT].consigne = -(sensitivity_Vx*Vx - sensitivity_Vy*Vy + sensitivity_W*W);
+ motors[BACK_LEFT].consigne = sensitivity_Vx*Vx + sensitivity_Vy*Vy - sensitivity_W*W;
+}
--
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