{"id":1098,"date":"2016-04-17T10:04:54","date_gmt":"2016-04-17T09:04:54","guid":{"rendered":"http:\/\/www.macerobotics.com\/?p=1098"},"modified":"2016-04-18T15:52:35","modified_gmt":"2016-04-18T14:52:35","slug":"architecture-logicielle-du-microcontroleur","status":"publish","type":"post","link":"https:\/\/www.macerobotics.com\/?p=1098","title":{"rendered":"Architecture logicielle du microcontr\u00f4leur"},"content":{"rendered":"<p>Voici, l&#8217;architecture logicielle du microcontr\u00f4leur STM32F407 du robot MRPi1 :<\/p>\n<ul>\n<li>Un bloc de la gestion pour la communication s\u00e9rie 8 bits vers la carte Raspberry Pi.<\/li>\n<li>Un bloc scheduler pour la gestion des diff\u00e9rentes taches de mani\u00e8re synchrone et en temps r\u00e9el,<\/li>\n<li>Un bloc d&#8217;acquisition et de traitement des capteurs du robot,<\/li>\n<li>Un bloc de contr\u00f4le du niveau de la tension de la batterie lipo,<\/li>\n<li>Un bloc d&#8217;asservissement du robot en position\/orientation avec deux r\u00e9gulateurs num\u00e9rique de type PID,<\/li>\n<li>Un bloc de commande des moteurs en signaux PWM,<\/li>\n<li>Un bloc d\u2019acquisition des encodeurs en quadrature avec deux timers configur\u00e9 sur les front des signaux,<\/li>\n<li>Un bloc du calcul de la position du robot sur les axes X et Y puis sur l&#8217;orientation du robot.<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<p><a href=\"http:\/\/www.macerobotics.com\/wp-content\/uploads\/2016\/04\/archi_micro.png\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-1099\" src=\"http:\/\/www.macerobotics.com\/wp-content\/uploads\/2016\/04\/archi_micro.png\" alt=\"archi_micro\" width=\"695\" height=\"455\" srcset=\"https:\/\/www.macerobotics.com\/wp-content\/uploads\/2016\/04\/archi_micro.png 695w, https:\/\/www.macerobotics.com\/wp-content\/uploads\/2016\/04\/archi_micro-300x196.png 300w, https:\/\/www.macerobotics.com\/wp-content\/uploads\/2016\/04\/archi_micro-600x393.png 600w\" sizes=\"auto, (max-width: 695px) 100vw, 695px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Voici, l&#8217;architecture logicielle du microcontr\u00f4leur STM32F407 du robot MRPi1 : Un bloc de la gestion pour la communication s\u00e9rie 8 bits vers la carte Raspberry Pi. Un bloc scheduler pour la gestion des diff\u00e9rentes taches de mani\u00e8re synchrone et en temps r\u00e9el, Un bloc d&#8217;acquisition et de traitement des capteurs du robot, Un bloc de &hellip;<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[3],"tags":[10,9,7,25],"class_list":["post-1098","post","type-post","status-publish","format-standard","hentry","category-mrpi1","tag-mobile-robot","tag-raspberry-pi","tag-robot","tag-robot-raspberry-pi"],"_links":{"self":[{"href":"https:\/\/www.macerobotics.com\/index.php?rest_route=\/wp\/v2\/posts\/1098","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.macerobotics.com\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.macerobotics.com\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.macerobotics.com\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.macerobotics.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=1098"}],"version-history":[{"count":4,"href":"https:\/\/www.macerobotics.com\/index.php?rest_route=\/wp\/v2\/posts\/1098\/revisions"}],"predecessor-version":[{"id":1103,"href":"https:\/\/www.macerobotics.com\/index.php?rest_route=\/wp\/v2\/posts\/1098\/revisions\/1103"}],"wp:attachment":[{"href":"https:\/\/www.macerobotics.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=1098"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.macerobotics.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=1098"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.macerobotics.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=1098"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}