Tache Robot pour CAR10

• Nom Tache Robot : X4_Diags_T1

• Module Ressource Physique Robot

  Nom Ressource Physique Robot	Input Driver Port	Output Driver Port	Event
  X4_GPS_PhR	VI type double[4]	AccO type double[3]	-
  		Vmot0 type double[4]
  		Mag0 type double[3]
  		Gyro0 type double[3]
  		US0 type double[6]
  		Pression0 type double
  		GPS0 type double[3]
  		Vrel0 type double[3]

• Module Algo

  Nom Module Algo	Input Data Port	Output Data Port	Event	File
  AbsPosGPS	USI type double[6]	PosO type double[6]	-	https://sed-wiki.inrialpes.fr/pub/Platforms/Misc/SafenecsT1/module_AbsPosGPS.h
  	GPSI type double[3]			https://sed-wiki.inrialpes.fr/pub/Platforms/Misc/SafenecsT1/module_AbsPosGPS.C
  	PressionI type double
  Nom Module Algo	Input Data Port	Output Data Port	Event	File
  GPS_CtrlT1	QI type double[7]	UO type double[4]	X4_Ready type Postcondition	https://sed-wiki.inrialpes.fr/pub/Platforms/Misc/SafenecsT1/module_GPS_CtrlT1.h
  	PosI type double[6]	VO type double[4]	Panic type T2	https://sed-wiki.inrialpes.fr/pub/Platforms/Misc/SafenecsT1/module_GPS_CtrlT1.C
  	VmotI type double[4]
  	VrelI type double[3]
  	D_PosI type double[6]
  	Motor_RecoverI type int
  Nom Module Algo	Input Data Port	Output Data Port	Event	File
  Gen_Traj	-	D_PosO type double[6]	-	https://sed-wiki.inrialpes.fr/pub/Platforms/Misc/SafenecsT1/module_Gen_Traj.h
  				https://sed-wiki.inrialpes.fr/pub/Platforms/Misc/SafenecsT1/module_Gen_Traj.C
  Nom Module Algo	Input Data Port	Output Data Port	Event	File
  QuaternionT1	AccI type double[3]	Q0 type double[7]	-	https://sed-wiki.inrialpes.fr/pub/Platforms/Misc/SafenecsT1/module_QuaternionT1.h
  	MagI type double[3]			https://sed-wiki.inrialpes.fr/pub/Platforms/Misc/SafenecsT1/module_QuaternionT1.C
  	GyroI type double[3]
  	VrelI type double[3]
  	Sensor_RecoverI type int
  Nom Module Algo	Input Data Port	Output Data Port	Event	File
  Diag_CapteursT1	AccI type double[3]	-	Sensor_Fall type T1	https://sed-wiki.inrialpes.fr/pub/Platforms/Misc/SafenecsT1/module_Diag_CapteursT1.h
  	MagI type double[4]			https://sed-wiki.inrialpes.fr/pub/Platforms/Misc/SafenecsT1/module_Diag_CapteursT1.C
  	GyroI type double[3]
  	VrelI type double[3]
  	D_PosI type double[6]
  	PosI type double[6]
  	VmotI type double[4]
  Nom Module Algo	Input Data Port	Output Data Port	Event	File
  Diag_MoteursT1	AccI type double[3]	-	Motor_Fall type T1	https://sed-wiki.inrialpes.fr/pub/Platforms/Misc/SafenecsT1/module_Diag_MoteursT1.h
  	MagI type double[3]			https://sed-wiki.inrialpes.fr/pub/Platforms/Misc/SafenecsT1/module_Diag_MoteursT1.C
  	GyroI type double[3]
  	VrelI type double[3]
  	D_PosI type double[6]
  	PosI type double[6]
  	VmotI type double[4]
  	QI type double[7]
  	VI type double[4]
  Nom Module Algo	Input Data Port	Output Data Port	Event	File
  Scheduler	-	-	-	https://sed-wiki.inrialpes.fr/pub/Platforms/Misc/SafenecsT1/module_Scheduler.h
  				https://sed-wiki.inrialpes.fr/pub/Platforms/Misc/SafenecsT1/module_Scheduler.C
  Disturbance	-	-	-	https://sed-wiki.inrialpes.fr/pub/Platforms/Misc/SafenecsT1/module_Disturbance.h
  				https://sed-wiki.inrialpes.fr/pub/Platforms/Misc/SafenecsT1/module_Disturbance.C

• Contraintes Temporelles

  Nom Contrainte Temporelles	Modules impliquees	Periode (second)	Link Synchro Type	Priorite
  X4_Diags_T1_0	GPS_CtrlT1	0.005	CLOCKSOURCEPERIODIC	35
  X4_Diags_T1_1	AbsPosGPS	0.005	CLOCKSOURCEPERIODIC	25
  X4_Diags_T1_2	QuaternionT1	0.005	CLOCKSOURCEPERIODIC	10
  X4_Diags_T1_3	Gen_Traj	0.005	CLOCKSOURCEPERIODIC	7
  X4_Diags_T1_4	Scheduler	0.005	CLOCKSOURCEPERIODIC	5
  X4_Diags_T1_5	Diag_CapteursT1	0.005	CLOCKSOURCEPERIODIC	4
  X4_Diags_T1_6	Diag_MoteursT1	0.005	CLOCKSOURCEPERIODIC	3
  X4_Diags_T1_7	Disturbance	0.005	CLOCKSOURCEPERIODIC	2

• Schema de la tache Robot sous Orccad V3: