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TYPE Fct_speed_inputs :
	
STRUCT		
	xReset_speed_inputs:			BOOL;
(* Capteur vitesse arri
re droit *)
	uiChannel_rear_right_A:			UINT 	:= 2;
	uiChannel_rear_right_B:			UINT 	:= 3;
	udiTime_rear_right_scan:		UDINT	:= 100;
	xError_speed_rear_right:		BOOL;
	udiRawValue_cycle_rear_right_A:	UDINT;
	udiRawValue_cycle_rear_right_B:	UDINT;
	rRawValue_freq_rear_right_A:	REAL;
	rRawValue_freq_rear_right_B:	REAL;
(* Capteur vitesse arri
re gauche *)
	uiChannel_rear_left_A:			UINT 	:= 0;
	uiChannel_rear_left_B:			UINT 	:= 1;
	udiTime_rear_left_scan:			UDINT	:= 100;
	xError_speed_rear_left:			BOOL;
	udiRawValue_cycle_rear_left_A:	UDINT;
	udiRawValue_cycle_rear_left_B:	UDINT;
	rRawValue_freq_rear_left_A:		REAL;
	rRawValue_freq_rear_left_B:		REAL;
(* Capteur vitesse avant droit *)
	uiChannel_front_right:			UINT 	:= 1500;
	udiTime_front_right_scan:		UDINT	:= 50;
	xError_speed_front_right:		BOOL;
	xUp_enc_front_right:			BOOL;
	udiRawValue_cycle_front_right:	UDINT;
	rRawValue_freq_front_right:		REAL;
	diPreset_value_front_right:		DINT	:= 0;
(* Capteur vitesse avant gauche *)
	uiChannel_front_left:			UINT 	:= 1502;
	udiTime_front_left_scan:		UDINT	:= 50;
	xError_speed_front_left:		BOOL;
	xUp_enc_front_left:				BOOL;
	udiRawValue_cycle_front_left:	UDINT;
	rRawValue_freq_front_left:		REAL;
	diPreset_value_front_left:		DINT	:= 0;
END_STRUCT
END_TYPE