From c99e94ac373207a6f979128570ab74cebb822c50 Mon Sep 17 00:00:00 2001 From: Florent Date: Fri, 29 Mar 2024 15:02:45 +0100 Subject: [PATCH] Initial commit --- Writerside/c.list | 6 ++ Writerside/gu.tree | 18 ++++ Writerside/topics/Actionneurs.md | 3 + Writerside/topics/Lidar.md | 3 + Writerside/topics/Montage.md | 20 +++++ Writerside/topics/Odométrie.md | 3 + Writerside/topics/Pami.md | 136 +++++++++++++++++++++++++++++ Writerside/topics/Serge.md | 3 + Writerside/topics/starter-topic.md | 79 +++++++++++++++++ Writerside/v.list | 5 ++ Writerside/writerside.cfg | 8 ++ 11 files changed, 284 insertions(+) create mode 100644 Writerside/c.list create mode 100644 Writerside/gu.tree create mode 100644 Writerside/topics/Actionneurs.md create mode 100644 Writerside/topics/Lidar.md create mode 100644 Writerside/topics/Montage.md create mode 100644 Writerside/topics/Odométrie.md create mode 100644 Writerside/topics/Pami.md create mode 100644 Writerside/topics/Serge.md create mode 100644 Writerside/topics/starter-topic.md create mode 100644 Writerside/v.list create mode 100644 Writerside/writerside.cfg diff --git a/Writerside/c.list b/Writerside/c.list new file mode 100644 index 0000000..c4c77a2 --- /dev/null +++ b/Writerside/c.list @@ -0,0 +1,6 @@ + + + + + \ No newline at end of file diff --git a/Writerside/gu.tree b/Writerside/gu.tree new file mode 100644 index 0000000..39689b4 --- /dev/null +++ b/Writerside/gu.tree @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/Writerside/topics/Actionneurs.md b/Writerside/topics/Actionneurs.md new file mode 100644 index 0000000..d532799 --- /dev/null +++ b/Writerside/topics/Actionneurs.md @@ -0,0 +1,3 @@ +# Actionneurs + +Start typing here... \ No newline at end of file diff --git a/Writerside/topics/Lidar.md b/Writerside/topics/Lidar.md new file mode 100644 index 0000000..1ff0ab8 --- /dev/null +++ b/Writerside/topics/Lidar.md @@ -0,0 +1,3 @@ +# Lidar + +Start typing here... \ No newline at end of file diff --git a/Writerside/topics/Montage.md b/Writerside/topics/Montage.md new file mode 100644 index 0000000..6d5332a --- /dev/null +++ b/Writerside/topics/Montage.md @@ -0,0 +1,20 @@ +# Montage + +## Chassis +Commencer par imprimé en 3D le chassis qui est composée de deux pièces qui s'emboitent. +- [Base](lien fichier) +- [Couvercle](lien fichier) + +## Capteurs lasers +Par la suite monter les capteurs lasers à l'avant (face avec deux trous pour les capteurs lasers), +avec les broches vers le milieu et le capteur vers l'extérieur. + +## Arduino + +## Moteurs pas à pas + +## Batterie + +## Bouton d'arrêt d'urgence + +## diff --git a/Writerside/topics/Odométrie.md b/Writerside/topics/Odométrie.md new file mode 100644 index 0000000..fb1aea9 --- /dev/null +++ b/Writerside/topics/Odométrie.md @@ -0,0 +1,3 @@ +# Odométrie + +Start typing here... \ No newline at end of file diff --git a/Writerside/topics/Pami.md b/Writerside/topics/Pami.md new file mode 100644 index 0000000..9e0c4ef --- /dev/null +++ b/Writerside/topics/Pami.md @@ -0,0 +1,136 @@ +# Pixel +## Objectif +Pixel est un PAMI qui a donc pour objectif, dans les 10 dernières secondes, d'aller jusqu'à une zone et toucher +une plante dans cette zone une fois arrêté. + +## Matèriel +{collapsible="true" default-state="expanded"} +- [Arduino uno](https://store.arduino.cc/products/arduino-uno-rev3) +- [CNC shield V3](https://www.amazon.fr/dExtension-Protection-Dissipateurs-Chaleur-Imprimante/dp/B07NP1DC65/ref=sr_1_6?dib=eyJ2IjoiMSJ9.JI-ma4M3AlfmZl1BozwoTpeIndYTV1RwLI0M08S6BJZL-oFJlHtbZtLUkrEXQXpujV70jkBJ24QwKIJ6h_SApP-npLF2ZLboF3EbqUKFi4al6-yxqHa8ix2sQrp6haEfEsgB0scgwkNbuo0Y2uru13x8-fIP2lwXuxIRafkffpbNBj7tc0G9vYUFDGlZ2o6p9Q-oFG-96sTmfJfE4u-SKVASjABScizKRj-TkTW8luvWboypEQIb3Ouw8uRzp2q9p2ISasbk4ZtwR2IAnndcURcSRFkZBL3iMTbXCG4SIX8.1J5rZ6CAHRMVCCVTgxMIw92O-CKN1PB2_18OYL9-wEo&dib_tag=se&keywords=cnc+shield&qid=1711545332&sr=8-6) +- [Moteur pas à pas * 2](https://www.amazon.fr/STEPPERONLINE-bipolaire-connecteur-imprimante-fraiseuse/dp/B0B38GX54H/ref=sr_1_4?__mk_fr_FR=ÅMÅŽÕÑ&crid=2Y7V0JYZLHNYN&dib=eyJ2IjoiMSJ9.pU8qhsS9CN5zYAeTOHgus2uSvLfbXPUMelD5i5HgQ8mrZ9WrLHugLzgYz1a0kqPcFaqqA4fibf6BnxSplcy7X2N445OwRl0098Cxr2KhY_dZA6FXLx5KUji1pSONjkGjDMW6RcvSgHOAgdcs27w5BEKTTi-lSprvZei7kczmnCJCr_91Gu3z_ojy6J8B5KsShZ-VMcimonv6BAdFmC4Hz6v2Pn5RRzbgEF-awp57LFgskZMkFTbdCdDZwIjSf2Ve3G6PZiEFTEs5U-Tzo_M_0aqSEULkJqpIKevZVXoLIWk.6h_q4gETAHeYGQSxt964emzU45oSIo-Bux3VG8vK9BY&dib_tag=se&keywords=Moteur+pas+a+pas&qid=1711545588&s=industrial&sprefix=moteur+pas+a+pas%2Cindustrial%2C94&sr=1-4) +- [Capteur laser * 2](https://www.amazon.fr/AZDelivery-VL53L0X-Capteur-distance-incluant/dp/B086V37JJ7/ref=sr_1_9?dib=eyJ2IjoiMSJ9.QXns_kdhCZmsBcYOFdizbDvA7zSZ_D9yaBtkJX0Ga87xd-Otask3YcUaYQn-D0eiZj9i5pS_fr2sbggtlC20ksBOf38W7ouQcRNTKGCD9GeOdzqVRPeIo_zj4QzIEXBcS2EMcM3hYyW9PD02dgZzSQ2eAagE9c68nUUD9nQ-aK16e_Ogh8kmNFXSW9gAlrcQxuZ5gt0GYlq7muIWyC_PU8CSIfvZxt3HEvOqaZISWC9gnX--5aO6zW1A-_cUWQ9xkf5SnuGhMaZc2644DacgZXyTy1UyhtbvETO-oYlywuc.SrYnuIBZr82N3FJzMM4KCfcinZaC78XeTsFftJqsSpg&dib_tag=se&keywords=Capteur+laser&qid=1711545624&sr=8-9) +- [Batterie Lipo 3S](lien batterie) +- [Bouton d'arrêt d'urgence](https://www.amazon.fr/Larret-durgence-Poussoir-Capuchon-Champignon/dp/B07RGQQTW8/ref=sr_1_12?__mk_fr_FR=ÅMÅŽÕÑ&crid=2OVF0E40NTHRC&dib=eyJ2IjoiMSJ9.oMd288voXmAfcNkFoPVqN8yayhHZ_JEXt8cUfmya2E9XZ9i3udjK0IHC6DeyZzdjGWWzUAVxiPDkPDrNntZVGDJ6in03uUXDkFXrk780uat5tKwQuj86BdigBSeRWAhoUEhx7ZnMCCoVJPrePwVLoMFQYKUWVOEQEnVQWdYVuS8P4AR58V4WQdbHZA-XsinvRF-_ybyPM4VSdbgkk7ZJb--0hciNIL6vu3teD62YoAEBDLs3rIwWwqm2w5QJ7Dm17uPyuJp5V-u0XXYCAtfidCDOER-PFhjYwOWNQ1di420.vY_SfWlzo0l8sp1uT0ZDFczzR4wlpovj7BgRyBn8CKk&dib_tag=se&keywords=Bouton+d%27arret+d%27urgence&qid=1711545690&sprefix=bouton+d%27arret+d%27urgence%2Caps%2C106&sr=8-12) +- [Tirette magnétique](lien tirette) +- [Chassis en impression 3D](lien fichier) +- [Switch](lien produit) + +## Fonctionnement +{collapsible="true" default-state="expanded"} +### Detection contacte plante +Le switch permet de détecter lorsque le robot pousse sur une plante contre un mur +et donc de s'arrêter au contact d'une plante dans la zone d'arrivée. + +### Detection d'adversaire +Les capteurs lasers permettent de détecter un robot adverse approchant. +Par ailleurs, le switch permet de détecter un contact avec un robot adverse. + +### Direction +Pixel suit un mur, à une distance fixe, à l'aide d'un capteur laser afin d'aller à une zone d'arrivée. + + +## Code +{collapsible="true" default-state="collapsed"} + + +Permet de contrôler deux capteurs lasers via un bus I2C en, dans un premier temps, attribuant une adresse pour +l'I2C différente pour chaque capteur laser. Par la suite, il récupère en permanence la distance en mm que renvoient les +capteurs et l'envoie dans le serial suivi du pin xshut associé au capteur (séparer par '|'). Chaque capteur est séparé +par une tabulation dans le serial. + +```C +#include +#include + +// The number of sensors in your system. +const uint8_t sensorCount = 2; +// The Arduino pin connected to the XSHUT pin of each sensor. +const uint8_t xshutPins[sensorCount] = { 4, 5 }; + +VL53L0X sensors[sensorCount]; + +void setup() +{ + while (!Serial) {} + Serial.begin(9600); + Wire.begin(); + Wire.setClock(400000); // use 400 kHz I2C + + // Disable/reset all sensors by driving their XSHUT pins low. + for (uint8_t i = 0; i < sensorCount; i++) + { + pinMode(xshutPins[i], OUTPUT); + digitalWrite(xshutPins[i], LOW); + } + + // Enable, initialize, and start each sensor, one by one. + for (uint8_t i = 0; i < sensorCount; i++) + { + // Stop driving this sensor's XSHUT low. This should allow the carrier + // board to pull it high. (We do NOT want to drive XSHUT high since it is + // not level shifted.) Then wait a bit for the sensor to start up. + pinMode(xshutPins[i], INPUT); + delay(10); + + sensors[i].setTimeout(500); + if (!sensors[i].init()) + { + Serial.print("Failed to detect and initialize sensor "); + Serial.println(i); + while (1); + } + + // Each sensor must have its address changed to a unique value other than + // the default of 0x29 (except for the last one, which could be left at + // the default). To make it simple, we'll just count up from 0x2A. + sensors[i].setAddress(0x2A + i); + + sensors[i].startContinuous(50); + } +} + +void loop() +{ + for (uint8_t i = 0; i < sensorCount; i++) + { + Serial.print(sensors[i].readRangeSingleMillimeters()); + Serial.print(" | "); + Serial.print(xshutPins[i]); + if (sensors[i].timeoutOccurred()) { Serial.print(" TIMEOUT"); } + Serial.print('\t'); + } + Serial.println(); +} +``` +{collapsible="true"} + + + +Permet de contrôler les deux moteurs en même temps afin de test si le cablage est valide. + +```C +Code moteurs +``` +{collapsible="true"} + + + +Permet de détecter l'appuie sur le switch. + +```C +Code Switch +``` +{collapsible="true"} + + + +Code complet de Pixel qui implémente la détection des adversaires grâce aux capteurs et au switch, le suivi des murs +grâce aux capteurs et aux moteurs ainsi que la détection de pots grâce au switch. Le tout afin de s'arrêter dans la zone et au contact d'une plante. + +```C +Code Complet +``` +{collapsible="true"} + + + diff --git a/Writerside/topics/Serge.md b/Writerside/topics/Serge.md new file mode 100644 index 0000000..e1861e5 --- /dev/null +++ b/Writerside/topics/Serge.md @@ -0,0 +1,3 @@ +# Serge + +Start typing here... \ No newline at end of file diff --git a/Writerside/topics/starter-topic.md b/Writerside/topics/starter-topic.md new file mode 100644 index 0000000..2b52f68 --- /dev/null +++ b/Writerside/topics/starter-topic.md @@ -0,0 +1,79 @@ +# About Guide d'utilisation + + + +## Add new topics +You can create empty topics, or choose a template for different types of content that contains some boilerplate structure to help you get started: + +![Create new topic options](new_topic_options.png){ width=290 }{border-effect=line} + +## Write content +%product% supports two types of markup: Markdown and XML. +When you create a new help article, you can choose between two topic types, but this doesn't mean you have to stick to a single format. +You can author content in Markdown and extend it with semantic attributes or inject entire XML elements. + +## Inject XML +For example, this is how you inject a procedure: + + + +

Start typing and select a procedure type from the completion suggestions:

+ completion suggestions for procedure + + +

Press Tab or Enter to insert the markup.

+ + + +## Add interactive elements + +### Tabs +To add switchable content, you can make use of tabs (inject them by starting to type `tab` on a new line): + + + + ![Alt Text](new_topic_options.png){ width=450 } + + + + ]]> + + + +### Collapsible blocks +Apart from injecting entire XML elements, you can use attributes to configure the behavior of certain elements. +For example, you can collapse a chapter that contains non-essential information: + +#### Supplementary info {collapsible="true"} +Content under a collapsible header will be collapsed by default, +but you can modify the behavior by adding the following attribute: +`default-state="expanded"` + +### Convert selection to XML +If you need to extend an element with more functions, you can convert selected content from Markdown to semantic markup. +For example, if you want to merge cells in a table, it's much easier to convert it to XML than do this in Markdown. +Position the caret anywhere in the table and press Alt+Enter: + +Convert table to XML + +## Feedback and support +Please report any issues, usability improvements, or feature requests to our +YouTrack project +(you will need to register). + +You are welcome to join our +public Slack workspace. +Before you do, please read our [Code of conduct](https://plugins.jetbrains.com/plugin/20158-writerside/docs/writerside-code-of-conduct.html). +We assume that you’ve read and acknowledged it before joining. + +You can also always email us at [writerside@jetbrains.com](mailto:writerside@jetbrains.com). + + + + Markup reference + Reorder topics in the TOC + Build and publish + Configure Search + + \ No newline at end of file diff --git a/Writerside/v.list b/Writerside/v.list new file mode 100644 index 0000000..2d12cb3 --- /dev/null +++ b/Writerside/v.list @@ -0,0 +1,5 @@ + + + + + diff --git a/Writerside/writerside.cfg b/Writerside/writerside.cfg new file mode 100644 index 0000000..14cb344 --- /dev/null +++ b/Writerside/writerside.cfg @@ -0,0 +1,8 @@ + + + + + + + + \ No newline at end of file