From cb0a5a8c7fe248659735fe80769e0def65dca22b Mon Sep 17 00:00:00 2001 From: Maxime Chauveau Date: Thu, 6 Feb 2025 21:20:06 +0100 Subject: [PATCH] fonction de bases --- .gitignore | 5 ++++ .vscode/extensions.json | 10 +++++++ include/README | 39 +++++++++++++++++++++++++ lib/README | 46 ++++++++++++++++++++++++++++++ platformio.ini | 16 +++++++++++ src/main.cpp | 34 ++++++++++++++++++++++ src/motor_control.cpp | 63 +++++++++++++++++++++++++++++++++++++++++ src/motor_control.h | 35 +++++++++++++++++++++++ test/README | 11 +++++++ 9 files changed, 259 insertions(+) create mode 100644 .gitignore create mode 100644 .vscode/extensions.json create mode 100644 include/README create mode 100644 lib/README create mode 100644 platformio.ini create mode 100644 src/main.cpp create mode 100644 src/motor_control.cpp create mode 100644 src/motor_control.h create mode 100644 test/README diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..89cc49c --- /dev/null +++ b/.gitignore @@ -0,0 +1,5 @@ +.pio +.vscode/.browse.c_cpp.db* +.vscode/c_cpp_properties.json +.vscode/launch.json +.vscode/ipch diff --git a/.vscode/extensions.json b/.vscode/extensions.json new file mode 100644 index 0000000..080e70d --- /dev/null +++ b/.vscode/extensions.json @@ -0,0 +1,10 @@ +{ + // See http://go.microsoft.com/fwlink/?LinkId=827846 + // for the documentation about the extensions.json format + "recommendations": [ + "platformio.platformio-ide" + ], + "unwantedRecommendations": [ + "ms-vscode.cpptools-extension-pack" + ] +} diff --git a/include/README b/include/README new file mode 100644 index 0000000..194dcd4 --- /dev/null +++ b/include/README @@ -0,0 +1,39 @@ + +This directory is intended for project header files. + +A header file is a file containing C declarations and macro definitions +to be shared between several project source files. You request the use of a +header file in your project source file (C, C++, etc) located in `src` folder +by including it, with the C preprocessing directive `#include'. + +```src/main.c + +#include "header.h" + +int main (void) +{ + ... +} +``` + +Including a header file produces the same results as copying the header file +into each source file that needs it. Such copying would be time-consuming +and error-prone. With a header file, the related declarations appear +in only one place. If they need to be changed, they can be changed in one +place, and programs that include the header file will automatically use the +new version when next recompiled. The header file eliminates the labor of +finding and changing all the copies as well as the risk that a failure to +find one copy will result in inconsistencies within a program. + +In C, the usual convention is to give header files names that end with `.h'. +It is most portable to use only letters, digits, dashes, and underscores in +header file names, and at most one dot. + +Read more about using header files in official GCC documentation: + +* Include Syntax +* Include Operation +* Once-Only Headers +* Computed Includes + +https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html diff --git a/lib/README b/lib/README new file mode 100644 index 0000000..2593a33 --- /dev/null +++ b/lib/README @@ -0,0 +1,46 @@ + +This directory is intended for project specific (private) libraries. +PlatformIO will compile them to static libraries and link into executable file. + +The source code of each library should be placed in an own separate directory +("lib/your_library_name/[here are source files]"). + +For example, see a structure of the following two libraries `Foo` and `Bar`: + +|--lib +| | +| |--Bar +| | |--docs +| | |--examples +| | |--src +| | |- Bar.c +| | |- Bar.h +| | |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html +| | +| |--Foo +| | |- Foo.c +| | |- Foo.h +| | +| |- README --> THIS FILE +| +|- platformio.ini +|--src + |- main.c + +and a contents of `src/main.c`: +``` +#include +#include + +int main (void) +{ + ... +} + +``` + +PlatformIO Library Dependency Finder will find automatically dependent +libraries scanning project source files. + +More information about PlatformIO Library Dependency Finder +- https://docs.platformio.org/page/librarymanager/ldf.html diff --git a/platformio.ini b/platformio.ini new file mode 100644 index 0000000..f91245d --- /dev/null +++ b/platformio.ini @@ -0,0 +1,16 @@ +; PlatformIO Project Configuration File +; +; Build options: build flags, source filter +; Upload options: custom upload port, speed and extra flags +; Library options: dependencies, extra library storages +; Advanced options: extra scripting +; +; Please visit documentation for the other options and examples +; https://docs.platformio.org/page/projectconf.html + +[env:uno] +platform = atmelavr +board = uno +framework = arduino +lib_deps = +build_flags = -I include diff --git a/src/main.cpp b/src/main.cpp new file mode 100644 index 0000000..92320ab --- /dev/null +++ b/src/main.cpp @@ -0,0 +1,34 @@ +// +// Created by CHAUVEAU Maxime on 06/02/2025. +// + +#include +#include "motor_control.h" + +void setup() { + initMotors(); +} + +void loop() { + accelerateForward(200, 20); + + delay(500); + + decelerateForward(200, 20); + delay(500); + + moveOpposite(80, 3000); + delay(2000); + + accelerateReverse(200, 20); + delay(500); + + decelerateReverse(200, 20); + delay(500); + + moveOpposite(80, 3000); + delay(2000); + + stopMotors(); + delay(2000); +} diff --git a/src/motor_control.cpp b/src/motor_control.cpp new file mode 100644 index 0000000..04c76b1 --- /dev/null +++ b/src/motor_control.cpp @@ -0,0 +1,63 @@ +#include "motor_control.h" + + +void initMotors() { + pinMode(IN1A, OUTPUT); + pinMode(IN1B, OUTPUT); + pinMode(IN2A, OUTPUT); + pinMode(IN2B, OUTPUT); + + stopMotors(); +} + +void accelerateForward(int speed, int delayTime) { + digitalWrite(IN1A, LOW); + digitalWrite(IN1B, LOW); + + for (int i = 0; i < speed; i++) { + analogWrite(IN2A, i); + analogWrite(IN2B, i); + delay(delayTime); + } +} + +void decelerateForward(int speed, int delayTime) { + for (int i = speed; i >= 0; i--) { + analogWrite(IN2A, i); + analogWrite(IN2B, i); + delay(delayTime); + } +} + +void accelerateReverse(int speed, int delayTime) { + digitalWrite(IN2A, LOW); + digitalWrite(IN2B, LOW); + for (int i = 0; i < speed; i++) { + analogWrite(IN1A, i); + analogWrite(IN1B, i); + delay(delayTime); + } +} + +void decelerateReverse(int speed, int delayTime) { + for (int i = speed; i >= 0; i--) { + analogWrite(IN1A, i); + analogWrite(IN1B, i); + delay(delayTime); + } +} + +void moveOpposite(int speed, int duration) { + digitalWrite(IN1A, LOW); + digitalWrite(IN2B, LOW); + analogWrite(IN1B, speed); + analogWrite(IN2A, speed); + delay(duration); +} + +void stopMotors() { + analogWrite(IN1A, 0); + analogWrite(IN1B, 0); + analogWrite(IN2A, 0); + analogWrite(IN2B, 0); +} diff --git a/src/motor_control.h b/src/motor_control.h new file mode 100644 index 0000000..6c63622 --- /dev/null +++ b/src/motor_control.h @@ -0,0 +1,35 @@ +#ifndef MOTOR_CONTROL_H +#define MOTOR_CONTROL_H + +#include // Nécessaire pour PlatformIO + + +// Définition des broches moteur (PWM) +#define IN1A 3 +#define IN1B 5 +#define IN2A 6 +#define IN2B 9 + +// Fonction pour initialiser les moteurs +void initMotors(); + +// Fonction pour accélérer les moteurs vers l'avant +void accelerateForward(int speed, int delayTime); + +// Fonction pour décélérer les moteurs +void decelerateForward(int speed, int delayTime); + +// Fonction pour accélérer en marche arrière +void accelerateReverse(int speed, int delayTime); + +// Fonction pour décélérer en marche arrière +void decelerateReverse(int speed, int delayTime); + +// Fonction pour faire tourner les moteurs dans des directions opposées +void moveOpposite(int speed, int duration); + +// Fonction pour arrêter les moteurs +void stopMotors(); + +#endif + diff --git a/test/README b/test/README new file mode 100644 index 0000000..9b1e87b --- /dev/null +++ b/test/README @@ -0,0 +1,11 @@ + +This directory is intended for PlatformIO Test Runner and project tests. + +Unit Testing is a software testing method by which individual units of +source code, sets of one or more MCU program modules together with associated +control data, usage procedures, and operating procedures, are tested to +determine whether they are fit for use. Unit testing finds problems early +in the development cycle. + +More information about PlatformIO Unit Testing: +- https://docs.platformio.org/en/latest/advanced/unit-testing/index.html