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calcul de la distance parcourue qui fonctionne

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dd060606
2025-03-25 17:20:03 +01:00
parent a29fca5818
commit 652926e7ba
7 changed files with 99 additions and 106 deletions
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.cproject
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@@ -22,7 +22,9 @@
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@@ -108,26 +110,26 @@
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@@ -137,13 +139,13 @@
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@@ -154,7 +156,7 @@
</tool> </tool>
<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.2140699654" name="MCU GCC Linker" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker"/> <tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.2140699654" name="MCU GCC Linker" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker"/>
<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.471181622" name="MCU G++ Linker" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker"> <tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.471181622" name="MCU G++ Linker" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker">
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.option.script.1211981307" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.option.script" value="${workspace_loc:/${ProjName}/STM32L073RZTX_FLASH.ld}" valueType="string"/> <option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.option.script.1211981307" name="Linker Script (-T)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.option.script" value="${workspace_loc:/${ProjName}/STM32L073RZTX_FLASH.ld}" valueType="string"/>
<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.input.1172174428" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.input"> <inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.input.1172174428" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.input">
<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/> <additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
<additionalInput kind="additionalinput" paths="$(LIBS)"/> <additionalInput kind="additionalinput" paths="$(LIBS)"/>
@@ -199,6 +201,13 @@
<autodiscovery enabled="false" problemReportingEnabled="true" selectedProfileId=""/> <autodiscovery enabled="false" problemReportingEnabled="true" selectedProfileId=""/>
</scannerConfigBuildInfo> </scannerConfigBuildInfo>
</storageModule> </storageModule>
<storageModule moduleId="refreshScope"/> <storageModule moduleId="refreshScope" versionNumber="2">
<configuration configurationName="Debug">
<resource resourceType="PROJECT" workspacePath="/ControleMoteur2"/>
</configuration>
<configuration configurationName="Release">
<resource resourceType="PROJECT" workspacePath="/ControleMoteur2"/>
</configuration>
</storageModule>
<storageModule moduleId="org.eclipse.cdt.make.core.buildtargets"/> <storageModule moduleId="org.eclipse.cdt.make.core.buildtargets"/>
</cproject> </cproject>

18
ControleMoteur2.ioc
View File

@@ -50,12 +50,12 @@ NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
NVIC.SVC_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true NVIC.SVC_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true
NVIC.SysTick_IRQn=true\:0\:0\:true\:false\:true\:true\:true\:false NVIC.SysTick_IRQn=true\:0\:0\:true\:false\:true\:true\:true\:false
PA0.GPIOParameters=GPIO_Speed,GPIO_PuPd PA0.GPIOParameters=GPIO_Speed,GPIO_PuPd
PA0.GPIO_PuPd=GPIO_NOPULL PA0.GPIO_PuPd=GPIO_PULLUP
PA0.GPIO_Speed=GPIO_SPEED_FREQ_LOW PA0.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
PA0.Signal=S_TIM2_CH1 PA0.Signal=S_TIM2_CH1
PA1.GPIOParameters=GPIO_Speed,GPIO_PuPd PA1.GPIOParameters=GPIO_Speed,GPIO_PuPd
PA1.GPIO_PuPd=GPIO_NOPULL PA1.GPIO_PuPd=GPIO_PULLUP
PA1.GPIO_Speed=GPIO_SPEED_FREQ_LOW PA1.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
PA1.Signal=S_TIM2_CH2 PA1.Signal=S_TIM2_CH2
PA13.GPIOParameters=GPIO_Label PA13.GPIOParameters=GPIO_Label
PA13.GPIO_Label=TMS PA13.GPIO_Label=TMS
@@ -81,11 +81,13 @@ PA5.GPIOParameters=GPIO_Label
PA5.GPIO_Label=LD2 [Green Led] PA5.GPIO_Label=LD2 [Green Led]
PA5.Locked=true PA5.Locked=true
PA5.Signal=GPIO_Output PA5.Signal=GPIO_Output
PB13.GPIOParameters=GPIO_PuPd PB13.GPIOParameters=GPIO_Speed,GPIO_PuPd
PB13.GPIO_PuPd=GPIO_NOPULL PB13.GPIO_PuPd=GPIO_PULLUP
PB13.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
PB13.Signal=S_TIM21_CH1 PB13.Signal=S_TIM21_CH1
PB14.GPIOParameters=GPIO_PuPd PB14.GPIOParameters=GPIO_Speed,GPIO_PuPd
PB14.GPIO_PuPd=GPIO_NOPULL PB14.GPIO_PuPd=GPIO_PULLUP
PB14.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
PB14.Signal=S_TIM21_CH2 PB14.Signal=S_TIM21_CH2
PC10.Locked=true PC10.Locked=true
PC10.Signal=GPIO_Output PC10.Signal=GPIO_Output

2
Core/Inc/motors.h
View File

@@ -15,8 +15,6 @@ public:
Motor(TIM_TypeDef *timer); Motor(TIM_TypeDef *timer);
void accelerer(int speed); void accelerer(int speed);
void reculer(int speed); void reculer(int speed);
void ralentir();
void ralentirEnvers();
void stop(); void stop();
void update(); void update();
}; };

8
Core/Src/main.c
View File

@@ -57,7 +57,6 @@ void SystemClock_Config(void);
/* Private user code ---------------------------------------------------------*/ /* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */ /* USER CODE BEGIN 0 */
int32_t counter = 0;
/* USER CODE END 0 */ /* USER CODE END 0 */
@@ -110,12 +109,11 @@ int main(void)
while (1) while (1)
{ {
ModelecOdometryLoop(); ModelecOdometryLoop();
counter = __HAL_TIM_GET_COUNTER(&htim2);
//__HAL_TIM_IS_TIM_COUNTING_DOWN
/* USER CODE END WHILE */
} }
/* USER CODE BEGIN 3 */ /* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
/* USER CODE END 3 */ /* USER CODE END 3 */
} }

89
Core/Src/modelec.cpp
View File

@@ -19,12 +19,12 @@ extern "C" {
// Paramètres des roues codeuses // Paramètres des roues codeuses
#define N 600 // Impulsions par tour (PPR) du codeur #define N 600 // Impulsions par tour (PPR) du codeur
#define WHEEL_DIAMETER 0.06 // Diamètre de la roue en mètres (ex: 5 cm) #define WHEEL_DIAMETER 0.082 // Diamètre de la roue en mètres (ex: 5 cm)
#define WHEEL_BASE 0.15 // Entraxe entre les roues en mètres (ex: 15 cm) #define WHEEL_BASE 0.17 // Entraxe entre les roues en mètres (ex: 15 cm)
#define MAX_COUNT 65535 // Max compteur (16 bits) #define MAX_COUNT 65535 // Max compteur (16 bits)
// Position du robot // Position du robot
volatile float X = 0.0, Y = 0.0, theta = 0.0; volatile float X = 0.0, Y = 0.0, theta = 0.0, totalDistance = 0.0;
// Dernières valeurs des encodeurs // Dernières valeurs des encodeurs
volatile int32_t last_pos_right = 0, last_pos_left = 0; volatile int32_t last_pos_right = 0, last_pos_left = 0;
@@ -43,59 +43,60 @@ extern "C" {
motor.accelerer(300); motor.accelerer(300);
} }
// Fonction de mise à jour de l'odométrie
void ModelecOdometryUpdate() {
// Lire les compteurs des encodeurs
int32_t pos_right = __HAL_TIM_GET_COUNTER(&htim21);
int32_t pos_left = __HAL_TIM_GET_COUNTER(&htim2);
// Calcul des variations d’impulsions
int32_t deltaP_right = pos_right - last_pos_right;
int32_t deltaP_left = pos_left - last_pos_left;
// Gestion du débordement du compteur
if (deltaP_right > MAX_COUNT / 2) deltaP_right -= MAX_COUNT;
if (deltaP_right < -MAX_COUNT / 2) deltaP_right += MAX_COUNT;
if (deltaP_left > MAX_COUNT / 2) deltaP_left -= MAX_COUNT;
if (deltaP_left < -MAX_COUNT / 2) deltaP_left += MAX_COUNT;
// Convertir en distances parcourues (assurer que c'est en millimètres)
float deltaS_right = ((deltaP_right / (float)(N * 4)) * M_PI * WHEEL_DIAMETER) * 1000.0;
float deltaS_left = ((deltaP_left / (float)(N * 4)) * M_PI * WHEEL_DIAMETER) * 1000.0;
// Calcul de la distance totale parcourue
float deltaS = (deltaS_right + deltaS_left) / 2.0;
// Ajouter à la distance totale parcourue
totalDistance += fabs(deltaS); // fabs() ensures we only add positive values
// Debugging output
char msg[128];
sprintf(msg, "Total Distance: %.3f mm\r\n", totalDistance);
HAL_UART_Transmit(&huart2, (uint8_t *)msg, strlen(msg), HAL_MAX_DELAY);
// Conserver les valeurs actuelles pour la prochaine itération
last_pos_right = pos_right;
last_pos_left = pos_left;
}
// Fonction de loop appelee en boucle dans le main.c // Fonction de loop appelee en boucle dans le main.c
void ModelecOdometryLoop(){ void ModelecOdometryLoop(){
GPIOC->ODR ^= (1<<10); GPIOC->ODR ^= (1<<10);
//On actualise toute les 10ms et on effectue tous les controles périodiques //On actualise toute les 10ms et on effectue tous les controles périodiques
if(isDelayPassed(10)) { if(isDelayPassed(10)) {
ModelecOdometryUpdate();
//On met à jour le statut des moteurs //On met à jour le statut des moteurs
motor.update(); motor.update();
//15 cm
if(totalDistance >= 150) {
motor.stop();
}
} }
} }
// Fonction de mise à jour de l'odométrie
void ModelecOdometryUpdate() {
// Lire les compteurs des encodeurs
int32_t pos_right = __HAL_TIM_GET_COUNTER(&htim2);
int32_t pos_left = __HAL_TIM_GET_COUNTER(&htim21);
// Debug
char msg[128];
sprintf(msg, "Encodeur droit %ld.\r\n", pos_right);
sprintf(msg, "Encodeur gauche %ld.\r\n", pos_left);
HAL_UART_Transmit(&huart2, (uint8_t *)msg, strlen(msg), HAL_MAX_DELAY);
// Calcul des variations d’impulsions
int32_t deltaP_right = pos_right - last_pos_right;
int32_t deltaP_left = pos_left - last_pos_left;
// Gestion du débordement du compteur
if (deltaP_right > MAX_COUNT / 2) deltaP_right -= MAX_COUNT;
if (deltaP_right < -MAX_COUNT / 2) deltaP_right += MAX_COUNT;
if (deltaP_left > MAX_COUNT / 2) deltaP_left -= MAX_COUNT;
if (deltaP_left < -MAX_COUNT / 2) deltaP_left += MAX_COUNT;
// Convertir en distances parcourues
float deltaS_right = (deltaP_right / (float)(N * 4)) * M_PI * WHEEL_DIAMETER;
float deltaS_left = (deltaP_left / (float)(N * 4)) * M_PI * WHEEL_DIAMETER;
// Calcul de la distance totale et du changement d’angle
float deltaS = (deltaS_right + deltaS_left) / 2.0;
float deltaTheta = (deltaS_right - deltaS_left) / WHEEL_BASE;
// Mise à jour de la position
X += deltaS * cos(theta + deltaTheta / 2.0);
Y += deltaS * sin(theta + deltaTheta / 2.0);
theta += deltaTheta;
// Conserver les valeurs actuelles pour la prochaine itération
last_pos_right = pos_right;
last_pos_left = pos_left;
}
} }

33
Core/Src/motors.cpp
View File

@@ -17,33 +17,25 @@ void Motor::reculer(int speed) {
isAccelerating = false; isAccelerating = false;
} }
void Motor::ralentir() {
targetSpeed = 0;
isAccelerating = true;
isReversing = false;
}
void Motor::ralentirEnvers() {
targetSpeed = 0;
isReversing = true;
isAccelerating = false;
}
void Motor::stop() { void Motor::stop() {
currentSpeed = 0;
targetSpeed = 0; targetSpeed = 0;
isAccelerating = false;
isReversing = false;
} }
void Motor::update() { void Motor::update() {
// Gestion de l'accélération/décélération // Gestion de l'accélération/décélération
if (isAccelerating && currentSpeed < targetSpeed) { if (isAccelerating && currentSpeed < targetSpeed) {
currentSpeed++; currentSpeed++;
} else if (isReversing && currentSpeed > -targetSpeed) { } else if (isReversing && currentSpeed > -targetSpeed) {
currentSpeed--; currentSpeed--;
} else if (!isAccelerating && !isReversing && currentSpeed > targetSpeed) { } else if (currentSpeed > targetSpeed) {
currentSpeed--; if(currentSpeed - 25 >= 0) {
//Ralentir rapidement
currentSpeed-=25;
}
else {
currentSpeed--;
}
} }
// Mise à jour des registres du timer // Mise à jour des registres du timer
@@ -51,17 +43,10 @@ void Motor::update() {
//2 et 3 avance //2 et 3 avance
tim->CCR2 = currentSpeed; tim->CCR2 = currentSpeed;
tim->CCR3 = currentSpeed; tim->CCR3 = currentSpeed;
} else if (isReversing) { } else if (isReversing) {
// 1 et 4 recule // 1 et 4 recule
tim->CCR1 = currentSpeed; tim->CCR1 = currentSpeed;
tim->CCR4 = currentSpeed; tim->CCR4 = currentSpeed;
} }
// Arrêt si vitesse cible atteinte
if (currentSpeed == targetSpeed) {
isAccelerating = false;
isReversing = false;
}
} }

8
Core/Src/tim.c
View File

@@ -206,8 +206,8 @@ void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* tim_encoderHandle)
*/ */
GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1; GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM2; GPIO_InitStruct.Alternate = GPIO_AF2_TIM2;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
@@ -230,8 +230,8 @@ void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* tim_encoderHandle)
*/ */
GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_14; GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_14;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF6_TIM21; GPIO_InitStruct.Alternate = GPIO_AF6_TIM21;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);