modelec/PAMI-2025
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ajout de constantes avec #define

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dd060606
2025-05-15 13:52:34 +02:00
parent d63238751e
commit 2a2b093bb5
2 changed files with 12 additions and 6 deletions
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5
include/main.h
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@@ -35,4 +35,9 @@ enum Direction
#define TRIG_PIN 18 #define TRIG_PIN 18
#define ECHO_PIN 5 #define ECHO_PIN 5
// Constantes pour les roues
#define WHEEL_DIAMETER 5.5 // cm
#define STEPS_PER_REV 200 * 16 // microsteps
#define WHEEL_BASE 7.2 // cm
#endif // MAIN_H #endif // MAIN_H

13
src/main.cpp
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@@ -1,5 +1,7 @@
#include <Arduino.h> #include <Arduino.h>
#include <TMCStepper.h> #include <TMCStepper.h>
// Définitions des constantes dans main.h
#include "main.h" #include "main.h"
// UART (bus unique) // UART (bus unique)
@@ -52,17 +54,15 @@ void moveAsyncSteps(int32_t steps, int32_t speed, bool forwardDir)
movementInProgress = true; movementInProgress = true;
lastDirection = forwardDir ? FORWARD : BACKWARD; lastDirection = forwardDir ? FORWARD : BACKWARD;
} }
void rotateAsync(float angleDeg, int32_t speed, bool toRight) void rotateAsync(float angleDeg, int32_t speed, bool toRight)
{ {
// Informations sur les roues // Informations sur les roues
const float wheelBase = 10.0; // cm const float wheelCirc = PI * WHEEL_DIAMETER;
const float wheelDiameter = 6.0; // cm
const int stepsPerRev = 200 * 16; // microsteps
const float wheelCirc = PI * wheelDiameter;
float rotationCirc = PI * wheelBase; float rotationCirc = PI * WHEEL_BASE;
float distPerWheel = (angleDeg / 360.0) * rotationCirc; float distPerWheel = (angleDeg / 360.0) * rotationCirc;
int32_t steps = (distPerWheel / wheelCirc) * stepsPerRev; int32_t steps = (distPerWheel / wheelCirc) * STEPS_PER_REV;
// Le nombre de pas à faire // Le nombre de pas à faire
steps_target = steps; steps_target = steps;
@@ -212,6 +212,7 @@ void setup()
stopMotors(); stopMotors();
moveAsyncSteps(500, 200, false); moveAsyncSteps(500, 200, false);
// rotateAsync(90, 200, true);
Serial.println("Setup complete"); Serial.println("Setup complete");
} }