mirror of
https://github.com/modelec/PAMI-2025.git
synced 2026-01-18 16:27:30 +01:00
Ajout de la configuration du projet, des fichiers de wowki ainsi que le contrôle des moteurs pas à pas.
This commit is contained in:
dd060606
37
.gitignore
vendored
37
.gitignore
vendored
@@ -1,32 +1,5 @@
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# Prerequisites
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*.d
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# Compiled Object files
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*.slo
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*.lo
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*.o
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*.obj
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# Precompiled Headers
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*.gch
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*.pch
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# Compiled Dynamic libraries
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*.so
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*.dylib
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*.dll
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# Fortran module files
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*.mod
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*.smod
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# Compiled Static libraries
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*.lai
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*.la
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*.a
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*.lib
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# Executables
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*.exe
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*.out
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*.app
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.pio
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.vscode/.browse.c_cpp.db*
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.vscode/c_cpp_properties.json
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.vscode/launch.json
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.vscode/ipch
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10
.vscode/extensions.json
vendored
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10
.vscode/extensions.json
vendored
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{
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// See http://go.microsoft.com/fwlink/?LinkId=827846
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// for the documentation about the extensions.json format
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"recommendations": [
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"platformio.platformio-ide"
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],
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"unwantedRecommendations": [
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"ms-vscode.cpptools-extension-pack"
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]
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}
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89
diagram.json
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89
diagram.json
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{
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"version": 1,
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"author": "Anonymous maker",
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"editor": "wokwi",
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"parts": [
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{
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"type": "board-esp32-devkit-c-v4",
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"id": "esp",
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"top": 180.74,
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"left": -265.1,
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"rotate": 90,
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"attrs": {}
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},
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{
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"type": "wokwi-a4988",
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"id": "drv1",
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"top": 91.4,
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"left": -206,
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"rotate": 270,
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"attrs": {}
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},
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{
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"type": "wokwi-stepper-motor",
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"id": "stepper1",
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"top": -140.39,
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"left": -258.77,
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"attrs": { "size": "17" }
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},
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{
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"type": "wokwi-a4988",
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"id": "drv2",
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"top": 91.4,
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"left": -33.2,
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"rotate": 270,
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"attrs": {}
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},
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{
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"type": "wokwi-stepper-motor",
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"id": "stepper2",
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"top": -140.39,
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"left": -85.97,
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"attrs": { "size": "17" }
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},
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{
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"type": "wokwi-a4988",
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"id": "drv3",
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"top": 91.4,
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"left": -378.8,
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"rotate": 270,
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"attrs": {}
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},
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{
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"type": "wokwi-stepper-motor",
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"id": "stepper3",
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"top": -140.39,
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"left": -431.57,
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"attrs": { "size": "17" }
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}
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],
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"connections": [
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["esp:TX", "$serialMonitor:RX", "", []],
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["esp:RX", "$serialMonitor:TX", "", []],
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["drv1:1B", "stepper1:B-", "green", ["v0"]],
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["drv1:1A", "stepper1:B+", "green", ["v0"]],
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["drv1:2A", "stepper1:A+", "green", ["v0"]],
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["drv1:2B", "stepper1:A-", "green", ["v0"]],
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["drv2:1B", "stepper2:B-", "green", ["v0"]],
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["drv2:1A", "stepper2:B+", "green", ["v0"]],
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["drv2:2A", "stepper2:A+", "green", ["v0"]],
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["drv2:2B", "stepper2:A-", "green", ["v0"]],
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["drv3:1B", "stepper3:B-", "green", ["v0"]],
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["drv3:1A", "stepper3:B+", "green", ["v0"]],
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["drv3:2A", "stepper3:A+", "green", ["v0"]],
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["drv3:2B", "stepper3:A-", "green", ["v0"]],
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["drv3:STEP", "esp:33", "gold", ["v28.8", "h86.4"]],
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["drv1:STEP", "esp:32", "gold", ["v28.8", "h-38.4"]],
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["drv1:SLEEP", "drv1:RESET", "green", ["v9.6", "h-9.6", "v9.6"]],
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["drv2:RESET", "drv2:SLEEP", "green", ["v9.6", "h9.6"]],
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["drv3:RESET", "drv3:SLEEP", "green", ["v9.6", "h9.6"]],
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["esp:14", "drv3:ENABLE", "green", ["v-19.05", "h-124.8"]],
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["esp:27", "drv1:ENABLE", "green", ["v0"]],
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["esp:26", "drv2:ENABLE", "green", ["v-28.65", "h144"]],
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["esp:16", "drv1:DIR", "blue", ["v9.6", "h144"]],
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["esp:4", "drv3:DIR", "blue", ["v19.2", "h-57.6", "v-201.6"]],
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["drv2:DIR", "esp:2", "blue", ["v211.2", "h-288"]],
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["drv2:STEP", "esp:13", "gold", ["v76.8", "h-105.6"]]
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],
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"dependencies": {}
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}
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37
include/README
Normal file
37
include/README
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This directory is intended for project header files.
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A header file is a file containing C declarations and macro definitions
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to be shared between several project source files. You request the use of a
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header file in your project source file (C, C++, etc) located in `src` folder
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by including it, with the C preprocessing directive `#include'.
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```src/main.c
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#include "header.h"
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int main (void)
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{
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...
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}
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```
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Including a header file produces the same results as copying the header file
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into each source file that needs it. Such copying would be time-consuming
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and error-prone. With a header file, the related declarations appear
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in only one place. If they need to be changed, they can be changed in one
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place, and programs that include the header file will automatically use the
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new version when next recompiled. The header file eliminates the labor of
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finding and changing all the copies as well as the risk that a failure to
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find one copy will result in inconsistencies within a program.
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In C, the convention is to give header files names that end with `.h'.
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Read more about using header files in official GCC documentation:
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* Include Syntax
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* Include Operation
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* Once-Only Headers
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* Computed Includes
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https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html
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46
lib/README
Normal file
46
lib/README
Normal file
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This directory is intended for project specific (private) libraries.
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PlatformIO will compile them to static libraries and link into the executable file.
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The source code of each library should be placed in a separate directory
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("lib/your_library_name/[Code]").
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For example, see the structure of the following example libraries `Foo` and `Bar`:
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|--lib
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| |
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| |--Bar
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| | |--docs
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| | |--examples
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| | |--src
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| | |- Bar.c
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| | |- Bar.h
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| | |- library.json (optional. for custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
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| |
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| |--Foo
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| | |- Foo.c
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| | |- Foo.h
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| |
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| |- README --> THIS FILE
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|- platformio.ini
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|--src
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|- main.c
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Example contents of `src/main.c` using Foo and Bar:
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```
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#include <Foo.h>
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#include <Bar.h>
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int main (void)
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{
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...
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}
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```
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The PlatformIO Library Dependency Finder will find automatically dependent
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libraries by scanning project source files.
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More information about PlatformIO Library Dependency Finder
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- https://docs.platformio.org/page/librarymanager/ldf.html
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15
platformio.ini
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15
platformio.ini
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; PlatformIO Project Configuration File
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;
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; Build options: build flags, source filter
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; Upload options: custom upload port, speed and extra flags
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; Library options: dependencies, extra library storages
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; Advanced options: extra scripting
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;
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; Please visit documentation for the other options and examples
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; https://docs.platformio.org/page/projectconf.html
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[env:esp32dev]
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platform = espressif32
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board = esp32dev
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framework = arduino
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lib_deps = teemuatlut/TMCStepper@^0.7.3
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92
src/main.cpp
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92
src/main.cpp
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#include <Arduino.h>
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#include <TMCStepper.h>
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// Courant max moteur (en mA)
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#define R_SENSE 0.11f // Valeur typique pour TMC2209
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#define CURRENT 800 // Courant RMS souhaité
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// UART
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#define TX_PIN1 17
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#define RX_PIN1 16
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// Moteur 1
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#define DIR_PIN1 4
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#define STEP_PIN1 33
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// Moteur 2
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#define DIR_PIN2 16
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#define STEP_PIN2 32
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// Moteur 3
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#define DIR_PIN3 2
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#define STEP_PIN3 13
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// Instances TMC2209
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TMC2209Stepper driver1(&Serial1, R_SENSE, 0b00);
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TMC2209Stepper driver2(&Serial1, R_SENSE, 0b01);
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TMC2209Stepper driver3(&Serial1, R_SENSE, 0b10);
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void setup()
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{
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Serial.begin(115200);
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Serial1.begin(115200, SERIAL_8N1, RX_PIN1, TX_PIN1);
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pinMode(STEP_PIN1, OUTPUT);
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pinMode(DIR_PIN1, OUTPUT);
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pinMode(STEP_PIN2, OUTPUT);
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pinMode(DIR_PIN2, OUTPUT);
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pinMode(STEP_PIN3, OUTPUT);
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pinMode(DIR_PIN3, OUTPUT);
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// Initialisation des drivers
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driver1.begin();
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driver1.rms_current(CURRENT);
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driver1.microsteps(16);
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driver1.en_spreadCycle(false); // Utilise StealthChop
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driver1.pdn_disable(true); // UART uniquement
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driver2.begin();
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driver2.rms_current(CURRENT);
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driver2.microsteps(16);
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driver2.en_spreadCycle(false);
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driver2.pdn_disable(true);
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driver3.begin();
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driver3.rms_current(CURRENT);
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driver3.microsteps(16);
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driver3.en_spreadCycle(false);
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driver3.pdn_disable(true);
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Serial.println("Drivers initialisés.");
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}
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void stepMotor(int stepPin, int dirPin, bool direction, int steps, int delay_us)
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{
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digitalWrite(dirPin, direction);
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for (int i = 0; i < steps; i++)
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{
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digitalWrite(stepPin, HIGH);
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delayMicroseconds(delay_us);
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digitalWrite(stepPin, LOW);
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delayMicroseconds(delay_us);
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}
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}
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void loop()
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{
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// Exemple : chaque moteur fait 200 pas dans un sens, puis dans l'autre
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stepMotor(STEP_PIN1, DIR_PIN1, true, 200, 1000);
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delay(500);
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stepMotor(STEP_PIN1, DIR_PIN1, false, 200, 1000);
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stepMotor(STEP_PIN2, DIR_PIN2, true, 200, 1000);
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delay(500);
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stepMotor(STEP_PIN2, DIR_PIN2, false, 200, 1000);
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stepMotor(STEP_PIN3, DIR_PIN3, true, 200, 1000);
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delay(500);
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stepMotor(STEP_PIN3, DIR_PIN3, false, 200, 1000);
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delay(2000);
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}
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11
test/README
Normal file
11
test/README
Normal file
@@ -0,0 +1,11 @@
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This directory is intended for PlatformIO Test Runner and project tests.
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Unit Testing is a software testing method by which individual units of
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source code, sets of one or more MCU program modules together with associated
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control data, usage procedures, and operating procedures, are tested to
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determine whether they are fit for use. Unit testing finds problems early
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in the development cycle.
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More information about PlatformIO Unit Testing:
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- https://docs.platformio.org/en/latest/advanced/unit-testing/index.html
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4
wokwi.toml
Normal file
4
wokwi.toml
Normal file
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[wokwi]
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version = 1
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firmware = '.pio/build/esp32dev/firmware.bin'
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elf = '.pio/build/esp32dev/firmware.bin'
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Reference in New Issue
Block a user