From 9167637101caf21fc6121e84d50282ca91412dda Mon Sep 17 00:00:00 2001
From: dd060606 <dd06.developpement@gmail.com>
Date: Sat, 24 May 2025 15:56:33 +0200
Subject: [PATCH] ajout capteur distance du sol

---
 .vscode/settings.json |  6 ++++++
 diagram.json          | 30 +++++++++++++++++++++++++++---
 include/main.h        | 33 ++++++++++++++++++++++++++-------
 src/main.cpp          | 32 ++++++++++++++++++++++++++------
 4 files changed, 85 insertions(+), 16 deletions(-)
 create mode 100644 .vscode/settings.json

diff --git a/.vscode/settings.json b/.vscode/settings.json
new file mode 100644
index 0000000..b9fab17
--- /dev/null
+++ b/.vscode/settings.json
@@ -0,0 +1,6 @@
+{
+	"cmake.sourceDirectory": "D:/Electronique/ESP32/PAMI-2025/lib/bluepad32/src",
+	"files.associations": {
+		"iterator": "cpp"
+	}
+}
diff --git a/diagram.json b/diagram.json
index 8da3cde..0cf7fdd 100644
--- a/diagram.json
+++ b/diagram.json
@@ -6,8 +6,8 @@
 		{
 			"type": "board-esp32-devkit-c-v4",
 			"id": "esp",
-			"top": 180.74,
-			"left": -265.1,
+			"top": 171.14,
+			"left": -274.7,
 			"rotate": 90,
 			"attrs": {}
 		},
@@ -47,6 +47,28 @@
 			"top": 203.1,
 			"left": -71.3,
 			"attrs": {}
+		},
+		{
+			"type": "wokwi-text",
+			"id": "text1",
+			"top": 163.2,
+			"left": -19.2,
+			"attrs": { "text": "Obstacles" }
+		},
+		{
+			"type": "wokwi-hc-sr04",
+			"id": "ultrasonic2",
+			"top": 470.9,
+			"left": -357.9,
+			"rotate": 180,
+			"attrs": {}
+		},
+		{
+			"type": "wokwi-text",
+			"id": "text2",
+			"top": 508.8,
+			"left": -182.4,
+			"attrs": { "text": "Capteur de chutes" }
 		}
 	],
 	"connections": [
@@ -69,7 +91,9 @@
 		["esp:16", "drv1:DIR", "blue", ["v9.6", "h144"]],
 		["esp:4", "drv3:DIR", "blue", ["v19.2", "h-57.6", "v-201.6"]],
 		["ultrasonic1:TRIG", "esp:18", "violet", ["v76.8", "h-221.2"]],
-		["ultrasonic1:ECHO", "esp:5", "violet", ["v86.4", "h-240.8"]]
+		["ultrasonic1:ECHO", "esp:5", "violet", ["v86.4", "h-240.8"]],
+		["esp:15", "ultrasonic2:ECHO", "cyan", ["v0"]],
+		["esp:17", "ultrasonic2:TRIG", "cyan", ["v115.2", "h-38.4"]]
 	],
 	"dependencies": {}
 }
diff --git a/include/main.h b/include/main.h
index 8762cff..5eb31de 100644
--- a/include/main.h
+++ b/include/main.h
@@ -14,16 +14,31 @@ enum Direction
 #define TX_PIN 17
 #define RX_PIN 16
 
-/* Réel */
+// PINs réels
+#ifndef SIMULATOR
+
+// Moteur 1 - Gauche
 #define M1_DIR_PIN 18
 #define M1_STEP_PIN 22
 #define M1_ENABLE_PIN 32
 
+// Moteur 2 - Droite
 #define M2_DIR_PIN 19
 #define M2_STEP_PIN 23
 #define M2_ENABLE_PIN 26
 
-/* Simulateur
+// Capteur à ultrasons
+#define TRIG_PIN 14
+#define ECHO_PIN 15
+
+// Capteur de chute
+#define FALL_TRIG_PIN 12
+#define FALL_ECHO_PIN 13
+
+#endif
+
+// PINs pour le simulateur
+#ifdef SIMULATOR
 
 // Moteur 1 - Gauche
 #define M1_DIR_PIN 4
@@ -35,7 +50,15 @@ enum Direction
 #define M2_STEP_PIN 32
 #define M2_ENABLE_PIN 27
 
-*/
+// Capteur à ultrasons
+#define TRIG_PIN 18
+#define ECHO_PIN 5
+
+// Capteur de chute
+#define FALL_TRIG_PIN 17
+#define FALL_ECHO_PIN 15
+
+#endif
 
 // Paramètres moteurs
 #define R_SENSE 0.11f
@@ -44,10 +67,6 @@ enum Direction
 #define DRIVER1_ADDR 0b00
 #define DRIVER2_ADDR 0b01
 
-// Capteur à ultrasons
-#define TRIG_PIN 18
-#define ECHO_PIN 5
-
 // Constantes pour les roues
 #define WHEEL_DIAMETER 5.5     // cm
 #define STEPS_PER_REV 200 * 16 // microsteps
diff --git a/src/main.cpp b/src/main.cpp
index 775480f..60b3178 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -1,6 +1,7 @@
 #include <Arduino.h>
 #include <TMCStepper.h>
 
+#define SIMULATOR // Commenter cette ligne pour utiliser le matériel réel
 // Définitions des constantes dans main.h
 #include "main.h"
 
@@ -129,18 +130,31 @@ const int obstacleCheckInterval = 100; // ms between distance checks
 unsigned long lastObstacleCheckTime = 0;
 const int obstacleThresholdCM = 20; // stop if closer than 20 cm
 
-long readDistanceCM()
+long readDistanceCM(uint8_t trigPin, uint8_t echoPin)
 {
-  digitalWrite(TRIG_PIN, LOW);
+  digitalWrite(trigPin, LOW);
   delayMicroseconds(2);
-  digitalWrite(TRIG_PIN, HIGH);
+  digitalWrite(trigPin, HIGH);
   delayMicroseconds(10);
-  digitalWrite(TRIG_PIN, LOW);
-  long duration = pulseIn(ECHO_PIN, HIGH, 20000); // timeout 20 ms
+  digitalWrite(trigPin, LOW);
+  long duration = pulseIn(echoPin, HIGH, 20000); // timeout 20 ms
   long distance = duration * 0.034 / 2;
   return distance;
 }
 
+// Vérification de la distance du sol pour éviter les chutes
+void checkFall()
+{
+  long fallDistance = readDistanceCM(FALL_TRIG_PIN, FALL_ECHO_PIN);
+  // On a fini notre chemin si on arrive en bout de table (détection de distance du sol si plus de 5 cm)
+  if (fallDistance > 5.0 && movementInProgress)
+  {
+    stopMotors();
+    movementInProgress = false;
+    Serial.println("Bout de table détecté : Arrêt");
+  }
+}
+
 void detectObstacles()
 {
   // On vérifie les obstacles
@@ -149,13 +163,16 @@ void detectObstacles()
   {
     lastObstacleCheckTime = now;
 
+    // On regarde la distance du sol
+    checkFall();
+
     // Si le robot tourne sur lui-même, on ne vérifie pas les obstacles
     if (lastDirection == RIGHT || lastDirection == LEFT)
     {
       return;
     }
 
-    long distance = readDistanceCM();
+    long distance = readDistanceCM(TRIG_PIN, ECHO_PIN);
 
     if (distance > 0 && distance < obstacleThresholdCM)
     {
@@ -203,6 +220,9 @@ void setup()
   // Capteur à ultrasons
   pinMode(TRIG_PIN, OUTPUT);
   pinMode(ECHO_PIN, INPUT);
+  // Capteur de chute
+  pinMode(FALL_TRIG_PIN, OUTPUT);
+  pinMode(FALL_ECHO_PIN, INPUT);
 
   digitalWrite(M1_ENABLE_PIN, LOW);
   digitalWrite(M2_ENABLE_PIN, LOW);