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INIT PAMI 2026

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This commit is contained in:
Florent
2026-03-07 12:27:25 +01:00
parent 5789b3179f
commit ccc9c03168
7 changed files with 167 additions and 248 deletions
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39
src/utils.cpp
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@@ -2,35 +2,40 @@
#include "utils.h"
#include "main.h"
void enableDrivers()
{
void enableMotorDrivers() {
digitalWrite(M1_ENABLE_PIN, LOW); // LOW pour activer le driver
digitalWrite(M2_ENABLE_PIN, LOW);
}
void disableDrivers()
{
void disableDrivers() {
digitalWrite(M1_ENABLE_PIN, HIGH);
digitalWrite(M2_ENABLE_PIN, HIGH);
}
int getStepsForDistance(float cm)
{
double wheel_circumference_cm = M_PI * (double)WHEEL_DIAMETER;
double steps_per_cm = ((double)STEPS_PER_REV * (double)MICROSTEPPING) / wheel_circumference_cm;
int total_steps = (int)round(cm * steps_per_cm);
int correction = (int)round(1.5 * steps_per_cm);
int getStepsForDistance(float cm) {
double wheel_circumference_cm = M_PI * (double) WHEEL_DIAMETER;
double steps_per_cm = ((double) STEPS_PER_REV * (double) MICROSTEPPING) / wheel_circumference_cm;
int total_steps = (int) round(cm * steps_per_cm);
int correction = (int) round(1.5 * steps_per_cm);
return total_steps - correction;
// return cm * 740; // Valeur calculée à la main pour une vitesse de 5000 :)
}
int getRotationSteps(float angleDeg)
{
double wheelTurnPerRotation = (double)WHEEL_BASE / (double)WHEEL_DIAMETER;
double microStepsPerRotation = wheelTurnPerRotation * (double)STEPS_PER_REV * (double)MICROSTEPPING;
int getRotationSteps(float angleDeg) {
double wheelTurnPerRotation = (double) WHEEL_BASE / (double) WHEEL_DIAMETER;
double microStepsPerRotation = wheelTurnPerRotation * (double) STEPS_PER_REV * (double) MICROSTEPPING;
double microStepsForAngle = microStepsPerRotation * (angleDeg / 360.0);
return (int)round(microStepsForAngle);
}
return (int) round(microStepsForAngle);
}
void setServoAngle(int angle, int channel) {
int value = map(angle, 0, 180, 544, 2400);
// Serial.print("Servo angle: ");
// Serial.println(value);
if (value < 544) value = 544;
if (value > 2400) value = 2400;
int duty = value * 65535 / 20000;
ledcWrite(channel, duty);
}