modelec/PAMI-2025
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centimètres vers pas pour rotation et mouvement rectiligne

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This commit is contained in:
dd060606
2025-05-28 16:56:01 +02:00
parent e50d4b55da
commit f9401174c4
4 changed files with 39 additions and 26 deletions
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15
include/main.h
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@@ -31,9 +31,9 @@ struct Step
#ifndef SIMULATOR
// Moteur 1 - Gauche
#define M1_DIR_PIN 18
#define M1_STEP_PIN 22
#define M1_ENABLE_PIN 32
#define M1_DIR_PIN 19
#define M1_STEP_PIN 23
#define M1_ENABLE_PIN 26
// Moteur 2 - Droite
#define M2_DIR_PIN 21
@@ -81,9 +81,10 @@ struct Step
#define DRIVER1_ADDR 0b01
#define DRIVER2_ADDR 0b10
// Constantes pour les roues
#define WHEEL_DIAMETER 5.5 // cm
#define STEPS_PER_REV 200 * 16 // microsteps
#define WHEEL_BASE 7.2 // cm
// Constantes
#define WHEEL_DIAMETER 5.5 // cm
#define WHEEL_BASE 7.2 // cm
#define STEPS_PER_REV 200.0
#define MICROSTEPPING 8.0
#endif // MAIN_H

1
include/utils.h
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@@ -5,5 +5,6 @@ void enableDrivers();
void disableDrivers();
int getStepsForDistance(float cm);
int getRotationSteps(float angleDeg);
#endif // UTILS_H