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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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26
src/utils.cpp
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@@ -1,6 +1,6 @@
#include "main.h"
#include "utils.h"
#include <Arduino.h>
#include "utils.h"
#include "main.h"
void enableDrivers()
{
@@ -16,9 +16,21 @@ void disableDrivers()
int getStepsForDistance(float cm)
{
/*
float circumference = 3.1416 * WHEEL_DIAMETER;
float steps_per_cm = (STEPS_PER_REV * 16) / circumference;
*/
return cm * 740; // Valeur calculée à la main pour une vitesse de 5000 :)
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;
double microStepsForAngle = microStepsPerRotation * (angleDeg / 360.0);
return (int)round(microStepsForAngle);
}