modelec/actionneurs_STM32
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remove the "servo pos" system + angles are now float (not good but don't give a fuck)

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This commit is contained in:
acki
2025-12-11 23:21:45 +01:00
parent 4088cb9050
commit 45a48fe2ef
3 changed files with 19 additions and 60 deletions
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9
Core/Inc/actio.h
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@@ -22,8 +22,8 @@ typedef struct Actionneurs {
bool etatLedArmement; bool etatLedArmement;
bool enJeu; bool enJeu;
uint16_t armementTirette; uint16_t armementTirette;
uint16_t positionServo[NOMBRE_SERVOS]; uint16_t angleServo[NOMBRE_SERVOS];
uint16_t valeursPositionsServos[NOMBRE_SERVOS][NOMBRE_POSITIONS_SERVOS]; // uint16_t valeursPositionsServos[NOMBRE_SERVOS][NOMBRE_POSITIONS_SERVOS];
uint16_t positionAscenseur; uint16_t positionAscenseur;
uint16_t valeursPositionsAscenseur[NOMBRE_POSITIONS_ASC]; uint16_t valeursPositionsAscenseur[NOMBRE_POSITIONS_ASC];
GPIO_TypeDef * relayPorts[NOMBRE_RELAIS]; GPIO_TypeDef * relayPorts[NOMBRE_RELAIS];
@@ -31,16 +31,15 @@ typedef struct Actionneurs {
} Actionneurs; } Actionneurs;
void initActionneurs(); void initActionneurs();
void setServoPosValue(uint16_t servoNum, uint16_t posNum, uint16_t val);
void setAscPosValue(uint16_t posNum, uint16_t val); void setAscPosValue(uint16_t posNum, uint16_t val);
void PCA9685_ContinuousServoRun(uint8_t Channel); void PCA9685_ContinuousServoRun(uint8_t Channel);
void PCA9685_ContinuousServoStop(uint8_t Channel); void PCA9685_ContinuousServoStop(uint8_t Channel);
void PCA9685_LEDOn(uint8_t Channel); void PCA9685_LEDOn(uint8_t Channel);
void PCA9685_LEDOff(uint8_t Channel); void PCA9685_LEDOff(uint8_t Channel);
uint16_t getServoPos(uint16_t servoNum); float getServoAngle(uint16_t servoNum);
uint16_t getRelayState(uint16_t relayNum); uint16_t getRelayState(uint16_t relayNum);
uint16_t getAscPos(); uint16_t getAscPos();
void moveServo(uint16_t servoNum, uint16_t posNum); void moveServo(uint16_t servoNum, float angle);
void moveRelay(uint16_t relayNum, uint16_t state); void moveRelay(uint16_t relayNum, uint16_t state);
void moveAsc(uint16_t posNum); void moveAsc(uint16_t posNum);
void armTirette(); void armTirette();

19
Core/Src/actio.c
View File

@@ -182,10 +182,7 @@ void initActionneurs(){
act.armementTirette = 0; act.armementTirette = 0;
act.enJeu = 0; act.enJeu = 0;
for(uint16_t servoId = 0; servoId < NOMBRE_SERVOS; servoId++){ for(uint16_t servoId = 0; servoId < NOMBRE_SERVOS; servoId++){
act.positionServo[servoId] = 0; act.angleServo[servoId] = 0;
for(uint16_t posId = 0; posId < NOMBRE_POSITIONS_SERVOS; posId++){
act.valeursPositionsServos[servoId][posId] = 0;
}
} }
act.positionAscenseur = 0; act.positionAscenseur = 0;
for(uint16_t posId = 0; posId < NOMBRE_POSITIONS_ASC; posId++){ for(uint16_t posId = 0; posId < NOMBRE_POSITIONS_ASC; posId++){
@@ -199,16 +196,16 @@ void initActionneurs(){
act.relayPortsNumbers[2] = RELAY_3_PIN; act.relayPortsNumbers[2] = RELAY_3_PIN;
} }
void setServoPosValue(uint16_t servoNum, uint16_t posNum, uint16_t val){ /*void setServoPosValue(uint16_t servoNum, uint16_t posNum, uint16_t val){
act.valeursPositionsServos[servoNum][posNum] = val; act.valeursPositionsServos[servoNum][posNum] = val;
} }*/
void setAscPosValue(uint16_t posNum, uint16_t val){ void setAscPosValue(uint16_t posNum, uint16_t val){
act.valeursPositionsAscenseur[posNum] = val; act.valeursPositionsAscenseur[posNum] = val;
} }
uint16_t getServoPos(uint16_t servoNum){ float getServoAngle(uint16_t servoNum){
return act.positionServo[servoNum]; return act.angleServo[servoNum];
} }
uint16_t getRelayState(uint16_t relayNum) uint16_t getRelayState(uint16_t relayNum)
@@ -220,9 +217,9 @@ uint16_t getAscPos(){
return act.positionAscenseur; return act.positionAscenseur;
} }
void moveServo(uint16_t servoNum, uint16_t posNum){ void moveServo(uint16_t servoNum, float angle){
PCA9685_SetServoAngle(servoNum, act.valeursPositionsServos[servoNum][posNum]); PCA9685_SetServoAngle(servoNum, angle);
act.positionServo[servoNum] = posNum; act.angleServo[servoNum] = angle;
} }
void moveRelay(uint16_t relayNum, uint16_t state){ void moveRelay(uint16_t relayNum, uint16_t state){

51
Core/Src/comm.c
View File

@@ -94,10 +94,10 @@ void USBProtocol_ProcessCommand(char *cmd) {
break; break;
} }
int servoId = atoi(servoIdStr); int servoId = atoi(servoIdStr);
int pos = getServoPos(servoId); float angle = getServoAngle(servoId);
/* append \";id;pos\" for each servo, check remaining buffer */ /* append \";id;pos\" for each servo, check remaining buffer */
int wrote = snprintf(response + off, sizeof(response) - off, ";%d;%d", servoId, pos); int wrote = snprintf(response + off, sizeof(response) - off, ";%d;%.4f", servoId, angle);
if (wrote < 0 || (size_t)wrote >= sizeof(response) - off) { if (wrote < 0 || (size_t)wrote >= sizeof(response) - off) {
success = 0; success = 0;
break; break;
@@ -176,43 +176,6 @@ void USBProtocol_ProcessCommand(char *cmd) {
} }
sprintf(response, "%s;%s;%s;%d\n", success ? "OK" : "KO", arg1, arg2, val); sprintf(response, "%s;%s;%s;%d\n", success ? "OK" : "KO", arg1, arg2, val);
CDC_Transmit_FS((uint8_t*)response, strlen(response)); CDC_Transmit_FS((uint8_t*)response, strlen(response));
} else if (strcmp(arg1, "SERVO") == 0 && strcmp(arg2, "POS") == 0){
int n = atoi(arg3);
size_t off = 0;
off += snprintf(response + off, sizeof(response) - off, "%s;%s;%s;%d", "OK", arg1, arg2, n);
for (int i = 0; i < n; ++i) {
char *servoIdStr = strtok(NULL, ";");
char *posStr = strtok(NULL, ";");
char *angleStr = strtok(NULL, ";");
if (!servoIdStr || !posStr || !angleStr) {
success = 0;
break;
}
int servoId = atoi(servoIdStr);
int pos = atoi(posStr);
int angle = atoi(angleStr);
setServoPosValue(servoId, pos, angle);
int wrote = snprintf(response + off, sizeof(response) - off, ";%d;%d", servoId, pos);
if (wrote < 0 || (size_t)wrote >= sizeof(response) - off) {
success = 0;
break;
}
off += wrote;
}
if (!success) {
snprintf(response, sizeof(response), "KO;%s;%s\n", arg1, arg2);
} else {
if (off < sizeof(response) - 1) {
response[off++] = '\n';
response[off] = '\0';
} else {
response[sizeof(response) - 1] = '\0';
}
}
CDC_Transmit_FS((uint8_t*)response, strlen(response));
} }
} else if (strcmp(type, "MOV") == 0) { } else if (strcmp(type, "MOV") == 0) {
int success = 1; int success = 1;
@@ -223,16 +186,16 @@ void USBProtocol_ProcessCommand(char *cmd) {
for (int i = 0; i < n; ++i) { for (int i = 0; i < n; ++i) {
char *servoIdStr = strtok(NULL, ";"); char *servoIdStr = strtok(NULL, ";");
char *posStr = strtok(NULL, ";"); char *angleStr = strtok(NULL, ";");
if (!servoIdStr || !posStr) { if (!servoIdStr || !angleStr) {
success = 0; success = 0;
break; break;
} }
int servoId = atoi(servoIdStr); int servoId = atoi(servoIdStr);
int pos = atoi(posStr); float angle = atof(angleStr);
moveServo(servoId, pos); moveServo(servoId, angle);
int wrote = snprintf(response + off, sizeof(response) - off, ";%d;%d", servoId, pos); int wrote = snprintf(response + off, sizeof(response) - off, ";%d;%.4f", servoId, angle);
if (wrote < 0 || (size_t)wrote >= sizeof(response) - off) { if (wrote < 0 || (size_t)wrote >= sizeof(response) - off) {
success = 0; success = 0;
break; break;