modelec/controle-moteurs
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Update inputs / outputs

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Change angle inputs from degrees to hundredth of a rad
Always output the pos + ":1" if waiting for input and ":0" if busy
This commit is contained in:
enchantuer
2024-04-11 19:09:40 +02:00
committed by GitHub
parent b484ecc11a
commit 2a6c1e539c
1 changed files with 19 additions and 37 deletions
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56
asservissement/asservissement.ino
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@@ -145,7 +145,7 @@ void setup() {
| _BV(CS40); // prescaler = 1
ICR4 = 320; // TOP = 320
Serial.begin(115200); //Init the Serial baudrate
Serial.begin(9600); //Init the Serial baudrate
pinMode(interruptionPinDA, INPUT_PULLUP);
pinMode(interruptionPinDB, INPUT_PULLUP);
@@ -236,8 +236,8 @@ void loop() {
Serial.print(",");
Serial.print(Y);
Serial.print(",");
Serial.println(Z*100);
//Serial.print(":1");
Serial.print(Z*100);
Serial.print(":1");
// on envoie un stop
sendCmd(0, 0);
} else {
@@ -416,7 +416,7 @@ void loop() {
if (abs(cmdD) < minSpeed) cmdD = minSpeed* (cmdD)/ abs(cmdD);
if (abs(cmdG) < minSpeed) cmdG = minSpeed* (cmdG)/ abs(cmdG);
//Serial.print(":");
Serial.print(":");
// si on est arrivé depuis assez longtemps
if (compteBoucle<=0){
@@ -426,40 +426,30 @@ void loop() {
// on raz l'integral
IEz = 0;
Idc = 0;
Serial.print(X);
Serial.print(",");
Serial.print(Y);
Serial.print(",");
Serial.println(Z*100);
//Serial.print("1");
Serial.print("1");
// si on est proche du but, on continue et on réuit le compte
}else if((abs(dc) < precisionPos*4 and (cmd=='G' or cmd=='T')) or ( cmd=='R' and abs(Ez) < precisionZ*4 )){
compteBoucle-=1;
// on envoie les commande à la SB
// on envoie les commande
sendCmd(cmdG, cmdD);
//Serial.print("0");
Serial.print("0");
// si on n'est pas encore au but, on continue et on met le compte à 10
}else{
compteBoucle=10;
// on envoie les commande à la SB
// on envoie les commande
sendCmd(cmdG, cmdD);
// transite on envoie le retour à 10 cm de la cible, avant de ralentir
if(abs(dc) < 10 and cmd=='T'){
Serial.print(X);
Serial.print(",");
Serial.print(Y);
Serial.print(",");
Serial.println(Z*100);
//Serial.print("1");
Serial.print("1");
}else{
//Serial.print("0");
Serial.print("0");
}
}
}
//Serial.println("");
Serial.println("");
}
}
@@ -485,7 +475,6 @@ void decryptIncom(){
Yt = Yt * 10 + streamChar[i] - '0';
i++;
}
Serial.println(streamChar);
}
// rotation à l'angle
@@ -503,15 +492,13 @@ void decryptIncom(){
i++;
}
if (neg) Zt = -Zt;
Zt = Zt*PI/180;
Serial.println(streamChar);
Zt = Zt/100;
}
// stop
// 0
if (streamChar[0] == '0') {
cmdVitesse = 0;
Serial.println(streamChar);
}
// commande de vitesse
@@ -524,7 +511,6 @@ void decryptIncom(){
i++;
}
if(cmdVitesse>maxSpeed) cmdVitesse = maxSpeed;
Serial.println(streamChar);
}
// set de la position
@@ -563,10 +549,8 @@ void decryptIncom(){
i++;
}
if (neg) Z = -Z;
Z = Z*PI/180;
Z = Z/100;
Zt = Z;
Serial.println(streamChar);
}
// set de la position sur X
@@ -579,8 +563,6 @@ void decryptIncom(){
i++;
}
Xt = X;
Serial.println(streamChar);
}
// set de la position sur Y
@@ -593,8 +575,6 @@ void decryptIncom(){
i++;
}
Yt = Y;
Serial.println(streamChar);
}
// set de la position sur Z
@@ -611,15 +591,17 @@ void decryptIncom(){
i++;
}
if (neg) Z = -Z;
Z = Z*PI/180;
Z = Z/100;
Zt = Z;
Serial.println(streamChar);
}
// TODO : if p : pong
if (streamChar[0] == 'p') {
Serial.println("pong")
Serial.println("pong");
Serial.println("pong");
Serial.println("pong");
Serial.println("pong");
Serial.println("pong");
}
}