modelec/servo_moteurs
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Je remt bien ce que j'ai cassé

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This commit is contained in:
bap
2024-04-11 18:47:46 +02:00
parent 06fc0fa00b
commit 2fd131d0d5
2 changed files with 72 additions and 61 deletions
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123
MyTCPClient.cpp
View File

@@ -13,12 +13,13 @@ void MyTCPClient::handleMessage(const std::string &message) {
}
if (token[1] == "servo_moteur" || token[1] == "all") {
// std::cout << message << std::endl;
std::cout << message << std::endl;
if (token[2] == "ping") {
this->sendMessage("servo_moteur;ihm;pong;1");
}
else if (token[2] == "ouvrir pince") {
int pince = std::stoi(token[3]);
std::cout << "ouvrir pince : " << pince << std::endl;
this->ouvrir_pince(pince);
}
else if (token[2] == "fermer pince") {
@@ -31,7 +32,10 @@ void MyTCPClient::handleMessage(const std::string &message) {
this->fermer_pince(2);
this->baisser_bras();
}
else if (token[2] == "lever bras") {
else if(token[2] == "transport bras"){
this->transport_bras();
}
else if (token[2] == "lever bras") {
this->fermer_pince(0);
this->fermer_pince(2);
this->lever_bras();
@@ -77,15 +81,15 @@ void MyTCPClient::pwm_setServoPosition(int servo, int position) {
pca.set_pwm(servo, 0, on_time);
}
void MyTCPClient::baisser_bras() {
/*void MyTCPClient::baisser_bras() {
int angle;
switch(this->poisitionBras){
case BRAS_HAUT:
angle = 100;
break;
case BRAS_TRANSPORT:
angle = 17;
break;
switch(this->positionBras){
case BRAS_HAUT:
angle = 100;
break;
case BRAS_TRANSPORT:
angle = 17;
break;
}
this->positionBras = BRAS_BAS;
for (int i = 1; i <= angle;i++){
@@ -93,8 +97,8 @@ void MyTCPClient::baisser_bras() {
this->pwm_setServoPosition(4, i);
this->pwm_setServoPosition(5, angle-i);
}
}
/*void MyTCPClient::baisser_bras(bool force) {
}*/
void MyTCPClient::baisser_bras(bool force) {
if (brasBaisse == 0 && !force){
return;
}
@@ -104,50 +108,52 @@ void MyTCPClient::baisser_bras() {
this->pwm_setServoPosition(4, i);
this->pwm_setServoPosition(5, angle-i);
}
this->positionBras = BRAS_BAS;
brasBaisse = 0;
}*/
}
void MyTCPClient::transport_bras(){
int angle;
switch(this->poisitionBras){
case BRAS_BAS:
angle = 17;
for (int i = 1; i <= angle; i++){
usleep(5'000);
this->pwm_setServoPosition(4, angle-i);
this->pwm_setServoPosition(5, i);
}
break;
case BRAS_HAUT:
angle = 90;
for (int i = 1; i <= angle; i++){
usleep(5'000);
this->pwm_setServoPosition(4, i);
this->pwm_setServoPosition(5, angle-i);
}
break;
switch(this->positionBras){
case BRAS_BAS:
angle = 17;
for (int i = 1; i <= angle; i++){
usleep(5'000);
this->pwm_setServoPosition(4, angle-i);
this->pwm_setServoPosition(5, i);
}
break;
case BRAS_HAUT:
angle = 90;
for (int i = 1; i <= angle; i++){
usleep(5'000);
this->pwm_setServoPosition(4, i);
this->pwm_setServoPosition(5, angle-i);
}
break;
}
this->positionBras = BRAS_TRANSPORT;
}
/*
void MyTCPClient::lever_bras() {
int angle;
switch(this->poisitionBras){
case BRAS_BAS:
angle = 107;
break;
case BRAS_TRANSPORT:
angle = 90
break;
}
switch(this->positionBras){
case BRAS_BAS:
angle = 107;
break;
case BRAS_TRANSPORT:
angle = 90;
break;
}
this->positionBras = BRAS_HAUT;
for (int i = 1; i <= angle;i++){
usleep(5'000);
this->pwm_setServoPosition(4, angle-i);
this->pwm_setServoPosition(5, i);
}
/*void MyTCPClient::lever_bras(bool force) {
usleep(5'000);
this->pwm_setServoPosition(4, angle-i);
this->pwm_setServoPosition(5, i);
}
}
*/
void MyTCPClient::lever_bras(bool force) {
if (!brasBaisse == 2 && !force){
return;
}
@@ -158,7 +164,8 @@ void MyTCPClient::lever_bras() {
this->pwm_setServoPosition(5, i);
}
brasBaisse = 2;
}*/
this->positionBras = BRAS_HAUT;
}
void MyTCPClient::fermer_pince(int pince, bool force) {
if (!pinceOuverte[pince] && !force){
@@ -171,21 +178,21 @@ void MyTCPClient::fermer_pince(int pince, bool force) {
switch(pince){
case 0:
angle = 142;
old_angle = 115;
old_angle = 115;
break;
case 1:
angle = 42;
old_angle = 22;
old_angle = 22;
break;
case 2:
angle = 152;
old_angle = 130;
old_angle = 130;
break;
}
// std::cout << "Fermer pince : " << pince << std::endl;
std::cout << "Fermer pince : " << pince << std::endl;
for(int i = old_angle; i <= angle;i++){
this->pwm_setServoPosition(pince, i);
usleep(5'000);
this->pwm_setServoPosition(pince, i);
usleep(5'000);
}
pinceOuverte[pince] = false;
}
@@ -201,21 +208,21 @@ void MyTCPClient::ouvrir_pince(int pince, bool force) {
switch(pince){
case 0:
angle = 115;
old_angle = 142;
old_angle = 142;
break;
case 1:
angle = 22;
old_angle = 42;
old_angle = 42;
break;
case 2:
angle = 130;
old_angle = 152;
old_angle = 152;
break;
}
// std::cout << "Ouvrir pince : " << pince << std::endl;
std::cout << "Ouvrir pince : " << pince << std::endl;
for (int i = old_angle; i >= angle;i--){
this->pwm_setServoPosition(pince, i);
usleep(5'000);
this->pwm_setServoPosition(pince, i);
usleep(5'000);
}
pinceOuverte[pince] = true;
}

10
MyTCPClient.h
View File

@@ -9,9 +9,9 @@
#define SERVO_MIN 82 // 0.02*4096
#define SERVO_MAX 492 // 0.12*4096
#define BRAS_BAS 0
#define BRAS_HAUT 1
#define BRAS_TRANSPORT 2
#define BRAS_BAS 0
#define BRAS_HAUT 1
#define BRAS_TRANSPORT 2
class MyTCPClient : public TCPClient {
public:
explicit MyTCPClient(const char* serverIP = "127.0.0.1", int port = 8080);
@@ -25,10 +25,14 @@ public:
void pwm_setServoPosition(int servo, int position);
void baisser_bras(bool force = false);
// void baisser_bras();
void transport_bras();
void lever_bras(bool force = false);
// void lever_bras();
void fermer_pince(int pince, bool force = false);