my commit

README.md

@@ -1,4 +1,6 @@
 # servo_moteurs
-# servo_moteurs
-# servo_moteurs
-# servo_moteurs
+
+```
+gcc your.c servo_motor.o -o yout_exe (-lpigpio)
+
+```

servo_motor.c

@@ -0,0 +1,168 @@
+#include <stdio.h>
+#include <pigpio.h>
+#include <time.h>
+
+//Define registers address
+#define PCA9685_ADDR 0x40
+#define MODE1_REG    0x00
+#define PRE_SCALE    0xFE
+
+#define LED0_ON_L 0x06
+#define LED0_ON_H 0x07
+#define LED0_OFF_L 0x08
+#define LED0_OFF_H 0x09
+
+//Define duty cycle (in a range of 12 bits = 4096) for PWM (min 2%, max 12%)
+#define SERVO_MIN    82 // 0.02*4096
+#define SERVO_MAX    492 // 0.12*4096
+
+// Fonction pour initialiser le PCA9685
+void initPCA9685(int handle)
+{
+    // Mettre le PCA9685 en mode de sommeil
+    i2cWriteByteData(handle, MODE1_REG, 0x10);
+
+    // Configurer la fréquence PWM (par exemple, 50 Hz)
+    int prescale_val = 25000000 / (4096 * 50) - 1;
+    i2cWriteByteData(handle, PRE_SCALE, prescale_val);
+
+    // Mettre le PCA9685 en mode de travail normal
+    i2cWriteByteData(handle, MODE1_REG, 0x00);
+}
+
+// Fonction pour définir la position du servo
+void setServoPosition(int handle, int channel, int position)
+{
+    if (position < 0 || position > 180){
+	return;
+    }
+    int on_time = SERVO_MIN + (SERVO_MAX - SERVO_MIN) * position / 180 - 1;//temps ou le servo est allumé par rapport à 4096
+    int on_time_lsb = on_time & ~(0b1111 << 8);// 8 premiers bits de poids faible du temps ou le servo est allumé
+    int on_time_msb = on_time >> 8;// 4 premiers bits poids fort de on_time
+    i2cWriteWordData(handle, LED0_ON_L + 4 * channel, 0);
+    i2cWriteByteData(handle, LED0_ON_H + 4* channel, 0);
+    i2cWriteByteData(handle, LED0_OFF_L + 4 * channel, on_time_lsb);//0xCD = 0.05*2^12-1
+    if (0 < (on_time >> 8) && (on_time >> 8) < 256){
+    	i2cWriteByteData(handle, LED0_OFF_H + 4*channel, on_time_msb);
+    }
+    else {
+    	i2cWriteByteData(handle, LED0_OFF_H +4*channel, 0);
+    }
+}
+
+//Change l'angle du servo de maniere precise (jspr par pitié)
+void changeServoPositionSynchro(int handle, int channel, int currentPosition, int targetPosition){
+	if (targetPosition - currentPosition > 0){
+		for (int i = currentPosition+1; i <= targetPosition; i++){
+			setServoPosition(handle, channel, i);
+        		gpioSleep(PI_TIME_RELATIVE, 0, 10000);
+		}//Fo bouger les servo en meme temps aaah donc rajouter les position et channel et info des autres servo
+	}
+}
+
+//Fonctions pour le bras sur le canal 1
+void baisser_bras(int handle){
+    int angle = 107;
+    for (int i = 1; i <= 107;i++){
+        gpioSleep(PI_TIME_RELATIVE, 0, 10000);
+        setServoPosition(handle, 4, i);
+        setServoPosition(handle, 5, 107-i);
+    }
+}
+
+void lever_bras(int handle){
+    int angle = 107;
+    for (int i = 1; i <= 107;i++){
+        gpioSleep(PI_TIME_RELATIVE, 0, 10000);
+        setServoPosition(handle, 4, 107-i);
+        setServoPosition(handle, 5, i);
+    }
+}
+
+
+//Fonction pour les pinces
+void fermer_pince(int handle, int pince){
+    int angle;
+    if (pince < 0 || pince > 2){
+    	return;
+    }
+    switch(pince){
+	case 0:
+	    angle = 142;
+	    break;
+	case 1:
+	    angle = 42;
+	    break;
+	case 2:
+	    angle = 152;
+	    break;
+    }
+    setServoPosition(handle, pince, angle);
+//10° de + pour fermer completement
+}
+
+void ouvrir_pince(int handle, int pince){
+    int angle;
+    if (pince < 0 || pince > 2){
+    	return;
+    }
+    switch(pince){
+	case 0:
+		angle = 115;
+		break;
+	case 1:
+		angle = 22;
+		break;
+	case 2:
+		angle = 125;
+		break;	
+    }
+    setServoPosition(handle, pince, angle);
+}
+
+
+
+int main()
+{
+    int handle;
+
+    if (gpioInitialise() < 0)
+    {
+        fprintf(stderr, "Impossible d'initialiser pigpio\n");
+        return 1;
+    }
+
+    handle = i2cOpen(1, PCA9685_ADDR, 0);
+
+    if (handle < 0)
+    {
+        fprintf(stderr, "Impossible d'ouvrir la connexion I2C\n");
+        gpioTerminate();
+        return 1;
+    }
+
+    initPCA9685(handle);
+    lever_bras(handle);
+    gpioSleep(PI_TIME_RELATIVE, 1, 0);
+    ouvrir_pince(handle, 0);
+    gpioSleep(PI_TIME_RELATIVE, 1, 0); // Pause de 2 secondes
+    ouvrir_pince(handle, 1);
+    gpioSleep(PI_TIME_RELATIVE, 1, 0); // Pause de 2 secondes
+    ouvrir_pince(handle, 2);
+    gpioSleep(PI_TIME_RELATIVE, 1, 0); // Pause de 2 secondes
+    fermer_pince(handle, 0);
+    gpioSleep(PI_TIME_RELATIVE, 1, 0); // Pause de 2 secondes
+    fermer_pince(handle, 1);
+    gpioSleep(PI_TIME_RELATIVE, 1, 0); // Pause de 2 secondes
+    fermer_pince(handle, 2);
+    gpioSleep(PI_TIME_RELATIVE, 1, 0);
+    baisser_bras(handle);
+    gpioSleep(PI_TIME_RELATIVE, 1, 0); // Pause de 2 secondes
+    i2cClose(handle);
+
+    // Terminaison de pigpio
+    gpioTerminate();
+
+    return 0;
+}
+

servo_motor.h

@@ -0,0 +1,35 @@
+#ifndef SERVO_MOTOR
+#define SERVO_MOTOR
+#include <stdio.h>
+#include <pigpio.h>
+#include <time.h>
+
+//Define registers address
+#define PCA9685_ADDR 0x40
+#define MODE1_REG    0x00
+#define PRE_SCALE    0xFE
+
+#define LED0_ON_L 0x06
+#define LED0_ON_H 0x07
+#define LED0_OFF_L 0x08
+#define LED0_OFF_H 0x09
+
+//Define duty cycle (in a range of 12 bits = 4096) for PWM (min 2%, max 12%)
+#define SERVO_MIN    82 // 0.02*4096
+#define SERVO_MAX    492 // 0.12*4096
+
+void initPCA9685(int handle);
+
+void setServoPosition(int handle, int channel, int position);
+
+void changeServoPositionSynchro(int handle, int channel, int currentPosition, int targetPosition);
+
+void baisser_bras(int handle);
+
+void lever_bras(int handle);
+
+void fermer_pince(int handle, int pince);
+
+void ouvrir_pince(int handle, int pince);
+
+#endif