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Ajout angle middle pinces

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This commit is contained in:
bap
2024-04-20 14:52:53 +02:00
parent b63636e373
commit ff949302d2
2 changed files with 102 additions and 40 deletions
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113
MyTCPClient.cpp
View File

@@ -161,63 +161,112 @@ void MyTCPClient::lever_bras() {
}
void MyTCPClient::fermer_pince(int pince, bool force) {
if (!pinceOuverte[pince] && !force){
return;
}
int angle, old_angle;
if (pince < 0 || pince > 2){
anglePince pinceChoisie;
int angleDebut;
if ((etatPince[pince] == PINCE_FERMER && !force) || pince < 0 || pince > 2){
return;
}
switch(pince){
case 0:
angle = 142;
old_angle = 115;
break;
pinceChoisie = anglePince0;
break;
case 1:
angle = 42;
old_angle = 22;
break;
pinceChoisie = anglePince1;
break;
case 2:
angle = 152;
old_angle = 130;
break;
pinceChoisie = anglePince2;
break;
}
switch (etatPince[pince]) {
case PINCE_FERMER:
this->pwm_setServoPosition(pince, pinceChoisie.fermer)
return;
case PINCE_MIDDLE:
angleDebut = pinceChoisie.middle;
break;
case PINCE_OUVERTE:
angleDebut = pinceChoisie.ouverte;
break;
}
std::cout << "Fermer pince : " << pince << std::endl;
for(int i = old_angle; i <= angle;i++){
for(int i = angleDebut; i <= pinceChoisie.fermer;i++){
this->pwm_setServoPosition(pince, i);
usleep(5'000);
}
pinceOuverte[pince] = false;
etatPince[pince] = PINCE_FERMER;
}
void MyTCPClient::middle_pince(int pince, bool force){
anglePince pinceChoisie;
if ((etatPince[pince] == PINCE_MIDDLE && !force) || pince < 0 || pince > 2){
return;
}
switch(pince){
case 0:
pinceChoisie = anglePince0;
break;
case 1:
pinceChoisie = anglePince1;
break;
case 2:
pinceChoisie = anglePince2;
break;
}
std::cout << "Middle pince : " << pince << std::endl;
switch (etatPince[pince]) {
case PINCE_OUVERTE:
for(int i = pinceChoisie.ouverte; i <= pinceChoisie.middle;i++){
this->pwm_setServoPosition(pince, i);
usleep(5'000);
}
break;
case PINCE_MIDDLE:
this->pwm_setServoPosition(pince, pinceChoisie.middle);
return;
case PINCE_FERMER:
for (int i = pinceChoisie.fermer; i >= pinceChoisie.middle;i--){
this->pwm_setServoPosition(pince, i);
usleep(5'000);
}
break;
}
etatPince[pince] = PINCE_OUVERTE;
}
void MyTCPClient::ouvrir_pince(int pince, bool force) {
if (pinceOuverte[pince] && !force){
return;
}
int angle, old_angle;
if (pince < 0 || pince > 2){
anglePince pinceChoisie;
int angleDebut;
if ((etatPince[pince] == PINCE_OUVERTE && !force) || pince < 0 || pince > 2){
return;
}
switch(pince){
case 0:
angle = 115;
old_angle = 142;
break;
pinceChoisie = anglePince0;
break;
case 1:
angle = 22;
old_angle = 42;
break;
pinceChoisie = anglePince1;
break;
case 2:
angle = 130;
old_angle = 152;
break;
pinceChoisie = anglePince2;
break;
}
switch (etatPince[pince]) {
case PINCE_FERMER:
angleDebut = pinceChoisie.fermer;
break;
case PINCE_MIDDLE:
angleDebut = pinceChoisie.middle;
break;
case PINCE_OUVERTE:
this->pwm_setServoPosition(pince, pinceChoisie.ouverte)
return;
}
std::cout << "Ouvrir pince : " << pince << std::endl;
for (int i = old_angle; i >= angle;i--){
for (int i = angleDebut; i >= pinceChoisie.ouverte;i--){
this->pwm_setServoPosition(pince, i);
usleep(5'000);
}
pinceOuverte[pince] = true;
etatPince[pince] = PINCE_OUVERTE;
}

29
MyTCPClient.h
View File

@@ -19,11 +19,23 @@ enum BrasState {
BRAS_TRANSPORT
};
enum PinceState {
PINCE_OUVERTE,
PINCE_MIDDLE,
PINCE_FERMER
};
typedef struct {
int servo4;
int servo5;
}angleBras;
typedef struct {
int fermer;
int middle;
int ouverte;
}anglePince;
class MyTCPClient : public TCPClient {
public:
explicit MyTCPClient(const char* serverIP = "127.0.0.1", int port = 8080);
@@ -36,14 +48,10 @@ 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);
@@ -59,8 +67,13 @@ public:
private:
PiPCA9685::PCA9685 pca;
BrasState positionBras = BRAS_BAS;
bool pinceOuverte[3] = {true, true, true};
angleBras angleBrasBas = {180, 0};
angleBras angleBrasTransport = {168, 12};
angleBras angleBrasHaut = {53, 127};//78, 102
int etatPince[3] = {PINCE_OUVERTE, PINCE_OUVERTE, PINCE_OUVERTE};
const angleBras angleBrasBas = {180, 0};
const angleBras angleBrasTransport = {168, 12};
const angleBras angleBrasHaut = {53, 127};//78, 102
const anglePince anglePince0 = {142, 129, 115};//Ecart -27
const anglePince anglePince1 = {42, 32, 22};//Ecart -20
const anglePince anglePince2 = {152, 141, 130};//Ecart -22
};