Revision 3:06cbe2f6c494, committed 2019-03-30

Comitter:

JimmyAREM

Date:

Sat Mar 30 15:10:23 2019 +0000

Parent:

2:977799d72329

Commit message:

odo

Changed in this revision

diff -r 977799d72329 -r 06cbe2f6c494 hardware.cpp
--- a/hardware.cpp	Sat Feb 23 16:30:08 2019 +0000
+++ b/hardware.cpp	Sat Mar 30 15:10:23 2019 +0000
@@ -8,16 +8,16 @@
 // PWM_MAX est définit dans réglage;
 bool moteurs_arret = false;
 
-DigitalIn tirette(D9);
+DigitalIn tirette(PB_8);
 
 
 XNucleoIHM02A1 *x_nucleo_ihm02a1; //Création d'une entité pour la carte de contôle des pas à pas
 L6470_init_t init[L6470DAISYCHAINSIZE] = {
     /* First Motor. */
      {
-        12.0,                           /* Motor supply voltage in V. */
+        4.08,                           /* Motor supply voltage in V. */ //4.08
         400,                           /* Min number of steps per revolution for the motor. */
-        7.5,                           /* Max motor phase voltage in A. */
+        3,                           /* Max motor phase voltage in A. */ 
         7.06,                          /* Max motor phase voltage in V. */
         300.0,                         /* Motor initial speed [step/s]. */
         500.0,                         /* Motor acceleration [step/s^2] (comment for infinite acceleration mode). */
@@ -43,9 +43,9 @@
 
     /* Second Motor. */
     {
-        12.0,                           /* Motor supply voltage in V. */
+        4.08,                           /* Motor supply voltage in V. */
         400,                           /* Min number of steps per revolution for the motor. */
-        7.5,                           /* Max motor phase voltage in A. */
+        3,                           /* Max motor phase voltage in A. */ //7.5 
         7.06,                          /* Max motor phase voltage in V. */
         300.0,                         /* Motor initial speed [step/s]. */
         500.0,                         /* Motor acceleration [step/s^2] (comment for infinite acceleration mode). */
@@ -74,7 +74,7 @@
 
 DigitalOut led(LED2);
 Serial pc(USBTX, USBRX); // tx, rx
-DevSPI dev_spi(D11, D12, D13); //pour la F746ZG, connecter D13 et D3 par un fil 
+DevSPI dev_spi(D11, D12, D3); //pour la F746ZG, connecter D13 et D3 par un fil 
 
 
 //Connections codeuses

diff -r 977799d72329 -r 06cbe2f6c494 main.cpp
--- a/main.cpp	Sat Feb 23 16:30:08 2019 +0000
+++ b/main.cpp	Sat Mar 30 15:10:23 2019 +0000
@@ -13,17 +13,19 @@
     init_odometrie();
     init_hardware();
     printf("I'm waked up after init...\n");
-    while(tirette) ;    while(!tirette) ;
-    while(tirette) ;
-    //wait(1);
-    
     printf("tirette passee\n");
-
-    
-    /*test_ligne_droite(150000, -100);
-    test_rotation_rel(180,50);
-    test_ligne_droite(150000,-100);
-    test_rotation_rel(180,50);*/
+while(1)
+{
+    while(tirette.read()==0)
+    {
+        }
+    set_PWM_moteur_G(300);
+    set_PWM_moteur_D(285);
+}
+   // test_ligne_droite(150000, -100);
+    test_rotation_rel(90,50);
+   // test_ligne_droite(150000,-100);
+   // test_rotation_rel(90,50);
     //test_ligne_droite(20000,-100);
     //test_rotation_rel(-90,50);
 
@@ -50,11 +52,11 @@
     //afficher_terrain();
     
     
-    aller_a_point(20,180,270,180);
+    //aller_a_point(20,180,270,180);
     
-    aller_a_point(270,180,20,180);
+    //aller_a_point(270,180,20,180);
    
-    test_rotation_rel(180,100);
+    //test_rotation_rel(180,100);
 
     return 0;
 }

diff -r 977799d72329 -r 06cbe2f6c494 reglages.h
--- a/reglages.h	Sat Feb 23 16:30:08 2019 +0000
+++ b/reglages.h	Sat Mar 30 15:10:23 2019 +0000
@@ -1,5 +1,5 @@
 //définition du debug 
-//#define DEBUG_POSITION
+#define DEBUG_POSITION
 
 //position initiale du robot
 #define X_INIT 0
@@ -7,7 +7,7 @@
 #define THETA_INIT 0
 
 //propre a chaque robot
-#define ECART_ROUE 30000 // a augmenter si l'angle reel est plus grand que l'angle vise
+#define ECART_ROUE 22800 // a augmenter si l'angle reel est plus grand que l'angle vise
 #define DIAMETRE_ROUE 8410
 #define DISTANCE_PAR_TICK_D 100000/11600
 #define DISTANCE_PAR_TICK_G 100000/11600