Keuronde/2026-Actionneurs
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Acceleration progressive

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This commit is contained in:
Samuel 2026-04-18 23:18:20 +02:00
parent 3763484a13
commit 4461d8de50
1 changed files with 56 additions and 3 deletions
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59
main.c
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@ -4,11 +4,54 @@
* SPDX-License-Identifier: BSD-3-Clause
*/
#include "pico/stdlib.h"
#include "pico/multicore.h"
#include <stdio.h>
#define PIN_STEP 19
#define PIN_DIR 18
bool bouton_Presser = false;
float v_actuelle_tr_s=0;
float v_consigne_tr_s=0;
float acc_tr_s = 50;
const float pas_par_tour = 200;
float temps_pas= 0.001;
/// @brief calcule le pas de temps suivant
/// @param
/// @return
float compute_time_step(float temps_pas_s){
if(v_actuelle_tr_s != v_consigne_tr_s){
// On ajoute l'accélération
v_actuelle_tr_s += acc_tr_s * temps_pas_s;
//printf(">vit:%f\n", v_actuelle_tr_s);
// On vérifie qu'on a pas dépassé la vitesse consigne
if(v_actuelle_tr_s > v_consigne_tr_s){
v_actuelle_tr_s = v_consigne_tr_s;
}
}
//printf(">vit_2:%f\n", v_actuelle_tr_s);
float temps_tr, temps_pas;
if(v_actuelle_tr_s != 0){
temps_tr = 1 / v_actuelle_tr_s; // 100
temps_pas = temps_tr / pas_par_tour; // 5
if(temps_pas > 0.001)
temps_pas = 0.001;
return temps_pas;
}
return 0.001;
}
void affiche_pas_de_temps(){
while(1){
printf(">temps_pas:%f\n", temps_pas * 1000000);
printf(">v_actuelle_tr_s:%f\n", v_actuelle_tr_s);
printf(">v_consigne_tr_s:%f\n", v_consigne_tr_s);
sleep_ms(1);
}
}
void main(void)
{
stdio_init_all();
@ -16,30 +59,40 @@ void main(void)
gpio_init(PIN_DIR);
gpio_set_dir(PIN_STEP, GPIO_IN);
gpio_set_dir(PIN_DIR, GPIO_OUT);
multicore_launch_core1(affiche_pas_de_temps);
float vitesse_nominale_tr_s = 10;
sleep_ms(3000);
printf("kartoffen\n");
const uint32_t my_delay=500;
while(1){
sleep_us(my_delay);
temps_pas = compute_time_step(temps_pas);
//printf(">t_pas:%f\n", temps_pas);
sleep_us(temps_pas * 1000000);
gpio_put(PIN_STEP, 1);
sleep_us(my_delay);
sleep_us(temps_pas * 1000000);
gpio_put(PIN_STEP, 0);
int key = getchar_timeout_us(0); // get any pending key press but don't wait
if (key != PICO_ERROR_TIMEOUT) {
if(key == 'u' || key == 'U'){
gpio_put(PIN_DIR, 0);
gpio_set_dir(PIN_STEP, GPIO_OUT);
v_consigne_tr_s = vitesse_nominale_tr_s;
}
if(key == 'd' || key == 'D'){
gpio_put(PIN_DIR, 1);
gpio_set_dir(PIN_STEP, GPIO_OUT);
v_consigne_tr_s = vitesse_nominale_tr_s;
}
if(key == 's' || key == 'S'){
gpio_put(PIN_DIR, 0);
gpio_set_dir(PIN_STEP, GPIO_IN);
v_consigne_tr_s = 0;
}
printf("%c %d\n", key,key);
//printf("%c %d\n", key,key);
}