101 lines
2.3 KiB
C
101 lines
2.3 KiB
C
/*****
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* Copyright (c) 2023 - Poivron Robotique
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*
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* SPDX-License-Identifier: BSD-3-Clause
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*/
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#include "pico/stdlib.h"
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#include "pico/multicore.h"
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#include <stdio.h>
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#define PIN_STEP 19
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#define PIN_DIR 18
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bool bouton_Presser = false;
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float v_actuelle_tr_s=0;
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float v_consigne_tr_s=0;
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float acc_tr_s = 50;
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const float pas_par_tour = 200;
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float temps_pas= 0.001;
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/// @brief calcule le pas de temps suivant
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/// @param
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/// @return
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float compute_time_step(float temps_pas_s){
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if(v_actuelle_tr_s != v_consigne_tr_s){
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// On ajoute l'accélération
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v_actuelle_tr_s += acc_tr_s * temps_pas_s;
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//printf(">vit:%f\n", v_actuelle_tr_s);
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// On vérifie qu'on a pas dépassé la vitesse consigne
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if(v_actuelle_tr_s > v_consigne_tr_s){
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v_actuelle_tr_s = v_consigne_tr_s;
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}
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}
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//printf(">vit_2:%f\n", v_actuelle_tr_s);
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float temps_tr, temps_pas;
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if(v_actuelle_tr_s != 0){
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temps_tr = 1 / v_actuelle_tr_s; // 100
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temps_pas = temps_tr / pas_par_tour; // 5
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if(temps_pas > 0.001)
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temps_pas = 0.001;
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return temps_pas;
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}
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return 0.001;
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}
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void affiche_pas_de_temps(){
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while(1){
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printf(">temps_pas:%f\n", temps_pas * 1000000);
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printf(">v_actuelle_tr_s:%f\n", v_actuelle_tr_s);
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printf(">v_consigne_tr_s:%f\n", v_consigne_tr_s);
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sleep_ms(1);
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}
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}
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void main(void)
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{
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stdio_init_all();
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gpio_init(PIN_STEP);
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gpio_init(PIN_DIR);
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gpio_set_dir(PIN_STEP, GPIO_IN);
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gpio_set_dir(PIN_DIR, GPIO_OUT);
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multicore_launch_core1(affiche_pas_de_temps);
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float vitesse_nominale_tr_s = 10;
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sleep_ms(3000);
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printf("kartoffen\n");
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const uint32_t my_delay=500;
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while(1){
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temps_pas = compute_time_step(temps_pas);
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//printf(">t_pas:%f\n", temps_pas);
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sleep_us(temps_pas * 1000000);
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gpio_put(PIN_STEP, 1);
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sleep_us(temps_pas * 1000000);
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gpio_put(PIN_STEP, 0);
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int key = getchar_timeout_us(0); // get any pending key press but don't wait
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if (key != PICO_ERROR_TIMEOUT) {
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if(key == 'u' || key == 'U'){
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gpio_put(PIN_DIR, 0);
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gpio_set_dir(PIN_STEP, GPIO_OUT);
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v_consigne_tr_s = vitesse_nominale_tr_s;
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}
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if(key == 'd' || key == 'D'){
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gpio_put(PIN_DIR, 1);
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gpio_set_dir(PIN_STEP, GPIO_OUT);
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v_consigne_tr_s = vitesse_nominale_tr_s;
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}
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if(key == 's' || key == 'S'){
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gpio_put(PIN_DIR, 0);
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gpio_set_dir(PIN_STEP, GPIO_IN);
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v_consigne_tr_s = 0;
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}
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//printf("%c %d\n", key,key);
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}
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}
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}
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