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Ajout des fonctions pour obtenir la vitesse des moteurs.

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Changement de la vitesse max 1 m/s => 0,3 m/s
This commit is contained in:
Samuel 2023-03-01 20:51:04 +01:00
parent ad9de0d3c0
commit a325237c75
5 changed files with 23 additions and 8 deletions
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8
Asser_Moteurs.c
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@ -35,6 +35,14 @@ void AsserMoteur_setConsigne_mm_s(enum t_moteur moteur, double _consigne_mm_s){
}
/// @brief Envoie la consigne du moteur
/// @param moteur : Moteur à asservir
double AsserMoteur_getConsigne_mm_s(enum t_moteur moteur){
return consigne_mm_s[moteur];
}
double AsserMoteur_getVitesse_mm_s(enum t_moteur moteur, int step_ms){
enum QEI_name_t qei;
double distance, temps;

1
Asser_Moteurs.h
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@ -1,6 +1,7 @@
#include "Moteurs.h"
void AsserMoteur_setConsigne_mm_s(enum t_moteur moteur, double consigne_mm_s);
double AsserMoteur_getConsigne_mm_s(enum t_moteur moteur);
double AsserMoteur_getVitesse_mm_s(enum t_moteur moteur, int step_ms);
void AsserMoteur_Gestion(int step_ms);
void AsserMoteur_Init();

1
Teleplot_Layout/teleplot_layout_2023-1-20_21-29.json Normal file
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@ -0,0 +1 @@
{"widgets":[{"type":"chart","gridPos":{"h":6,"w":6,"x":0,"y":0},"series":[{"name":"X","sourceNames":["X"],"formula":"","options":{"_serie":"X","stroke":"rgba(231,76,60,1)","fill":"rgba(231,76,60,0.1)"}},{"name":"Consigne_X","sourceNames":["Consigne_X"],"formula":"","options":{"_serie":"Consigne_X","stroke":"rgba(52,152,219,1)","fill":"rgba(52,152,219,0.1)"}}]},{"type":"chart","gridPos":{"h":6,"w":6,"x":0,"y":0},"series":[{"name":"Y","sourceNames":["Y"],"formula":"","options":{"_serie":"Y","stroke":"rgba(231,76,60,1)","fill":"rgba(231,76,60,0.1)"}},{"name":"Consigne_Y","sourceNames":["Consigne_Y"],"formula":"","options":{"_serie":"Consigne_Y","stroke":"rgba(52,152,219,1)","fill":"rgba(52,152,219,0.1)"}}]},{"type":"chart","gridPos":{"h":6,"w":6,"x":0,"y":0},"series":[{"name":"orientation","sourceNames":["orientation"],"formula":"","options":{"_serie":"orientation","stroke":"rgba(231,76,60,1)","fill":"rgba(231,76,60,0.1)"}},{"name":"Consigne_orientation","sourceNames":["Consigne_orientation"],"formula":"","options":{"_serie":"Consigne_orientation","stroke":"rgba(52,152,219,1)","fill":"rgba(52,152,219,0.1)"}}]},{"type":"chart","gridPos":{"h":6,"w":6,"x":0,"y":0},"series":[{"name":"Position","sourceNames":["Position"],"formula":"","options":{"_serie":"Position","stroke":"rgba(231,76,60,1)","fill":"rgba(231,76,60,0.1)"}},{"name":"Consigne_Position","sourceNames":["Consigne_Position"],"formula":"","options":{"_serie":"Consigne_Position","stroke":"rgba(52,152,219,1)","fill":"rgba(52,152,219,0.1)"}}]},{"type":"chart","gridPos":{"h":6,"w":6,"x":0,"y":0},"series":[{"name":"V_A","sourceNames":["V_A"],"formula":"","options":{"_serie":"V_A","stroke":"rgba(231,76,60,1)","fill":"rgba(231,76,60,0.1)"}},{"name":"V_consigne_A","sourceNames":["V_consigne_A"],"formula":"","options":{"_serie":"V_consigne_A","stroke":"rgba(52,152,219,1)","fill":"rgba(52,152,219,0.1)"}}]},{"type":"chart","gridPos":{"h":6,"w":6,"x":0,"y":0},"series":[{"name":"V_B","sourceNames":["V_B"],"formula":"","options":{"_serie":"V_B","stroke":"rgba(231,76,60,1)","fill":"rgba(231,76,60,0.1)"}},{"name":"V_consigne_B","sourceNames":["V_consigne_B"],"formula":"","options":{"_serie":"V_consigne_B","stroke":"rgba(52,152,219,1)","fill":"rgba(52,152,219,0.1)"}}]},{"type":"chart","gridPos":{"h":6,"w":6,"x":0,"y":0},"series":[{"name":"V_C","sourceNames":["V_C"],"formula":"","options":{"_serie":"V_C","stroke":"rgba(231,76,60,1)","fill":"rgba(231,76,60,0.1)"}},{"name":"V_consigne_C","sourceNames":["V_consigne_C"],"formula":"","options":{"_serie":"V_consigne_C","stroke":"rgba(52,152,219,1)","fill":"rgba(52,152,219,0.1)"}}]}],"viewDuration":15}

19
Test.c
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@ -453,7 +453,9 @@ void test_trajectoire_teleplot(){
temps = time_us_32()/1000;
printf(">X:%ld:%f\n>Y:%ld:%f\n>orientation:%ld:%f\n", temps, _position.x_mm, temps, _position.y_mm, temps, _position.angle_radian/M_PI*180);
printf(">Consigne_X:%ld:%f\n>Consigne_Y:%ld:%f\n>Consigne_orientation:%ld:%f\n", temps, _consigne.x_mm, temps, _consigne.y_mm, temps, _consigne.angle_radian/M_PI*180);
printf(">Position:%f:%f|xy\n>Consigne_Position:%f:%f|xy\n", _position.x_mm, _position.y_mm, _consigne.x_mm, _consigne.y_mm);
printf(">Position:%f:%f:%ld|xy\n>Consigne_Position:%f:%f:%ld|xy\n", _position.x_mm, _position.y_mm, temps, _consigne.x_mm, _consigne.y_mm, temps);
printf(">V_A:%ld:%f\n>V_B:%ld:%f\n>V_C:%ld:%f\n", temps, QEI_get_mm(QEI_A_NAME), temps, QEI_get_mm(QEI_B_NAME), temps, QEI_get_mm(QEI_C_NAME));
printf(">V_consigne_A:%ld:%f\n>V_consigne_B:%ld:%f\n>V_consigne_C:%ld:%f\n", temps, AsserMoteur_getConsigne_mm_s(MOTEUR_A), temps, AsserMoteur_getConsigne_mm_s(MOTEUR_B), temps, AsserMoteur_getConsigne_mm_s(MOTEUR_C));
}
}
@ -480,7 +482,7 @@ int test_aller_retour(){
case 'c':
case 'C':
Trajectoire_circulaire(&trajectoire, 0, 350, -90, 90, 350);
Trajectoire_circulaire(&trajectoire, 0, 1000, -90, 90, 1000);
printf("Trajectoire circulaire\n");
break;
@ -492,9 +494,9 @@ int test_aller_retour(){
case 'e':
case 'E':
Trajectoire_droite(&trajectoire, 0, 0, 0, 700);
Trajectoire_droite(&trajectoire, 0, 0, 0, 2500);
trajectoire.orientation_debut_rad = 0;
trajectoire.orientation_fin_rad = -M_PI;
trajectoire.orientation_fin_rad = M_PI;
printf("Trajectoire droite avec rotation\n");
break;
@ -510,8 +512,11 @@ int test_aller_retour(){
Trajet_debut_trajectoire(trajectoire);
multicore_launch_core1(test_trajectoire_teleplot);
temps_ms = Temps_get_temps_ms();
do{
// Routines à 1 ms
while(temps_ms == Temps_get_temps_ms());
temps_ms = Temps_get_temps_ms();
QEI_update();
Localisation_gestion();
@ -526,14 +531,13 @@ int test_aller_retour(){
}else{
AsserMoteur_Gestion(_step_ms);
}
sleep_ms(_step_ms);
temps_ms += _step_ms;
lettre = getchar_timeout_us(0);
//lettre = PICO_ERROR_TIMEOUT;
}while((lettre == PICO_ERROR_TIMEOUT) || (lettre == 0));
printf("Lettre : %d; %c\n", lettre, lettre);
Moteur_Stop();
multicore_reset_core1();
return 0;
@ -947,8 +951,9 @@ int test_vitesse_moteur(enum t_moteur moteur){
int vitesse_moteur;
do{
vitesse_moteur = getchar_timeout_us(TEST_TIMEOUT_US);
vitesse_moteur = getchar_timeout_us(0);
stdio_flush();
}while(vitesse_moteur == PICO_ERROR_TIMEOUT);
switch (vitesse_moteur)

2
Trajet.c
View File

@ -4,7 +4,7 @@
#include "Trajet.h"
#include "Asser_Position.h"
#define VITESSE_MAX_MM_S 1000
#define VITESSE_MAX_MM_S 300
double Trajet_calcul_vitesse(double temps_s);