Ajout du code de la triangulation
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56
Triangulation/I2C_Slave_lib.ino
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56
Triangulation/I2C_Slave_lib.ino
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#define TAILLE_MEMOIRE_I2C 256
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#define TAILLE_MESSAGE_ENVOI_MAX 32
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byte memoire_I2C[TAILLE_MEMOIRE_I2C];
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byte memoire_I2C_index=0;
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bool nouveau_message=false;
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void onRequest(){
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uint32_t taille_envoi;
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taille_envoi = min (TAILLE_MEMOIRE_I2C-memoire_I2C_index, TAILLE_MESSAGE_ENVOI_MAX);
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Wire.write(&memoire_I2C[memoire_I2C_index], taille_envoi);
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memoire_I2C_index++;
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if(memoire_I2C_index>=TAILLE_MEMOIRE_I2C){
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Serial.printf("memoire_I2C_index>=TAILLE_MEMOIRE_I2C\n");
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}
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}
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void onReceive(int len){
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memoire_I2C_index = Wire.read();
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while(Wire.available()){
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nouveau_message=true;
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memoire_I2C[memoire_I2C_index] = Wire.read();
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memoire_I2C_index++;
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}
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}
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void I2C_Slave_init(int addr){
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Wire.onReceive(onReceive);
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Wire.onRequest(onRequest);
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Wire.begin(addr);
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}
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bool I2C_Slave_nouveau_message(){
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if(nouveau_message){
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nouveau_message=false;
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return true;
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}
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return false;
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}
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void I2C_envoi_8bits(byte value, char adresse){
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memoire_I2C[adresse] = value;
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}
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void I2C_envoi_16bits(int16_t value, char adresse){
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memoire_I2C[adresse] = value;
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}
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void I2C_envoi_32bits(int32_t value, char adresse){
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memoire_I2C[adresse] = value >> 24;
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memoire_I2C[adresse+1] = (value >> 16) & 0xFF;
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memoire_I2C[adresse+2] = (value >> 8) & 0xFF;
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memoire_I2C[adresse+3] = value & 0xFF;
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}
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449
Triangulation/Triangulation.ino
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449
Triangulation/Triangulation.ino
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@ -0,0 +1,449 @@
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/*
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Test de triangulation
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*/
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#include <M5Core2.h>
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#include <math.h>
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#include <WiFi.h>
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const char* ssid = "riombotique";
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const char* password = "password";
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IPAddress local_IP(192, 168, 99, 102);
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IPAddress gateway(192, 168, 99, 1);
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IPAddress subnet(255, 255, 255, 0);
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WiFiServer server(80);
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boolean reading = false;
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String Lecture;
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#define CONV 0.000628318530717959
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#define CONV2 1.570796326794896619
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#define pi 3.141592653589793
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#define pi2 6.283185307179586
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int Balise[4][2]; // 4 balises potentielles i de 0 a 3
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// Frequence modulation individuelle balises
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// Balise[i][0] est la frequence de la balise
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// Balise[i][1] est l'angle de la balise
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bool Balise_Valide;
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int A_Depart_Balise;
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int A_Fin_Balise;
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long Temps_Tour = millis();
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long T_Depart_Balise = 0;
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long T_Fin_Balise = 0;
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long Frequence_Balise = 0;
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long Nb_Pulses = 0;
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long Chrono = 0;
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int Angle = 0;
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int Angle_Balise = 0;
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int Nb_Balises = 0;
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int Capteur = 2;
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bool Trigger_Balises = true;
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bool Calcul_Valide = false;
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bool Balise_0 = false;
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bool Balise_1 = false;
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bool Balise_2 = false;
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int Nb_tours = 0;
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int Old_Nb_tours = 0;
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int Pulse_Moteur = 190;
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int Frequence_0 = 5000; // frequence balise 0
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int Frequence_1 = 6000; // frequence balise 1
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int Frequence_2 = 4000; // frequence balise 2
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int Bande_P = 200; // bande passante balises
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int X1 = 0; // abcisse balise 0
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int X2 = 0; // abcisse balise 1
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int X3 = 2400; // abcisse balise 2
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int Y1 = 2400; // ordonnee balise 0
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int Y2 = 0; // ordonnee balise 1
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int Y3 = 0; // ordonnee balise 2
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int Xp1 = X1 - X2;
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int Yp1 = Y1 - Y2;
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int Xp3 = X3 - X2;
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int Yp3 = Y3 - Y2;
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int Xr, Yr, Angle_Robot_Deg_int;
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int alignement = 2200;
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float Angle_Robot_RAD, Angle_Robot_Deg, Angle_B1, angle_B1_calc, Angle_Ref_Theorique, calc1, calc2, offset;
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void IRAM_ATTR fonction_AB(){ // fonction de comptage des pas du codeur angulaire
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Angle ++;
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if (Trigger_Balises){
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Capteur = 2;
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if (Angle > 1316) Capteur = 1;
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if (Angle > 2633) Capteur = 2;
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if (Angle > 4300) Capteur = 1;
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if (Angle > 5966) Capteur = 2;
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if (Angle > 7933) Capteur = 1;
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if (Angle > 9299) Capteur = 2;
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}
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if (((Angle - A_Fin_Balise) > 100) && (!Trigger_Balises)){
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if (Nb_Pulses > 20){ // analyse de la balise si plus de 10 pulses uniquement
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// calcul de la frequence moyenne et validation de la balise
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int Delta_T = (T_Fin_Balise - T_Depart_Balise) / 10;
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Frequence_Balise = 100000 * (Nb_Pulses);
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if (Delta_T > 0) Frequence_Balise = Frequence_Balise / Delta_T;
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if (A_Fin_Balise < A_Depart_Balise) A_Fin_Balise = A_Fin_Balise + 10000;
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Angle_Balise = (A_Fin_Balise + A_Depart_Balise) / 2;
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if (Angle_Balise > 10000) Angle_Balise = Angle_Balise - 10000;
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if ((Frequence_Balise > (Frequence_0 - Bande_P)) && (Frequence_Balise < (Frequence_0 + Bande_P)) && !Balise_0) {
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Balise[0][0] = Frequence_Balise;
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Balise[0][1] = Angle_Balise;
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Nb_Balises ++;
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Balise_0 = true; // la balise a ete vue, plus possible de la voir a nouveau
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}
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if ((Frequence_Balise > (Frequence_1 - Bande_P)) && (Frequence_Balise < (Frequence_1 + Bande_P)) && !Balise_1) {
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Balise[1][0] = Frequence_Balise;
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Balise[1][1] = Angle_Balise;
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Nb_Balises ++;
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Balise_1 = true; // la balise a ete vue, plus possible de la voir a nouveau
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}
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if ((Frequence_Balise > (Frequence_2 - Bande_P)) && (Frequence_Balise < (Frequence_2 + Bande_P)) && !Balise_2) {
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Balise[2][0] = Frequence_Balise;
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Balise[2][1] = Angle_Balise;
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Nb_Balises ++;
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Balise_2 = true; // la balise a ete vue, plus possible de la voir a nouveau
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}
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}
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Trigger_Balises = true;
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}
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}
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void IRAM_ATTR fonction_Z(){ // appelée à chaque tour
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Nb_tours ++;
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Angle = 0;
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}
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void IRAM_ATTR fonction_Balise_capteur_1(){ // appelée à chaque detection de baslise capteur 1
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if (Capteur == 1) {
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A_Fin_Balise = Angle;
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// effectue a partir du 2eme pulse
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Chrono = micros();
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Nb_Pulses++;
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T_Fin_Balise = Chrono;
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// effectue au 1er pulse
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if (Trigger_Balises){
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A_Depart_Balise = Angle;
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T_Depart_Balise = Chrono;
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Nb_Pulses = 0;
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Trigger_Balises = false;
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//est-ce bien une balise modulee ? -> mesure du temps avant apparition de la prochaine impulsion impusion
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}
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}
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}
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void IRAM_ATTR fonction_Balise_capteur_2(){ // appelée à chaque detection de baslise capteur 2
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if (Capteur == 2) {
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A_Fin_Balise = Angle;
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// effectue a partir du 2eme pulse
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Chrono = micros();
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Nb_Pulses++;
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T_Fin_Balise = Chrono;
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// effectue au 1er pulse
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if (Trigger_Balises){
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A_Depart_Balise = Angle;
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T_Depart_Balise = Chrono;
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Nb_Pulses = 0;
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Trigger_Balises = false;
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//est-ce bien une balise modulee ? -> mesure du temps avant apparition de la prochaine impulsion impusion
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}
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}
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}
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void IRAM_ATTR traitement_donnees() {
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// calcul des coordonnees .........................
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Calcul_Valide = false;
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double A1 = (Balise[1][1] - Balise[0][1]) * CONV;
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double A2 = (Balise[2][1] - Balise[1][1]) * CONV;
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if(sin(A1)==0 || sin(A2)==0) return;
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double T12 = cos(A1) / sin(A1);
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double T23 = cos(A2) / sin(A2);
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if ((T12 + T23)==0) return;
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double T31 = (1 - (T12 * T23)) / (T12 + T23);
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double Xp12 = Xp1 + (T12 * Yp1);
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double Yp12 = Yp1 - (T12 * Xp1);
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double Xp23 = Xp3 - (T23 * Yp3);
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double Yp23 = Yp3 + (T23 * Xp3);
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double Xp31 = (Xp3 + Xp1) + (T31 * (Yp3 - Yp1));
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double Yp31 = (Yp3 + Yp1) - (T31 * (Xp3 - Xp1));
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double Kp31 = (Xp1 * Xp3) + (Yp1 * Yp3) + (T31 * ((Xp1 * Yp3) - (Xp3 * Yp1)));
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double D = ((Xp12 - Xp23) * (Yp23 - Yp31)) - ((Yp12 - Yp23) * (Xp23 - Xp31));
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if (D==0) return;
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Xr = X2 + ((Kp31 * (Yp12 - Yp23)) / D);
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Yr = Y2 + ((Kp31 * (Xp23 - Xp12)) / D);
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Calcul_Valide = true;
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}
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void setup() {
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Serial.begin(115200);
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M5.begin();
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M5.Axp.SetSpkEnable(0);
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// moteur
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ledcSetup(0, 1000, 8);
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ledcAttachPin(2, 0);
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ledcWrite(0, Pulse_Moteur);
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// I2C
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Wire.setPins(32, 33);
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I2C_Slave_init(0x30);
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M5.lcd.setTextSize(2);
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//Initialisation wifi
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//------------WIFI------------
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//Initialisation wifi
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WiFi.config(local_IP, gateway, subnet);
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WiFi.begin(ssid, password);
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int test_wifi = 0;
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while (WiFi.status() != WL_CONNECTED){
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delay(300);
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M5.Lcd.print(".");
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test_wifi ++;
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if (test_wifi > 10) break;
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}
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if (WiFi.status() == WL_CONNECTED) {
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server.begin();
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delay(500);
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M5.Lcd.clear();
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M5.Lcd.setCursor(10,10);
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M5.Lcd.print("Connecte au reseau ;-)");
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M5.Lcd.setCursor(10,30);
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M5.Lcd.print(ssid);
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}
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else {
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// le routeur riombotique n'a pas été trouvé - création d'un point d'accès
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WiFi.mode(WIFI_OFF);
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if (!WiFi.softAP("triangulation", "ilestsecret")) {
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log_e("Soft AP creation failed.");
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while(1);
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}
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IPAddress myIP = WiFi.softAPIP();
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server.begin();
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M5.Lcd.clear();
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M5.Lcd.setCursor(10,10);
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M5.Lcd.print("Creation Hotspot ;-)");
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M5.Lcd.setCursor(10,30);
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M5.Lcd.print("triangulation 192.168.4.1");
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M5.Lcd.setCursor(10,50);
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M5.Lcd.print("mdp : ilestsecret");
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}
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delay(1000);
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M5.Lcd.clear();
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// --------------------
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pinMode(19, INPUT_PULLDOWN); // entree pulse tour codeur
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pinMode(27, INPUT_PULLDOWN); // entree pulse angle codeur
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pinMode(25, INPUT_PULLDOWN); // entree phototransistor capteur 1
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pinMode(26, INPUT_PULLDOWN); // entree phototransistor capteur 2
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attachInterrupt(27, fonction_AB, RISING); // appel fonction AB a chaque pulse codeur
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attachInterrupt(19, fonction_Z, RISING); // appel fonction Z a chaque tour codeur
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attachInterrupt(25, fonction_Balise_capteur_1, FALLING); // appel fonction Balise capteur 1 a chaque detection phototransistor
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attachInterrupt(26, fonction_Balise_capteur_2, FALLING); // appel fonction Balise capteur 2 a chaque detection phototransistor
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M5.Lcd.setCursor(10,10);
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M5.lcd.print(" Salut Riombotique");
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delay(500);
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M5.Lcd.clear();
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//M5.Lcd.setCursor(10,10);
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//M5.Lcd.print("Nb tours : ");
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//M5.Lcd.setCursor(10,30);
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//M5.Lcd.print("Balise : ");
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M5.Lcd.setCursor(10,0);
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M5.Lcd.print("Angle 1 : ");
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M5.Lcd.setCursor(10,20);
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M5.Lcd.print("Angle 2 : ");
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M5.Lcd.setCursor(10,40);
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M5.Lcd.print("Angle 3 : ");
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//M5.Lcd.setCursor(10,110);
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//M5.Lcd.print("Frequence 1 : ");
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//M5.Lcd.setCursor(10,130);
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//M5.Lcd.print("Frequence 2 : ");
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//M5.Lcd.setCursor(10,150);
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//M5.Lcd.print("Frequence 3 : ");
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M5.Lcd.setCursor(0,60);
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M5.Lcd.print("A float = ");
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M5.Lcd.setCursor(0,80);
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M5.Lcd.print("a RAD = ");
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M5.Lcd.setCursor(0,100);
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M5.Lcd.print("angle = ");
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M5.Lcd.setCursor(160,180);
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M5.Lcd.print("X = ");
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M5.Lcd.setCursor(160,210);
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M5.Lcd.print("Y = ");
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}
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void loop() {
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//Effectue a chaque tour ........................
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if ((Old_Nb_tours != Nb_tours) && (Trigger_Balises)){
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Old_Nb_tours = Nb_tours;
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if (!Balise_Valide){
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Balise_Valide = true;
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rapport();
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}
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//_____________________________________________ gestion I2C et Data sent
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if(Xr>0){
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Angle_B1 = ((Balise[0][1] + 10000 - alignement) % 10000) * CONV; // lorsque le robot est orienté vers la balise, angle codeur = 0
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//calc1 = (Y1-Yr)*1000/Xr;
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//Angle_Ref_Theorique = atan(calc1/1000); // angle théorique entre axe X et alignement vers balise depuis la position X, Y
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calc1 = Xr*1000/(Y1-Yr);
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Angle_Ref_Theorique = atan(calc1/1000); // angle théorique entre axe Y et alignement vers balise depuis la position X, Y
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//calc2 = fmod(((Angle_B1/pi2*360)+360 - ((CONV2-Angle_Ref_Theorique)/pi2*360)),360); // angle codeur - (90°-angle theorique mais sur Y) modulo 360° et oui le modulo ne prend que de l'entier...
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calc2 = fmod(((Angle_B1/pi2*360)+360 - (Angle_Ref_Theorique/pi2*360)),360); // angle codeur - angle theorique sur Y) modulo 360° et oui le modulo ne prend que de l'entier...
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Angle_Robot_RAD = calc2/360*pi2; // en radian
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Angle_Robot_Deg_int = calc2; // arrondi des degres dans un entier
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Angle_Robot_Deg = calc2; // angle d'orientation robot en degres (0 sur l'axe Y)
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}
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uint8_t etat_balises = (Balise_0 | Balise_1 <<1 | Balise_2 <<2 | Calcul_Valide <<3);
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I2C_envoi_8bits(etat_balises,0);
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// TODO: Mettre Xr et Yr dans la mémoire I2C ################################
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I2C_envoi_32bits(Xr, 1);
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I2C_envoi_32bits(Yr, 5);
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//I2C_envoi_32bits(Angle_Robot_RAD, 9);
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I2C_envoi_32bits(Angle_Robot_Deg_int, 9);
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//_____________________________________________
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if (Nb_Balises == 3) traitement_donnees(); //calcul des coordonnees si 3 balises
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affichage_resultats();
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checkForClient();
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Nb_Balises = 0;
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Balise_0 = false;
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Balise_1 = false;
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Balise_2 = false;
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for (int i = 0; i <= (2); i++) {
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//Remise à zero des balises
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Balise[i][0] = 0;
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Balise[i][1] = 0;
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}
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vitesse_moteur();
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}
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//________________________________________
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}
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void rapport(){
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Serial.print("Frequence ");
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Serial.print(Frequence_Balise);
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Serial.print(" / Pulses ");
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Serial.print(Nb_Pulses);
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Serial.print("/ Angle 1 ");
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Serial.print(A_Depart_Balise);
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Serial.print("/ Angle 2 ");
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Serial.println(A_Fin_Balise);
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}
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void vitesse_moteur() {
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if ((millis() - Temps_Tour) < 500){ //250 millisecondes par tour correspond à la vitesse de rotation desiree
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Pulse_Moteur ++;
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}
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else {
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||||
Pulse_Moteur --;
|
||||
}
|
||||
ledcWrite(0, Pulse_Moteur); // Ajustement de la vitesse
|
||||
Temps_Tour = millis();
|
||||
}
|
||||
|
||||
void affichage_resultats() {
|
||||
// affichage des resultats .........................
|
||||
//M5.Lcd.setCursor(140,10);
|
||||
//M5.Lcd.print(Nb_tours);
|
||||
//M5.Lcd.print(" ");
|
||||
//M5.Lcd.setCursor(140,30);
|
||||
//M5.Lcd.print(Nb_Balises);
|
||||
//M5.Lcd.print(" ");
|
||||
M5.Lcd.setCursor(140,0);
|
||||
M5.Lcd.print(Balise[0][1]);
|
||||
//M5.Lcd.print(" / ");
|
||||
//M5.Lcd.print(Angle_B[0][3]);
|
||||
M5.Lcd.print(" ");
|
||||
M5.Lcd.setCursor(140,20);
|
||||
M5.Lcd.print(Balise[1][1]);
|
||||
//M5.Lcd.print(" / ");
|
||||
// M5.Lcd.print(Angle_B[1][3]);
|
||||
M5.Lcd.print(" ");
|
||||
M5.Lcd.setCursor(140,40);
|
||||
M5.Lcd.print(Balise[2][1]);
|
||||
// M5.Lcd.print(" / ");
|
||||
// M5.Lcd.print(Angle_B[2][3]);
|
||||
M5.Lcd.print(" ");
|
||||
//M5.Lcd.setCursor(200,110);
|
||||
//M5.Lcd.print(Balise[0][0]);
|
||||
//M5.Lcd.print(" ");
|
||||
//M5.Lcd.setCursor(200,130);
|
||||
//M5.Lcd.print(Balise[1][0]);
|
||||
//M5.Lcd.print(" ");
|
||||
//M5.Lcd.setCursor(200,150);
|
||||
//M5.Lcd.print(Balise[2][0]);
|
||||
//M5.Lcd.print(" ");
|
||||
M5.Lcd.setCursor(150,60);
|
||||
M5.Lcd.print(Angle_B1);
|
||||
M5.Lcd.setCursor(150,80);
|
||||
M5.Lcd.print(Angle_Ref_Theorique);
|
||||
M5.Lcd.setCursor(150,100);
|
||||
M5.Lcd.print(Angle_Robot_Deg);
|
||||
M5.Lcd.print(" ° ");
|
||||
M5.Lcd.setCursor(200,180);
|
||||
M5.Lcd.print(Xr);
|
||||
M5.Lcd.print(" mm ");
|
||||
M5.Lcd.setCursor(200,210);
|
||||
M5.Lcd.print(Yr);
|
||||
M5.Lcd.print(" mm ");
|
||||
}
|
||||
|
||||
void checkForClient(){
|
||||
WiFiClient client = server.available();
|
||||
if (client) {
|
||||
while (client.connected()) {
|
||||
if (client.available()) {
|
||||
char c = client.read();
|
||||
if (c == '\n') {
|
||||
// fin du message
|
||||
client.println("HTTP/1.1 200 OK");
|
||||
client.println("Content-Type: text/html");
|
||||
client.println("Connection: close");
|
||||
client.println();
|
||||
client.println("<!DOCTYPE HTML>");
|
||||
client.println("<meta http-equiv='Refresh' content='2'>");
|
||||
client.print("<html>");
|
||||
//client.print("Nb tours : ");
|
||||
//client.print(Nb_tours);
|
||||
//client.print("<BR>");
|
||||
//client.print("Balise : ");
|
||||
//client.print(Nb_Balises);
|
||||
//client.print("<BR>");
|
||||
client.print("Angle 1 : ");
|
||||
client.print(Balise[0][1]);
|
||||
client.print("<BR>");
|
||||
client.print("Angle 2 : ");
|
||||
client.print(Balise[1][1]);
|
||||
client.print("<BR>");
|
||||
client.print("Angle 3 : ");
|
||||
client.print(Balise[2][1]);
|
||||
client.print("<BR>");
|
||||
//client.print("Frequence 1 : ");
|
||||
//client.print(Balise[0][0]);
|
||||
//client.print("<BR>");
|
||||
//client.print("Frequence 2 : ");
|
||||
//client.print(Balise[1][0]);
|
||||
//client.print("<BR>");
|
||||
//client.print("Frequence 3 : ");
|
||||
//client.print(Balise[2][0]);
|
||||
//client.print("<BR>");
|
||||
client.print("X = ");
|
||||
if (Xr < 3000) client.print(Xr);
|
||||
client.println(" mm");
|
||||
client.print("<BR>");
|
||||
client.print("Y = ");
|
||||
if (Yr < 3000) client.print(Yr);
|
||||
client.println(" mm");
|
||||
client.println("</html>");
|
||||
break;
|
||||
}
|
||||
}
|
||||
else {
|
||||
break;
|
||||
}
|
||||
}
|
||||
delay(10); // give the web browser time to receive the data
|
||||
client.stop(); // clos la connection
|
||||
delay(10);
|
||||
}
|
||||
}
|
||||
|
||||
BIN
Triangulation/doc/Methode_de_triangulation.pdf
Normal file
BIN
Triangulation/doc/Methode_de_triangulation.pdf
Normal file
Binary file not shown.
Loading…
Reference in New Issue
Block a user