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Réglage des butées de l'ascensseur

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This commit is contained in:
Samuel 2025-05-13 22:30:22 +02:00
parent 4f8dc2b99b
commit 454a15e709
1 changed files with 36 additions and 5 deletions
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41
Actionneurs/Actionneurs.ino
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@ -8,6 +8,13 @@
#define FOURCHE_LEVEE 5, 227 #define FOURCHE_LEVEE 5, 227
#define FOURCHE_PRISE 5, 345 #define FOURCHE_PRISE 5, 345
#define DOIGT_PINCE_GAUCHE_FERME 2080
#define DOIGT_PINCE_GAUCHE_OUVRE 2367
#define DOIGT_PINCE_GAUCHE_PARKING 1550
#define ID_FEETECH_ASC_G 11
#define ID_FEETECH_ASC_D 10
SMS_STS sms_sts; SMS_STS sms_sts;
int ID_Feetech = 4; int ID_Feetech = 4;
@ -45,7 +52,7 @@ void setup()
//ledcWrite(5, 227); // Position levée (butée haute) //ledcWrite(5, 227); // Position levée (butée haute)
//ledcWrite(5, 345); // Position de prise //ledcWrite(5, 345); // Position de prise
/*
while(1){ while(1){
ledcWrite(FOURCHE_PRISE); ledcWrite(FOURCHE_PRISE);
delay(1000); delay(1000);
@ -56,7 +63,7 @@ void setup()
ledcWrite(FOURCHE_TRANSPORT); ledcWrite(FOURCHE_TRANSPORT);
delay(5000); delay(5000);
} }*/
// Servo pinces à aimant // Servo pinces à aimant
@ -72,6 +79,28 @@ void setup()
ledcAttach(4, 2000, 8); ledcAttach(4, 2000, 8);
ledcWrite(4, 0); ledcWrite(4, 0);
/*while(1){
ledcWrite(FOURCHE_PRISE);
delay(1000);
ledcWrite(FOURCHE_TRANSPORT);
delay(1000);
ledcWrite(FOURCHE_LEVEE);
delay(1000);
ledcWrite(FOURCHE_TRANSPORT);
delay(1000);
sms_sts.WritePosEx(3, DOIGT_PINCE_GAUCHE_PARKING, 2400, 50);
delay(1000);
sms_sts.WritePosEx(3, DOIGT_PINCE_GAUCHE_OUVRE, 2400, 50);
delay(3000);
sms_sts.WritePosEx(3, DOIGT_PINCE_GAUCHE_FERME, 2400, 50);
delay(5000);
sms_sts.WritePosEx(3, DOIGT_PINCE_GAUCHE_OUVRE, 2400, 50);
delay(5000);
}*/
if(sms_sts.FeedBack(ID_Feetech)!=-1){ if(sms_sts.FeedBack(ID_Feetech)!=-1){
actuelle.position = sms_sts.ReadPos(-1); actuelle.position = sms_sts.ReadPos(-1);
@ -110,9 +139,9 @@ void goto_position(int servo_id, position_t position){
loin = 1; loin = 1;
sms_sts.WheelMode(servo_id); sms_sts.WheelMode(servo_id);
if(actuelle.nb_tour < position.nb_tour){ if(actuelle.nb_tour < position.nb_tour){
sms_sts.WriteSpe(servo_id, 2400, 50);
}else{
sms_sts.WriteSpe(servo_id, -2400, 50); sms_sts.WriteSpe(servo_id, -2400, 50);
}else{
sms_sts.WriteSpe(servo_id, 2400, 50);
} }
} }
}else{ }else{
@ -127,6 +156,8 @@ void goto_position(int servo_id, position_t position){
Serial.printf(">act_pos:%d\n",actuelle.position); Serial.printf(">act_pos:%d\n",actuelle.position);
Serial.printf(">act_nb_tour:%d\n",actuelle.nb_tour); Serial.printf(">act_nb_tour:%d\n",actuelle.nb_tour);
} }
void loop() void loop()
@ -146,7 +177,7 @@ void loop()
*/ */
Serial.print(">millis:"); Serial.print(">millis:");
Serial.println(millis()); Serial.println(millis());
if(millis() > myTime + 8000){ if(millis() > myTime + 4000){
myTime = millis(); myTime = millis();
if(m_pos){ if(m_pos){
//sms_sts.WritePosEx(ID_Feetech, 4095, 2400, 50); //sms_sts.WritePosEx(ID_Feetech, 4095, 2400, 50);