Reglage des servos + fonctions de réglage
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@ -5,13 +5,25 @@
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#define SERVO_PINCE_GAUCHE 8
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#define SERVO_PINCE_DROITE 9
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#define FOURCHE_TRANSPORT 5, 307
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#define FOURCHE_LEVEE 5, 227
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#define FOURCHE_PRISE 5, 345
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#define FOURCHE_TRANSPORT 5, 287
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#define FOURCHE_LEVEE 5, 217
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#define FOURCHE_PRISE 5, 327
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#define DOIGT_PINCE_GAUCHE_FERME 2080
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#define DOIGT_PINCE_GAUCHE_OUVRE 2367
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#define DOIGT_PINCE_GAUCHE_PARKING 1550
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#define DOIGT_PINCE_GAUCHE_FERME 3, 1000
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#define DOIGT_PINCE_GAUCHE_OUVRE 3, 800
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#define DOIGT_PINCE_GAUCHE_SEUIL 815
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/// TODO renseigner de vraies valeurs
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#define DOIGT_PINCE_DROIT_FERME 4, 1000
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#define DOIGT_PINCE_DROIT_OUVRE 4, 800
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#define DOIGT_PINCE_DROIT_SEUIL 815
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/// FIN TODO
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#define AIMANT_PINCE_DROIT_TIENT 8, 147
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#define AIMANT_PINCE_DROIT_LACHE 8, 337
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#define AIMANT_PINCE_GAUCHE_TIENT 9, 500
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#define AIMANT_PINCE_GAUCHE_LACHE 9, 400
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SMS_STS sms_sts;
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@ -35,6 +47,20 @@ enum translateur_action_t{
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}translateur_action = TRANSLATEUR_INIT;
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enum etat_actionneur_t{
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ACTIONNEUR_DEPLACEMENT,
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ACTIONNEUR_PRISE_EXTERNE,
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ACTIONNEUR_DEPILE,
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ACTIONNEUR_PRISE_INTERNE,
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ACTIONNEUR_RECULE_PRISE_INTERNE,
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ACTIONNEUR_LEVE,
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ACTIONNEUR_AVANCE_PRISE_INTERNE,
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ACTIONNEUR_DEPOSE_PRISE_INTERNE,
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ACTIONNEUR_RANGE_TRANSLATEUR,
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ACTIONNEUR_DESCEND
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}
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/// @brief pilote la vitesse des moteurs
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/// @param vitesse vitesse signée, sera saturée à 255
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void Moteur_set(int vitesse){
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@ -206,6 +232,45 @@ void Translateur_cycle(void){
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}
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}
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void reglage_servo(int pin_servo){
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static int valeur=307; // Neutre
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printf("reglage_servo %d\n", pin_servo);
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while(1){
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if (Serial.available() > 0) {
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// get incoming byte:
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int inByte = 0;
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inByte = Serial.read();
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if(inByte == 'e'){
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valeur++;
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}
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if(inByte == 'z'){
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valeur+=10;
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}
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if(inByte == 'a'){
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valeur+=100;
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}
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if(inByte == 'd'){
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valeur--;
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}
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if(inByte == 's'){
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valeur-=10;
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}
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if(inByte == 'f'){
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valeur-=100;
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}
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if(inByte == 'q'){
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break;
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}
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printf("Valeur %d\n", valeur);
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ledcWrite(pin_servo, valeur);
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}
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Serial.printf(">Servo3:%d\n", sms_sts.ReadPos(3));
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Serial.printf(">Servo4:%d\n", sms_sts.ReadPos(4));
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delay(50);
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}
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}
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void loop()
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@ -255,6 +320,15 @@ void loop()
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if(inByte == 'z'){
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Translateur_recule();
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}
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if(inByte == '1'){
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reglage_servo(8);
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}
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if(inByte == '2'){
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reglage_servo(9);
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}
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if(inByte == '3'){
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reglage_servo(5);
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}
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if(inByte == 'c'){
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while(Serial.available() > 0){
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inByte = Serial.read();
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@ -306,3 +380,5 @@ void loop()
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}*/
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}
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