Actionneur: réglage des positions de la fourhce

Actionneurs/Actionneurs.ino

@@ -0,0 +1,210 @@
+#include <SCServo.h>
+
+#define SERVO_FOUCHE 5
+#define SERVO_PINCE_GAUCHE 8
+#define SERVO_PINCE_DROITE 9
+
+#define FOURCHE_TRANSPORT 5, 307
+#define FOURCHE_LEVEE     5, 227
+#define FOURCHE_PRISE     5, 345
+
+SMS_STS sms_sts;
+
+int ID_Feetech = 4;
+
+struct position_t{
+  int nb_tour;
+  uint position;
+} cible_haute, cible_basse, actuelle;
+
+void Moteur_set(int vitesse){
+  ledcWrite(3, 0);
+  ledcWrite(4, 0);
+}
+
+void setup()
+{
+  Serial.begin(115200);//sms舵机波特率115200
+  Serial1.begin(1000000,SERIAL_8N1, RX, TX);//sts舵机波特率1000000
+  sms_sts.pSerial = &Serial1;
+  delay(1000);
+  sms_sts.WheelMode(ID_Feetech);//舵机ID1切换至电机恒速模式
+  //sms_sts.WriteSpe(ID_Feetech, 2400, 100);
+  cible_haute.nb_tour = 0;
+  cible_haute.position = 500;
+
+  cible_basse.nb_tour = 2;
+  cible_basse.position = 1500;
+
+  actuelle.nb_tour = 0;
+
+  //Servo fourche (12V)
+  ledcAttach(5, 50, 12);
+  // ledcWrite(5, 307); // Neutre
+  ledcWrite(5, 307); // Position de transport
+  //ledcWrite(5, 227); // Position levée (butée haute)
+  //ledcWrite(5, 345); // Position de prise
+
+
+  while(1){
+    ledcWrite(FOURCHE_PRISE);
+    delay(1000);
+    ledcWrite(FOURCHE_TRANSPORT);
+    delay(1000);
+    ledcWrite(FOURCHE_LEVEE);
+    delay(1000);
+    ledcWrite(FOURCHE_TRANSPORT);
+    delay(5000);
+
+  }
+
+
+  // Servo pinces à aimant
+  ledcAttach(8, 50, 12);
+  ledcWrite(8, 307);
+
+  ledcAttach(9, 50, 12);
+  ledcWrite(9, 307);
+
+  // Moteur
+  ledcAttach(3, 2000, 8);
+  ledcWrite(3, 0);
+  ledcAttach(4, 2000, 8);
+  ledcWrite(4, 0);
+
+
+  if(sms_sts.FeedBack(ID_Feetech)!=-1){
+    actuelle.position = sms_sts.ReadPos(-1);
+  }else{
+    do{
+      Serial.println("Erreur lecture");
+      delay(1000);
+    }while(sms_sts.FeedBack(ID_Feetech) ==-1);
+    actuelle.position = sms_sts.ReadPos(-1);
+  }
+
+  
+}
+
+void goto_position(int servo_id, position_t position){
+  // Actualise la position
+  struct position_t precedente;
+  static int loin = 1;
+  precedente = actuelle;
+  if(sms_sts.FeedBack(servo_id)!=-1){
+    actuelle.position = sms_sts.ReadPos(-1);
+  }
+  if(abs((int)actuelle.position - (int)precedente.position) > 2000){
+    // Rebouclage compteur
+    if(actuelle.position < precedente.position){
+      // Sens positif
+      actuelle.nb_tour++;
+    }else{
+      actuelle.nb_tour--;
+    }
+  }
+
+  // Sens de déplacement
+  if(actuelle.nb_tour != position.nb_tour){
+    if(loin != 1){
+      loin = 1;
+      sms_sts.WheelMode(servo_id);
+      if(actuelle.nb_tour < position.nb_tour){
+        sms_sts.WriteSpe(servo_id, 2400, 50);
+      }else{
+        sms_sts.WriteSpe(servo_id, -2400, 50);
+      }
+    }
+  }else{
+    if(loin != 0){
+      loin = 0;
+      sms_sts.ServoMode(servo_id);
+      sms_sts.WritePosEx(ID_Feetech, position.position, 2400, 50);
+    }
+  }
+  Serial.printf(">cible_pos:%d\n",position.position);
+  Serial.printf(">cible_nb_tour:%d\n",position.nb_tour);
+  Serial.printf(">act_pos:%d\n",actuelle.position);
+  Serial.printf(">act_nb_tour:%d\n",actuelle.nb_tour);
+
+}
+
+void loop()
+{
+  static int m_pos=0;
+  static unsigned long myTime=0;
+  static position_t cible;
+
+  /*
+  //舵机(ID1)以最高速度V=60*0.732=43.92rpm，加速度A=50*8.7deg/s^2，运行至P1=4095位置
+  sms_sts.WritePosEx(1, 4095, 2400, 50);
+  delay((4095-0)*1000/(60*50) + (60*50)*10/(50) + 50);//[(P1-P0)/(V*50)]*1000+[(V*50)/(A*100)]*1000 + 50(误差)
+
+  //舵机(ID1)以最高速度V=60*0.732=43.92rpm，加速度A=50*8.7deg/s^2，运行至P0=0位置
+  sms_sts.WritePosEx(1, 0, 2400, 50);
+  delay((4095-0)*1000/(60*50) + (60*50)*10/(50) + 50);//[(P1-P0)/(V*50)]*1000+[(V*50)/(A*100)]*1000 + 50(误差)
+  */
+  Serial.print(">millis:");
+  Serial.println(millis());
+  if(millis() > myTime + 8000){
+    myTime = millis();
+    if(m_pos){
+      //sms_sts.WritePosEx(ID_Feetech, 4095, 2400, 50);
+      //sms_sts.WriteSpe(ID_Feetech, 2400, 50);
+      cible = cible_haute;
+      m_pos = 0;
+    }else{
+      m_pos ++;
+      //sms_sts.WriteSpe(ID_Feetech, -2400, 50);
+      //sms_sts.WritePosEx(ID_Feetech, 0, 2400, 50);
+      //sms_sts.WriteSpe(ID_Feetech, -80, 100);
+      cible = cible_basse;
+    }
+  }
+  goto_position(ID_Feetech, cible);
+  int ID = sms_sts.Ping(ID_Feetech);
+  if(ID!=-1){
+    Serial.print("Servo ID:");
+    Serial.println(ID, DEC);
+    delay(100);
+  }else{
+    Serial.println("Ping servo ID error!");
+    delay(2000);
+  }
+
+    int Pos;
+  int Speed;
+  int Load;
+  int Voltage;
+  int Temper;
+  int Move;
+  int Current;
+  if(sms_sts.FeedBack(ID)!=-1){
+    Pos = sms_sts.ReadPos(-1);
+    Speed = sms_sts.ReadSpeed(-1);
+    Load = sms_sts.ReadLoad(-1);
+    Voltage = sms_sts.ReadVoltage(-1);
+    Temper = sms_sts.ReadTemper(-1);
+    Move = sms_sts.ReadMove(-1);
+    Current = sms_sts.ReadCurrent(-1);
+    Serial.print(">Position:");
+    Serial.println(Pos);
+    Serial.print(">Speed:");
+    Serial.println(Speed);
+    Serial.print(">Load:");
+    Serial.println(Load);
+    Serial.print(">Voltage:");
+    Serial.println(Voltage);
+    Serial.print(">Temper:");
+    Serial.println(Temper);
+    Serial.print(">Move:");
+    Serial.println(Move);
+    Serial.print(">Current:");
+    Serial.println(Current);
+    delay(50);
+  }else{
+    Serial.println("FeedBack err");
+    delay(500);
+  }
+}
+