Code refactorisé - déplacements relatifs OK
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9023ae64bc
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@ -1,9 +1,11 @@
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#include <M5Core2.h>
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#include <Wire.h>
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#include <WiFi.h>
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#include <WebServer.h>
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#include <math.h>
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#include "Communication_chassis.h"
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#include "ServerWeb.h"
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#define WIRE Wire
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@ -24,10 +26,10 @@ IPAddress subnet(255, 255, 255, 0);
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// IPAddress local_IP(192, 168, 1, 99);
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// IPAddress gateway(192, 168, 1, 1);
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// IPAddress subnet(255, 255, 255, 0);
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WebServer server(80);
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const int16_t I2C_MASTER = 0x42;
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const int16_t I2C_SLAVE_chassi = 0x55;
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const int16_t I2C_SLAVE_trian = 0x30;
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uint8_t test = 32;
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uint32_t i = 0;
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@ -82,78 +84,6 @@ char* tableau[] = {"Lecture serveur", "Prise position", "Verif mvmt end ou cmd",
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char* statu[] = {"/..","./.","../"};
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int index_statu=0;
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struct chassis_reception_t {
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unsigned char status;
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};
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struct chassis_emission_t {
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unsigned char status;
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int translation_x, translation_y, rotation_y;
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};
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void Scan_chassis(struct chassis_reception_t * chassis_reception);
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#define FORM \
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"<!DOCTYPE html>\n" \
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"<html>\n" \
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"<head>\n" \
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"<meta charset=\"UTF-8\">\n" \
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"<title>A simple form</title>\n" \
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"</head>\n" \
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"<body>\n" \
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"<form action=\"/form\" method=\"post\">\n" \
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"<br>" \
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"<label for=\"X\">X : en mm</label>\n" \
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"<br>" \
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"<input type=\"text\" id=\"X\" name=\"X\">\n" \
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"<br>" \
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"<label for=\"Y\">Y : en mm</label>\n" \
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"<br>" \
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"<input type=\"text\" id=\"Y\" name=\"Y\">\n" \
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"<br>" \
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"<label for=\"R\">Rotation : en degres</label>\n" \
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"<br>" \
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"<input type=\"text\" id=\"R\" name=\"R\">\n" \
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"<br>" \
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"<label for=\"V\">Vitesse : </label>\n" \
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"<br>" \
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"<input type=\"text\" id=\"V\" name=\"V\" value=\"2000\">\n" \
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"<br>" \
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"<br>" \
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"<label for=\"A\">Accel : </label>\n" \
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"<br>" \
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"<input type=\"text\" id=\"A\" name=\"A\"value=\"1500\">\n" \
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"<br>" \
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"<br>" \
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"<input type=\"submit\" value=\" Vas-Y \">\n" \
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"<br>" \
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"<br>" \
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"<input type=\"reset\" value=\"Reset\">\n" \
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"<br>" \
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"<br>" \
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"<input type=\"submit\" value=\" STOP \">\n" \
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"</form>\n" \
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"</body>\n" \
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"</html>\n"
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void handleForm() {
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String message;
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message += FORM;
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server.send(200, "text/html", message);
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String myString0 = server.arg("X"); //positon de cmd en X mm
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// x= myString0.toInt() * coef_mvt/10;
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xA= myString0.toInt();
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String myString1 = server.arg("Y"); //positon de cmd en Y mm
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// y= myString1.toInt() * coef_mvt/10;
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yA= myString1.toInt();
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String myString2 = server.arg("R"); //positon de cmd en Rotation Deg °
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rot= myString2.toInt() * 13.88888;
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String myString3 = server.arg("V"); // Vitesse de cmd en
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vit= myString3.toInt();
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String myString4 = server.arg("A"); // Acceleration de cmd
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acc= myString4.toInt();
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}
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void setup() {
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// put your setup code here, to run once:
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@ -162,7 +92,7 @@ void setup() {
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M5.Lcd.setTextSize(2);
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M5.Lcd.print("Bonjour\nEcran\n\nRecherche Wifi");
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Initialisation_wifi();
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server.on("/form", handleForm);
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Web_init();
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WIRE.begin();
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M5.Lcd.clear();
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@ -177,20 +107,8 @@ void setup() {
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//}
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// MemPosition_X = 800;
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// MemPosition_Y = 800;
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M5.Lcd.clear();
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M5.Lcd.setCursor(0, 0);M5.Lcd.print("Pos");M5.Lcd.setCursor(50, 0);M5.Lcd.print("X :");M5.Lcd.setCursor(150, 0);M5.Lcd.print("|Xp:");
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M5.Lcd.setCursor(0, 20);M5.Lcd.print("n-1");
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M5.Lcd.setCursor(50, 20);M5.Lcd.print("Y :");M5.Lcd.setCursor(150, 20);M5.Lcd.print("|Yp:");
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M5.Lcd.setCursor(0, 40);M5.Lcd.print("Pos");
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M5.Lcd.setCursor(50, 40);M5.Lcd.print("X :");
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M5.Lcd.setCursor(0, 60);M5.Lcd.print("Act");
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M5.Lcd.setCursor(50, 60);M5.Lcd.print("Y :");
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M5.Lcd.setCursor(10, 80);M5.Lcd.print("Trans I2C");
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M5.Lcd.setCursor(10, 100);M5.Lcd.print("Triangulation ");
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M5.Lcd.setCursor(10, 120);M5.Lcd.print("AngleRad");
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M5.Lcd.setCursor(10, 140);M5.Lcd.print("Tol x:");
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M5.Lcd.setCursor(10, 160);M5.Lcd.print("Tol y:");
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M5.Lcd.setCursor(10, 180);M5.Lcd.print("Case");
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affichage_standard_init();
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//M5.Lcd.setCursor(10, 200);M5.Lcd.print("cmd :");
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}
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@ -202,7 +120,7 @@ void loop() {
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strategie();
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affichage_resultats();
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delay(500);
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delay(10);
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}
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void affichage_resultats() {
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@ -237,7 +155,7 @@ void Initialisation_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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Serial.println("Server started");
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delay(500);
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M5.Lcd.clear();
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@ -254,7 +172,6 @@ void Initialisation_wifi(){
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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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@ -266,6 +183,23 @@ void Initialisation_wifi(){
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delay(1500);
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}
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void affichage_standard_init(){
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M5.Lcd.clear();
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M5.Lcd.setCursor(0, 0);M5.Lcd.print("Pos");M5.Lcd.setCursor(50, 0);M5.Lcd.print("X :");M5.Lcd.setCursor(150, 0);M5.Lcd.print("|Xp:");
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M5.Lcd.setCursor(0, 20);M5.Lcd.print("n-1");
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M5.Lcd.setCursor(50, 20);M5.Lcd.print("Y :");M5.Lcd.setCursor(150, 20);M5.Lcd.print("|Yp:");
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M5.Lcd.setCursor(0, 40);M5.Lcd.print("Pos");
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M5.Lcd.setCursor(50, 40);M5.Lcd.print("X :");
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M5.Lcd.setCursor(0, 60);M5.Lcd.print("Act");
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M5.Lcd.setCursor(50, 60);M5.Lcd.print("Y :");
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M5.Lcd.setCursor(10, 80);M5.Lcd.print("Trans I2C");
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M5.Lcd.setCursor(10, 100);M5.Lcd.print("Triangulation ");
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M5.Lcd.setCursor(10, 120);M5.Lcd.print("AngleRad");
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M5.Lcd.setCursor(10, 140);M5.Lcd.print("Tol x:");
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M5.Lcd.setCursor(10, 160);M5.Lcd.print("Tol y:");
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M5.Lcd.setCursor(10, 180);M5.Lcd.print("Case");
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}
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void affiche_erreur(char * chaine1, char * chaine2){
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M5.Lcd.clear();
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M5.Lcd.setCursor(10,10);
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@ -290,10 +224,19 @@ void affiche_msg(char * chaine1, char * chaine2){
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void strategie(){
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struct chassis_reception_t chassis_reception;
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struct chassis_emission_t chassis_emission;
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switch(index_Maitre){
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case 0 : //---------------------------------------------------------------------------------------------------------
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server.handleClient(); //************* Lecture des données recu pour coordoné (X,Y,rotation)
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if(vit!=0 && !corrige){
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/// Lecture des commandes venant du serveur web et envoi des commandes au chassis
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Web_gestion();
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M5.update();
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/// Si on a une réponse du client
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/// On lit la réponse
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if(Web_nouveau_message()){
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if(Web_type_requete() == WEB_DEPLACEMENT_RELATIF){
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chassis_emission = Web_get_donnees();
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send_Chassis(&chassis_emission);
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}
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Serial.printf("vit:%d, corrige: %d\n", vit, corrige);
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MemCmd_X = xA; //Memorisation de la comande pour comparaison avec arrivé
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MemCmd_Y = yA;
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@ -301,6 +244,41 @@ void strategie(){
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//index_Maitre = 1; // Bloc le serveur WEB si on n'a pas la triangulation
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index_Maitre = 2;
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}
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if(M5.BtnA.read() == 1){
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// Déplacement en X
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chassis_emission.translation_x_mm = 2000;
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chassis_emission.translation_y_mm = 0;
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chassis_emission.rotation_z_rad = 0;
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chassis_emission.vitesse = 2000;
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chassis_emission.acceleration = 1500;
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send_Chassis(&chassis_emission);
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index_Maitre = 2;
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}
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if(M5.BtnB.read() == 1){
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// Déplacement en Y
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chassis_emission.translation_x_mm = 0;
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chassis_emission.translation_y_mm = 2000;
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chassis_emission.rotation_z_rad = 0;
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chassis_emission.vitesse = 2000;
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chassis_emission.acceleration = 1500;
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send_Chassis(&chassis_emission);
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index_Maitre = 2;
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}
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if(M5.BtnC.read() == 1){
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// Rotation
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chassis_emission.translation_x_mm = 0;
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chassis_emission.translation_y_mm = 0;
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chassis_emission.rotation_z_rad = 100;
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chassis_emission.vitesse = 2000;
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chassis_emission.acceleration = 1500;
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send_Chassis(&chassis_emission);
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index_Maitre = 2;
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}
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break;
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case 1 : //---------------------------------------------------------------------------------------------------------
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@ -315,8 +293,9 @@ void strategie(){
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//Si position Pas OK ******************
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break;
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case 2 : //---------------------------------------------------------------------------------------------------------
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case 2 : // Deplacement relatif en cours
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Scan_chassis(&chassis_reception); //Verif de la fin de mouvement remonté par le chassis
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// Pour l'instant, Scan_chassis bloque le programme en cas de problème de communication
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if(Err_Chassi_com !=0){
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for(int j=0; j<10; j++){
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affichage_resultats();
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@ -325,25 +304,13 @@ void strategie(){
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}
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// ********************************* ERREUR DE COM FATAL ***********************
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}
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if(Mvt_finit==0){
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cmd_chassi_x = xA;
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cmd_chassi_y = yA;
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Cmd_Angle = rot;
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send_Chassis(); //Envoie des coordonées à atteindre
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while(Mvt_finit!=1){
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Serial.println("while Mvt_finit");
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Scan_chassis(&chassis_reception); //Verif de la fin de mouvement remonté par le chassis (time out ?**********)
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delay(50);
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}
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Scan_chassis(&chassis_reception); //Verif de la fin de mouvement remonté par le chassis (time out ?**********)
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if(chassis_reception.status != MOUVEMENT_FINI){
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}else{
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send_Chassis_RAZ(); //Envoie des coordonées à atteindre
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send_Chassis_RAZ(); // Immobilisation du robot
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index_Maitre = 0; // On attend l'ordre suivant
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}
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//M5.Lcd.clear();
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Serial.println("case 2 fin1/2");
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index_Maitre = 0;
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Serial.println("case 2 fin2/2");
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break;
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}
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}
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@ -390,34 +357,6 @@ void compar_cinematique(){
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}
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}
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/// @brief Lit l'état du chassis en I2C
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void Scan_chassis(struct chassis_reception_t * chassis_reception){
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unsigned char tampon2[14];
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//(Adresse I2c, Adresse dans le registre, tampon, longueur de donnée)
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Serial.println("avant lire registre");
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error = I2C_lire_registre(I2C_SLAVE_chassi, 0, tampon2, 12);
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Serial.println("apres lire registre");
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if (error !=0){
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Serial.println("Erreur I2C");
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Err_Chassi_com =1;IndexErr = 2;
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affiche_erreur("Scan_Chassi", "Erreur I2C");
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while(1);
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}else{
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Serial.println("I2C OK");
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Err_Chassi_com =0;
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IndexErr = 0;
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int valeur;
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Mvt_finit = (MOUVEMENT_FINI == tampon2[0]);
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char chaine[100];
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sprintf(chaine, "tampon2: %x %x %x %x %x %x %x %x %x %x %x %x %x %x\n", tampon2[0], tampon2[1], tampon2[2], tampon2[3], tampon2[4],
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tampon2[5], tampon2[6], tampon2[7], tampon2[8], tampon2[9], tampon2[10], tampon2[11], tampon2[12], tampon2[13]);
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affiche_msg("Scan_Chassi", chaine);
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Serial.println("Affect struct");
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chassis_reception->status = tampon2[0];
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Serial.println("apres Affect struct");
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}
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}
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/// @brief Récupère position (X, Y) et l'orientation du robot
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void Scan_Triangulation(){
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@ -448,37 +387,7 @@ void Scan_Triangulation(){
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}
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}
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void send_Chassis_RAZ(){
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uint8_t RAZ_Message[11]={0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
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error = I2C_ecrire_registre(I2C_SLAVE_chassi, 0, RAZ_Message, 11);
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}
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void send_Chassis(){
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//if(nbr_essai<=10){
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// Prévient le chassis d'un nouveau mouvement avec le 2eme bit du premier Octet
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Mot[0] = MOUVEMENT_EN_COURS;
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//y*=-1;
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//y = y*direction;
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Mot[1] = cmd_chassi_x >>8; Mot[2] = cmd_chassi_x;
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Mot[3] = cmd_chassi_y >>8; Mot[4] = cmd_chassi_y;
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//Serial.println(y);
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Mot[5] = Cmd_Angle >>8; Mot[6] = Cmd_Angle;
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Mot[7] = vit >>8; Mot[8] = vit;
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Mot[9] = acc >>8; Mot[10] = acc;
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error = I2C_ecrire_registre(I2C_SLAVE_chassi, 0, Mot, 11);
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if (error !=0){Err_Cha_send =1; IndexErr = 5;}
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else{Err_Cha_send =0;IndexErr = 0;}
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if(error==0){ //si pas d'erreur de transmission alors RAZ des valeurs
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nbr_essai ++;
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cmd_chassi_x = 0;
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cmd_chassi_y = 0;
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Cmd_Angle = 0;
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vit = 0;
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acc = 0;
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}
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}
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void scan_I2C_bus(){
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char error, address;
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@ -4,4 +4,9 @@ Déplacement fonctionnel
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Côté cerveau, un serveur web qui permet d'envoyer un ordre de déplacement relatif au châssis.
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Calibration des sens des moteurs pour les translations en X, Y et pour la rotation.
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Calibration des translations non effectuées.
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Vidéo réalisée le 24 février 2024, paramètres :
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- vitesse : 2000
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- acceleration : 1500
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