Code refactorisé - déplacements relatifs OK

Cerveau/Cerveau.ino

@@ -4,7 +4,6 @@
 #include <math.h>
 
 #include "Communication_chassis.h"
-#include "Communication_detection_adversaire.h"
 #include "ServerWeb.h"
 
 
@@ -108,16 +107,6 @@ void setup() {
   //}
   // MemPosition_X = 800;
   // MemPosition_Y = 800;
-  struct detect_adv_reception_t detect_adv_reception;
-  
-  while(1){
-    Detect_adv_lire(&detect_adv_reception);
-    char chaine[40];
-    sprintf(chaine, "Distance: %d cm\n Distance: %d cm\n", detect_adv_reception.distance_cm[0],
-          detect_adv_reception.distance_cm[11]);
-    affiche_msg("Scan_Detect_adversaire", chaine);
-  }
-  
   affichage_standard_init();
 
   //M5.Lcd.setCursor(10, 200);M5.Lcd.print("cmd :");

Cerveau/Communication_chassis.h

@@ -1,20 +0,0 @@
-#ifndef CHASSIS_H
-#define CHASSSI_H
-
-#define I2C_SLAVE_chassi 0x55
-
-struct chassis_reception_t {
-  unsigned char status;
-};
-
-struct chassis_emission_t {
-  unsigned char status;
-  int translation_x_mm, translation_y_mm, rotation_z_rad;
-  int vitesse, acceleration;
-};
-
-void Scan_chassis(struct chassis_reception_t * chassis_reception);
-void send_Chassis(struct chassis_emission_t * chassis_emission);
-void send_Chassis_RAZ(void);
-
-#endif

Cerveau/Communication_chassis.ino

@@ -1,61 +0,0 @@
-//#include "Chassis.h"
-#include <Arduino.h>
-#include <HardwareSerial.h>
-
-
-/// @brief Lit l'état du chassis en I2C
-void Scan_chassis(struct chassis_reception_t * chassis_reception){
-  unsigned char tampon2[14];
-  //(Adresse I2c, Adresse dans le registre, tampon, longueur de donnée)
-  error = I2C_lire_registre(I2C_SLAVE_chassi, 0, tampon2, 12);
-  if (error !=0){
-    Err_Chassi_com =1;IndexErr = 2;
-    affiche_erreur("Scan_Chassi", "Erreur I2C");
-    while(1);
-  }else{
-    Serial.println("I2C OK");
-    Err_Chassi_com =0;
-    IndexErr = 0;
-
-    Mvt_finit = (MOUVEMENT_FINI == tampon2[0]);
-    chassis_reception->status = tampon2[0];
-  }
-}
-
-void send_Chassis(struct chassis_emission_t * chassis_emission){
-  //if(nbr_essai<=10){
-    // Prévient le chassis d'un nouveau mouvement avec le 2eme bit du premier Octet
-    Mot[0] = MOUVEMENT_EN_COURS;
-    //y*=-1;
-    //y = y*direction;
-    Mot[1] = chassis_emission->translation_x_mm >>8; 
-    Mot[2] = chassis_emission->translation_x_mm;
-    Mot[3] = chassis_emission->translation_y_mm >>8;
-    Mot[4] = chassis_emission->translation_y_mm;
-    //Serial.println(y);
-    Mot[5] = chassis_emission->rotation_z_rad >>8; 
-    Mot[6] = chassis_emission->rotation_z_rad;
-    Mot[7] = chassis_emission->vitesse >>8; Mot[8] = chassis_emission->vitesse;
-    Mot[9] = chassis_emission->acceleration >>8; 
-    Mot[10] = chassis_emission->acceleration; 
-
-    error = I2C_ecrire_registre(I2C_SLAVE_chassi, 0, Mot, 11);
-    if (error !=0){Err_Cha_send =1; IndexErr = 5;}
-    else{Err_Cha_send =0;IndexErr = 0;}
-    if(error==0){   //si pas d'erreur de transmission alors RAZ des valeurs
-      nbr_essai ++;
-      cmd_chassi_x = 0;
-      cmd_chassi_y = 0;
-      Cmd_Angle = 0;
-      vit = 0;
-      acc = 0;
-    }
-}
-
-
-
-void send_Chassis_RAZ(){
-  uint8_t RAZ_Message[11]={0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
-
-  error = I2C_ecrire_registre(I2C_SLAVE_chassi, 0, RAZ_Message, 11);
-}

Cerveau/Communication_detection_adversaire.h

@@ -1,12 +0,0 @@
-#ifndef DETEC_ADV_H
-#define DETEC_ADV_H
-
-#define I2C_SLAVE_detect_adv 0x18
-
-struct detect_adv_reception_t {
-  unsigned char distance_cm[12];
-};
-
-void Detect_adv_lire(struct detect_adv_reception_t * detect_adv_reception);
-
-#endif

Cerveau/Communication_detection_adversaire.ino

@@ -1,18 +0,0 @@
-//#include "Chassis.h"
-#include <Arduino.h>
-#include <HardwareSerial.h>
-
-
-/// @brief Lit les capteurs VL53L1X
-void Detect_adv_lire(struct detect_adv_reception_t * detect_adv_reception){
-  unsigned char tampon2[14];
-  //(Adresse I2c, Adresse dans le registre, tampon, longueur de donnée)
-  error = I2C_lire_registre(I2C_SLAVE_detect_adv, 0, detect_adv_reception->distance_cm, 12);
-  if (error !=0){
-    affiche_erreur("Scan_Detect_adversaire", "Erreur I2C");
-    while(1);
-  }else{
-    Serial.println("I2C OK");
-    
-  }
-}

Cerveau/I2C_Master_lib.ino

@@ -26,9 +26,7 @@ uint8_t I2C_lire_registre(int adresse_i2c, uint adresse_registre, unsigned char
 
   WIRE.requestFrom(adresse_i2c, taille_donnees + 1);
   // ceci contient l'adresse
-  if(adresse_i2c == I2C_SLAVE_chassi){
+  Wire.readBytes(&temp, 1);
-    Wire.readBytes(&temp, 1);
-  }
   // Et ceci les données
   Wire.readBytes(donnees_recues, taille_donnees);
   return status;

Cerveau/ServerWeb.h

@@ -1,9 +0,0 @@
-#define WEB_DEPLACEMENT_RELATIF 1
-#define WEB_DEPLACEMENT_ABSOLU 2
-
-void Web_init(void);
-bool Web_nouveau_message(void);
-int Web_type_requete(void);
-void Web_gestion(void);
-struct chassis_emission_t Web_get_donnees(void);
-

Cerveau/ServerWeb.ino

@@ -1,101 +0,0 @@
-#include <Arduino.h>
-#include <WebServer.h>
-
-//#include "Chassis.h"
-//#include "ServerWeb.h"
-
-int Web_nouvelle_entree;
-int type_requete;
-
-struct chassis_emission_t chassis_emission_web;
-
-#define FORM \
-  "<!DOCTYPE html>\n" \
-  "<html>\n" \
-  "<head>\n" \
-  "<meta charset=\"UTF-8\">\n" \
-  "<title>A simple form</title>\n" \
-  "</head>\n" \
-  "<body>\n" \
-  "<form action=\"/form\" method=\"post\">\n" \
-  "<br>" \
-  "<label for=\"X\">X : en mm</label>\n" \
-  "<br>" \
-  "<input type=\"text\" id=\"X\" name=\"X\">\n" \
-  "<br>" \
-  "<label for=\"Y\">Y : en mm</label>\n" \
-  "<br>" \
-  "<input type=\"text\" id=\"Y\" name=\"Y\">\n" \
-  "<br>" \
-  "<label for=\"R\">Rotation : en degres</label>\n" \
-  "<br>" \
-  "<input type=\"text\" id=\"R\" name=\"R\">\n" \
-  "<br>" \
-  "<label for=\"V\">Vitesse : </label>\n" \
-  "<br>" \
-  "<input type=\"text\" id=\"V\" name=\"V\" value=\"2000\">\n" \
-  "<br>" \
-  "<br>" \
-  "<label for=\"A\">Accel   : </label>\n" \
-  "<br>" \
-  "<input type=\"text\" id=\"A\" name=\"A\"value=\"1500\">\n" \
-  "<br>" \
-  "<br>" \
-  "<input type=\"submit\" value=\" Vas-Y \">\n" \
-  "<br>" \
-  "<br>" \
-  "<input type=\"reset\" value=\"Reset\">\n" \
-  "<br>" \
-  "<br>" \
-  "<input type=\"submit\" value=\" STOP \">\n" \
-  "</form>\n" \
-  "</body>\n" \
-  "</html>\n"
-
-WebServer server(80);
-
-void Web_init(){
-  server.begin();
-  server.on("/form", handleForm);
-}
-
-bool Web_nouveau_message(){
-  if(Web_nouvelle_entree){
-    Web_nouvelle_entree = 0;
-    return 1;
-  }
-  return 0;
-}
-
-int Web_type_requete(){
-  return type_requete;
-}
-
-void Web_gestion(){
-  server.handleClient();
-}
-
-struct chassis_emission_t Web_get_donnees(){
-  return chassis_emission_web;
-}
-
-void handleForm() {
-  String message;
-  type_requete = WEB_DEPLACEMENT_RELATIF;
-  message += FORM;
-  server.send(200, "text/html", message);
-  String myString0 = server.arg("X"); //positon de cmd en X mm
-  // x= myString0.toInt() * coef_mvt/10;
-  chassis_emission_web.translation_x_mm = myString0.toInt();
-  String myString1 = server.arg("Y"); //positon de cmd en Y mm
-  // y= myString1.toInt() * coef_mvt/10;
-  chassis_emission_web.translation_y_mm = myString1.toInt();
-  String myString2 = server.arg("R"); //positon de cmd en Rotation Deg °
-  chassis_emission_web.rotation_z_rad = myString2.toInt() * 13.88888;
-  String myString3 = server.arg("V"); // Vitesse de cmd en 
-  chassis_emission_web.vitesse = myString3.toInt();
-  String myString4 = server.arg("A"); // Acceleration de cmd
-  chassis_emission_web.acceleration = myString4.toInt();
-  Web_nouvelle_entree=1;
-}
-