Ajout de la communicatio vers la detection de l'adversaire. Fonction démo uniquement pour l'instant

Cerveau/Cerveau.ino

@@ -4,6 +4,7 @@
 #include <math.h>
 
 #include "Communication_chassis.h"
+#include "Communication_detection_adversaire.h"
 #include "ServerWeb.h"
 
 
@@ -107,6 +108,16 @@ 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

@@ -0,0 +1,20 @@
+#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

@@ -0,0 +1,61 @@
+//#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

@@ -0,0 +1,12 @@
+#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

@@ -0,0 +1,18 @@
+//#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

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

Cerveau/ServerWeb.h

@@ -0,0 +1,9 @@
+#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

@@ -0,0 +1,101 @@
+#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;
+}
+