Keuronde/Robot_Riombotique
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This commit is contained in:
Samuel 2024-01-12 19:05:56 +01:00
parent a332913978
commit 30326baef7
5 changed files with 228 additions and 257 deletions
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1
CMakeLists.txt
View File

@ -15,6 +15,7 @@ add_executable(Mon_Projet
i2c_maitre.c
i2c_slave.c
communication.c
moteur.c
)
target_include_directories(Mon_Projet PRIVATE Mon_Projet_ULD_API/inc/)

0
build/rien.ici
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276
main.c
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@ -1,28 +1,8 @@
/*****
* Copyright (c) 2023 - Poivron Robotique
*
* SPDX-License-Identifier: BSD-3-Clause
*/
// Include libraries
#include "pico/stdlib.h"
#include "hardware/pwm.h"
#include "hardware/adc.h"
#include "communication.h"
#include <stdio.h>
// Define pins
#define MOTEUR1_PIN_SENS1 4
#define MOTEUR1_PIN_SENS2 5
#define MOTEUR1_PIN_ACTIVATION 0
#define MOTEUR2_PIN_SENS1 6
#define MOTEUR2_PIN_SENS2 7
#define MOTEUR2_PIN_ACTIVATION 1
#define MOTEUR3_PIN_SENS1 8
#define MOTEUR3_PIN_SENS2 9
#define MOTEUR3_PIN_ACTIVATION 2
#define MOTEUR4_PIN_SENS1 10
#define MOTEUR4_PIN_SENS2 11
#define MOTEUR4_PIN_ACTIVATION 3
#include "moteur.h"
// Juste pour information - les broches sont re-définies dans i2c_slave
#define I2C0_SDA_PIN 16
@ -32,260 +12,42 @@
#define I2C1_SDA_PIN 18
#define I2C1_SCL_PIN 19
// Init all motion motors pins
void Init_motion_motor(void);
// Set motor 1 speed forward
void Motor1_forward(int speed);
// Set motor 1 speed backward
void Motor1_backward(int speed);
// Set motor 1 speed and direction (negative value : backward / positive value : forward)
void Motor1_speed(int speed);
// Set motor 2 speed forward
void Motor2_forward(int speed);
// Set motor 2 speed backward
void Motor2_backward(int speed);
// Set motor 2 speed and direction (negative value : backward / positive value : forward)
void Motor2_speed(int speed);
// Set motor 3 speed forward
void Motor3_forward(int speed);
// Set motor 3 speed backward
void Motor3_backward(int speed);
// Set motor 3 speed and direction (negative value : backward / positive value : forward)
void Motor3_speed(int speed);
// Set motor 1 speed forward
void Motor2_forward(int speed);
// Set motor 1 speed backward
void Motor3_backward(int speed);
// Set motor 1 speed and direction (negative value : backward / positive value : forward)
void Motor4_speed(int speed);
// Convert te joystick value to an char value
uint8_t Conversions_joystick2uint8(uint16_t joystick_value);
void main(void)
{
char message[256], reception[256];
// Init "all"
stdio_init_all();
Init_motion_motor();
communication_init();
// Exemple de communication
message[0]='B';
message[1]='a';
message[2]='\n';
message[3]='\0';
uint vitesse_x = 0;
uint vitesse_y = 0;
while(1){
printf("Envoi message\n");
communication_send_message(message, 4);
printf("Lire message\n");
if (communication_read_message(reception) == I2C_ECHEC){
printf("Echec de la lecture du message\n");
}else{
printf("Succes\n");
printf("%s",reception);
if (!(communication_read_message(reception) == I2C_ECHEC))
{
vitesse_x = reception[0]-128;
vitesse_y = reception[1]-128;
}
else
{
vitesse_x = 0;
vitesse_y = 0;
}
sleep_ms(1000);
}
while(1)
{
Motor1_speed(-1000);
Motor2_speed(-1000);
Motor3_speed(-1000);
Motor4_speed(-1000);
sleep_ms(3000);
Motor1_speed(1000);
Motor2_speed(1000);
Motor3_speed(1000);
Motor4_speed(1000);
sleep_ms(3000);
}
}
// Init all motion motors pins
void Init_motion_motor(void)
{
// Init 1/0 pin for control motion motors
gpio_init(MOTEUR1_PIN_SENS1);
gpio_init(MOTEUR1_PIN_SENS2);
gpio_init(MOTEUR2_PIN_SENS1);
gpio_init(MOTEUR2_PIN_SENS2);
gpio_init(MOTEUR3_PIN_SENS1);
gpio_init(MOTEUR3_PIN_SENS2);
gpio_init(MOTEUR4_PIN_SENS1);
gpio_init(MOTEUR4_PIN_SENS2);
gpio_set_dir(MOTEUR1_PIN_SENS1, GPIO_OUT);
gpio_set_dir(MOTEUR1_PIN_SENS2, GPIO_OUT);
gpio_set_dir(MOTEUR2_PIN_SENS1, GPIO_OUT);
gpio_set_dir(MOTEUR2_PIN_SENS2, GPIO_OUT);
gpio_set_dir(MOTEUR3_PIN_SENS1, GPIO_OUT);
gpio_set_dir(MOTEUR3_PIN_SENS2, GPIO_OUT);
gpio_set_dir(MOTEUR4_PIN_SENS1, GPIO_OUT);
gpio_set_dir(MOTEUR4_PIN_SENS2, GPIO_OUT);
// Set direction to 0 (disactivate)
gpio_put(MOTEUR1_PIN_SENS1, 0);
gpio_put(MOTEUR1_PIN_SENS2, 0);
gpio_put(MOTEUR2_PIN_SENS1, 0);
gpio_put(MOTEUR2_PIN_SENS2, 0);
gpio_put(MOTEUR3_PIN_SENS1, 0);
gpio_put(MOTEUR3_PIN_SENS2, 0);
gpio_put(MOTEUR4_PIN_SENS1, 0);
gpio_put(MOTEUR4_PIN_SENS2, 0);
// Init pwm pins for motion motors
gpio_init(MOTEUR1_PIN_ACTIVATION);
gpio_init(MOTEUR2_PIN_ACTIVATION);
gpio_init(MOTEUR3_PIN_ACTIVATION);
gpio_init(MOTEUR4_PIN_ACTIVATION);
gpio_set_function(MOTEUR1_PIN_ACTIVATION, GPIO_FUNC_PWM);
gpio_set_function(MOTEUR2_PIN_ACTIVATION, GPIO_FUNC_PWM);
gpio_set_function(MOTEUR3_PIN_ACTIVATION, GPIO_FUNC_PWM);
gpio_set_function(MOTEUR4_PIN_ACTIVATION, GPIO_FUNC_PWM);
// Set wrap of pwm slices
pwm_set_wrap(0, 1000);
pwm_set_wrap(1, 1000);
// Active all pwm slices
pwm_set_enabled(0, true);
pwm_set_enabled(1, true);
// Set speed to 0
pwm_set_chan_level(0, PWM_CHAN_A, 0);
pwm_set_chan_level(0, PWM_CHAN_B, 0);
pwm_set_chan_level(1, PWM_CHAN_A, 0);
pwm_set_chan_level(1, PWM_CHAN_B, 0);
}
// Set motor 1 speed forward
void Motor1_forward(int speed)
{
pwm_set_chan_level(0, PWM_CHAN_A, speed);
gpio_put(MOTEUR1_PIN_SENS1, 0);
gpio_put(MOTEUR1_PIN_SENS2, 1);
}
// Set motor 1 speed backward
void Motor1_backward(int speed)
{
pwm_set_chan_level(0, PWM_CHAN_A, speed);
gpio_put(MOTEUR1_PIN_SENS1, 1);
gpio_put(MOTEUR1_PIN_SENS2, 0);
}
// Set motor 1 speed and direction (negative value : backward / positive value : forward)
void Motor1_speed(int speed)
{
if(speed < 0)
{
speed = -speed;
Motor1_backward(speed);
}
else
{
Motor1_forward(speed);
Motor1_speed(vitesse_x);
Motor2_speed(vitesse_x);
Motor3_speed(vitesse_y);
Motor4_speed(vitesse_y);
}
}
// Set motor 2 speed forward
void Motor2_forward(int speed)
{
pwm_set_chan_level(0, PWM_CHAN_B, speed);
gpio_put(MOTEUR2_PIN_SENS1, 0);
gpio_put(MOTEUR2_PIN_SENS2, 1);
}
// Set motor 2 speed backward
void Motor2_backward(int speed)
{
pwm_set_chan_level(0, PWM_CHAN_B, speed);
gpio_put(MOTEUR2_PIN_SENS1, 1);
gpio_put(MOTEUR2_PIN_SENS2, 0);
}
// Set motor 2 speed and direction (negative value : backward / positive value : forward)
void Motor2_speed(int speed)
{
if(speed < 0)
{
speed = -speed;
Motor2_backward(speed);
}
else
{
Motor2_forward(speed);
}
}
// Set motor 3 speed forward
void Motor3_forward(int speed)
{
pwm_set_chan_level(1, PWM_CHAN_A, speed);
gpio_put(MOTEUR3_PIN_SENS1, 0);
gpio_put(MOTEUR3_PIN_SENS2, 1);
}
// Set motor 3 speed backward
void Motor3_backward(int speed)
{
pwm_set_chan_level(1, PWM_CHAN_A, speed);
gpio_put(MOTEUR3_PIN_SENS1, 1);
gpio_put(MOTEUR3_PIN_SENS2, 0);
}
// Set motor 3 speed and direction (negative value : backward / positive value : forward)
void Motor3_speed(int speed)
{
if(speed < 0)
{
speed = -speed;
Motor3_backward(speed);
}
else
{
Motor3_forward(speed);
}
}
// Set motor 4 speed forward
void Motor4_forward(int speed)
{
pwm_set_chan_level(1, PWM_CHAN_B, speed);
gpio_put(MOTEUR4_PIN_SENS1, 0);
gpio_put(MOTEUR4_PIN_SENS2, 1);
}
// Set motor 4 speed backward
void Motor4_backward(int speed)
{
pwm_set_chan_level(1, PWM_CHAN_B, speed);
gpio_put(MOTEUR4_PIN_SENS1, 1);
gpio_put(MOTEUR4_PIN_SENS2, 0);
}
// Set motor 4 speed and direction (negative value : backward / positive value : forward)
void Motor4_speed(int speed)
{
if(speed < 0)
{
speed = -speed;
Motor4_backward(speed);
}
else
{
Motor4_forward(speed);
}
}
/// @brief Prend un nombre entre 0 et 4096, et sort un nombre entre 0 et 255
/// @return un nombre entre 0 et 255

192
moteur.c Normal file
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@ -0,0 +1,192 @@
#include "moteur.h"
// Define pins
#define MOTEUR1_PIN_SENS1 4
#define MOTEUR1_PIN_SENS2 5
#define MOTEUR1_PIN_ACTIVATION 0
#define MOTEUR2_PIN_SENS1 6
#define MOTEUR2_PIN_SENS2 7
#define MOTEUR2_PIN_ACTIVATION 1
#define MOTEUR3_PIN_SENS1 8
#define MOTEUR3_PIN_SENS2 9
#define MOTEUR3_PIN_ACTIVATION 2
#define MOTEUR4_PIN_SENS1 10
#define MOTEUR4_PIN_SENS2 11
#define MOTEUR4_PIN_ACTIVATION 3
// Init all motion motors pins
void Init_motion_motor(void)
{
// Init 1/0 pin for control motion motors
gpio_init(MOTEUR1_PIN_SENS1);
gpio_init(MOTEUR1_PIN_SENS2);
gpio_init(MOTEUR2_PIN_SENS1);
gpio_init(MOTEUR2_PIN_SENS2);
gpio_init(MOTEUR3_PIN_SENS1);
gpio_init(MOTEUR3_PIN_SENS2);
gpio_init(MOTEUR4_PIN_SENS1);
gpio_init(MOTEUR4_PIN_SENS2);
gpio_set_dir(MOTEUR1_PIN_SENS1, GPIO_OUT);
gpio_set_dir(MOTEUR1_PIN_SENS2, GPIO_OUT);
gpio_set_dir(MOTEUR2_PIN_SENS1, GPIO_OUT);
gpio_set_dir(MOTEUR2_PIN_SENS2, GPIO_OUT);
gpio_set_dir(MOTEUR3_PIN_SENS1, GPIO_OUT);
gpio_set_dir(MOTEUR3_PIN_SENS2, GPIO_OUT);
gpio_set_dir(MOTEUR4_PIN_SENS1, GPIO_OUT);
gpio_set_dir(MOTEUR4_PIN_SENS2, GPIO_OUT);
// Set direction to 0 (disactivate)
gpio_put(MOTEUR1_PIN_SENS1, 0);
gpio_put(MOTEUR1_PIN_SENS2, 0);
gpio_put(MOTEUR2_PIN_SENS1, 0);
gpio_put(MOTEUR2_PIN_SENS2, 0);
gpio_put(MOTEUR3_PIN_SENS1, 0);
gpio_put(MOTEUR3_PIN_SENS2, 0);
gpio_put(MOTEUR4_PIN_SENS1, 0);
gpio_put(MOTEUR4_PIN_SENS2, 0);
// Init pwm pins for motion motors
gpio_init(MOTEUR1_PIN_ACTIVATION);
gpio_init(MOTEUR2_PIN_ACTIVATION);
gpio_init(MOTEUR3_PIN_ACTIVATION);
gpio_init(MOTEUR4_PIN_ACTIVATION);
gpio_set_function(MOTEUR1_PIN_ACTIVATION, GPIO_FUNC_PWM);
gpio_set_function(MOTEUR2_PIN_ACTIVATION, GPIO_FUNC_PWM);
gpio_set_function(MOTEUR3_PIN_ACTIVATION, GPIO_FUNC_PWM);
gpio_set_function(MOTEUR4_PIN_ACTIVATION, GPIO_FUNC_PWM);
// Set wrap of pwm slices
pwm_set_wrap(0, 1000);
pwm_set_wrap(1, 1000);
// Active all pwm slices
pwm_set_enabled(0, true);
pwm_set_enabled(1, true);
// Set speed to 0
pwm_set_chan_level(0, PWM_CHAN_A, 0);
pwm_set_chan_level(0, PWM_CHAN_B, 0);
pwm_set_chan_level(1, PWM_CHAN_A, 0);
pwm_set_chan_level(1, PWM_CHAN_B, 0);
}
// Set motor 1 speed forward
void Motor1_forward(int speed)
{
pwm_set_chan_level(0, PWM_CHAN_A, speed);
gpio_put(MOTEUR1_PIN_SENS1, 0);
gpio_put(MOTEUR1_PIN_SENS2, 1);
}
// Set motor 1 speed backward
void Motor1_backward(int speed)
{
pwm_set_chan_level(0, PWM_CHAN_A, speed);
gpio_put(MOTEUR1_PIN_SENS1, 1);
gpio_put(MOTEUR1_PIN_SENS2, 0);
}
// Set motor 1 speed and direction (negative value : backward / positive value : forward)
void Motor1_speed(int speed)
{
if(speed < 0)
{
speed = -speed;
Motor1_backward(speed);
}
else
{
Motor1_forward(speed);
}
}
// Set motor 2 speed forward
void Motor2_forward(int speed)
{
pwm_set_chan_level(0, PWM_CHAN_B, speed);
gpio_put(MOTEUR2_PIN_SENS1, 0);
gpio_put(MOTEUR2_PIN_SENS2, 1);
}
// Set motor 2 speed backward
void Motor2_backward(int speed)
{
pwm_set_chan_level(0, PWM_CHAN_B, speed);
gpio_put(MOTEUR2_PIN_SENS1, 1);
gpio_put(MOTEUR2_PIN_SENS2, 0);
}
// Set motor 2 speed and direction (negative value : backward / positive value : forward)
void Motor2_speed(int speed)
{
if(speed < 0)
{
speed = -speed;
Motor2_backward(speed);
}
else
{
Motor2_forward(speed);
}
}
// Set motor 3 speed forward
void Motor3_forward(int speed)
{
pwm_set_chan_level(1, PWM_CHAN_A, speed);
gpio_put(MOTEUR3_PIN_SENS1, 0);
gpio_put(MOTEUR3_PIN_SENS2, 1);
}
// Set motor 3 speed backward
void Motor3_backward(int speed)
{
pwm_set_chan_level(1, PWM_CHAN_A, speed);
gpio_put(MOTEUR3_PIN_SENS1, 1);
gpio_put(MOTEUR3_PIN_SENS2, 0);
}
// Set motor 3 speed and direction (negative value : backward / positive value : forward)
void Motor3_speed(int speed)
{
if(speed < 0)
{
speed = -speed;
Motor3_backward(speed);
}
else
{
Motor3_forward(speed);
}
}
// Set motor 4 speed forward
void Motor4_forward(int speed)
{
pwm_set_chan_level(1, PWM_CHAN_B, speed);
gpio_put(MOTEUR4_PIN_SENS1, 0);
gpio_put(MOTEUR4_PIN_SENS2, 1);
}
// Set motor 4 speed backward
void Motor4_backward(int speed)
{
pwm_set_chan_level(1, PWM_CHAN_B, speed);
gpio_put(MOTEUR4_PIN_SENS1, 1);
gpio_put(MOTEUR4_PIN_SENS2, 0);
}
// Set motor 4 speed and direction (negative value : backward / positive value : forward)
void Motor4_speed(int speed)
{
if(speed < 0)
{
speed = -speed;
Motor4_backward(speed);
}
else
{
Motor4_forward(speed);
}
}

16
moteur.h Normal file
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@ -0,0 +1,16 @@
#include "pico/stdlib.h"
#include "hardware/pwm.h"
void Init_motion_motor(void);
void Motor1_forward(int speed);
void Motor1_backward(int speed);
void Motor1_speed(int speed);
void Motor2_forward(int speed);
void Motor2_backward(int speed);
void Motor2_speed(int speed);
void Motor3_forward(int speed);
void Motor3_backward(int speed);
void Motor3_speed(int speed);
void Motor2_forward(int speed);
void Motor3_backward(int speed);
void Motor4_speed(int speed);