Keuronde/Robot_Riombotique
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Ça marche 2025

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This commit is contained in:
Samuel 2025-01-24 19:27:19 +01:00
parent 080e154459
commit 8392148a16
7 changed files with 116 additions and 81 deletions
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3
.vscode/settings.json vendored
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@ -3,6 +3,7 @@
"stdlib.h": "c",
"stdio.h": "c",
"i2c_slave.h": "c",
"i2c.h": "c"
"i2c.h": "c",
"moteur.h": "c"
}
}

1
CMakeLists.txt
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@ -16,6 +16,7 @@ add_executable(Mon_Projet
i2c_slave.c
communication.c
moteur.c
Servomoteur.c
)
target_include_directories(Mon_Projet PRIVATE Mon_Projet_ULD_API/inc/)

88
Servomoteur.c Normal file
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@ -0,0 +1,88 @@
#include "moteur.h"
// Define pins servo
#define SERVO1_PIN 20
#define SERVO2_PIN 21
// S0 : 26 - PWM 5 - Chan A
// S1 : 22 - PWM 3 - Chan A
// S2 : 21 - PWM 2 - Chan B
// S3 : 20 - PWM 2 - Chan A
// S4 : 27 - PWM 5 - Chan B
void Servomoteur_init(){
// Set wrap of pwm slice
pwm_set_wrap(2, 25000);
pwm_set_wrap(3, 25000);
pwm_set_wrap(5, 25000);
// Set clock div for this pwm slice
pwm_set_clkdiv(2, 100);
pwm_set_clkdiv(3, 100);
pwm_set_clkdiv(5, 100);
// Enable pwm slice
pwm_set_enabled(2, true);
pwm_set_enabled(3, true);
pwm_set_enabled(5, true);
// Set channel level
pwm_set_chan_level(2, PWM_CHAN_A, 2800); // S3 - Ouvert : 1700 - Fermé : 2800
pwm_set_chan_level(2, PWM_CHAN_B, 2650); // S2 - Ouvert : 1500 - Fermé : 2650
pwm_set_chan_level(3, PWM_CHAN_A, 2300); // S1 - 2300 Pousse, 1500 Neutre
pwm_set_chan_level(5, PWM_CHAN_A, 900); // S0 - Dépose 900 - 1750
pwm_set_chan_level(5, PWM_CHAN_B, 1500); // S4 - Ouvert 2700 - Fermé : 1500
// Init pin for the servos
gpio_init(SERVO1_PIN);
gpio_init(SERVO2_PIN);
gpio_init(22);
gpio_init(26);
gpio_init(27);
gpio_set_function(SERVO1_PIN, GPIO_FUNC_PWM);
gpio_set_function(SERVO2_PIN, GPIO_FUNC_PWM);
gpio_set_function(22, GPIO_FUNC_PWM);
gpio_set_function(26, GPIO_FUNC_PWM);
gpio_set_function(27, GPIO_FUNC_PWM);
// Edit 17/01/2024
// Réglage servomoteurs en 25000 * 100
// Pince
// Pot : 1700
// Plante : 1970
// Ouvert : 1000
// Ascenseur
// Haut : 2550
// Bas : 1550
// Lâche plante : 2050
// Lâche pot jardinière : 1950
}
void Servo_pince_tient(){
pwm_set_chan_level(2, PWM_CHAN_A, 2800);
pwm_set_chan_level(5, PWM_CHAN_B, 1500);
pwm_set_chan_level(2, PWM_CHAN_B, 2650);
}
void Servo_pince_lache(){
pwm_set_chan_level(2, PWM_CHAN_A, 1700);
pwm_set_chan_level(5, PWM_CHAN_B, 2700);
pwm_set_chan_level(2, PWM_CHAN_B, 1500);
}
void Servo_came_pousse(){
pwm_set_chan_level(3, PWM_CHAN_A, 2300); // S1 - 2300 Pousse, 1500 Neutre
}
void Servo_came_neutre(){
pwm_set_chan_level(3, PWM_CHAN_A, 1500); // S1 - 2300 Pousse, 1500 Neutre
}
void Servo_deplie_banderole(){
pwm_set_chan_level(5, PWM_CHAN_A, 900); // S0 - Dépose 900 - neutre 1750
}
void Servo_plie_banderole(){
pwm_set_chan_level(5, PWM_CHAN_A, 1750); // S0 - Dépose 900 - neutre 1750
}

9
Servomoteur.h Normal file
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@ -0,0 +1,9 @@
void Servomoteur_init();
void Servo_pince_tient();
void Servo_pince_lache();
void Servo_came_pousse();
void Servo_came_neutre();
void Servo_deplie_banderole();
void Servo_plie_banderole();

17
main.c
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@ -1,6 +1,7 @@
#include "pico/stdlib.h"
#include "hardware/adc.h"
#include "communication.h"
#include "Servomoteur.h"
#include <stdio.h>
#include "moteur.h"
@ -22,6 +23,7 @@ void main(void)
// Init "all"
stdio_init_all();
Init_motion_motor();
Servomoteur_init();
communication_init();
gpio_init(PIN_LED_VERTE);
@ -49,16 +51,17 @@ void main(void)
vitesse_angle = reception[2] - 128;
switch(reception[3]){
case 0: Servo_pince_ouverte(); break;
case 1: Servo_pince_plante(); break;
case 2: Servo_pince_pot(); break;
case 0: Servo_pince_tient(); break;
case 1: Servo_pince_lache(); break;
}
switch(reception[4]){
case 0: Servo_ascenseur_bas(); break;
case 1: Servo_ascenseur_haut(); break;
case 2: Servo_ascenseur_lache_pot_jardiniere(); break;
case 3: Servo_ascenseur_lache_plante(); break;
case 0: Servo_plie_banderole(); break;
case 1: Servo_deplie_banderole(); break;
}
switch(reception[5]){
case 0: Servo_came_pousse(); break;
case 1: Servo_came_neutre(); break;
}
}

72
moteur.c
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@ -14,10 +14,6 @@
#define MOTEUR4_PIN_SENS2 9
#define MOTEUR4_PIN_ACTIVATION 3
// Define pins servo
#define SERVO1_PIN 20
#define SERVO2_PIN 21
// Init all motion motors pins
void Init_motion_motor(void)
{
@ -75,65 +71,9 @@ void Init_motion_motor(void)
pwm_set_chan_level(1, PWM_CHAN_A, 0);
pwm_set_chan_level(1, PWM_CHAN_B, 0);
// Servo Init
// Init pin for the servos
gpio_init(SERVO1_PIN);
gpio_init(SERVO2_PIN);
gpio_set_function(SERVO1_PIN, GPIO_FUNC_PWM);
gpio_set_function(SERVO2_PIN, GPIO_FUNC_PWM);
// Set wrap of pwm slice
pwm_set_wrap(2, 25000);
// Set clock div for this pwm slice
pwm_set_clkdiv(2, 100);
// Enable pwm slice
pwm_set_enabled(2, true);
// Set channel level
pwm_set_chan_level(2, PWM_CHAN_A, 1950); // Ascenseur
pwm_set_chan_level(2, PWM_CHAN_B, 1000); // Pince
// Edit 17/01/2024
// Réglage servomoteurs en 25000 * 100
// Pince
// Pot : 1700
// Plante : 1970
// Ouvert : 1000
// Ascenseur
// Haut : 2550
// Bas : 1550
// Lâche plante : 2050
// Lâche pot jardinière : 1950
}
void Servo_ascenseur_haut(){
pwm_set_chan_level(2, PWM_CHAN_A, 2550);
}
void Servo_ascenseur_bas(){
pwm_set_chan_level(2, PWM_CHAN_A, 1550);
}
void Servo_ascenseur_lache_plante(){
pwm_set_chan_level(2, PWM_CHAN_A, 2050);
}
void Servo_ascenseur_lache_pot_jardiniere(){
pwm_set_chan_level(2, PWM_CHAN_A, 1950);
}
void Servo_pince_ouverte(){
pwm_set_chan_level(2, PWM_CHAN_B, 1000);
}
void Servo_pince_pot(){
pwm_set_chan_level(2, PWM_CHAN_B, 1700);
}
void Servo_pince_plante(){
pwm_set_chan_level(2, PWM_CHAN_B, 1950);
}
@ -231,16 +171,16 @@ void Motor3_speed(int speed)
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);
gpio_put(MOTEUR4_PIN_SENS1, 1);
gpio_put(MOTEUR4_PIN_SENS2, 0);
}
// 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);
gpio_put(MOTEUR4_PIN_SENS1, 0);
gpio_put(MOTEUR4_PIN_SENS2, 1);
}
// Set motor 4 speed and direction (negative value : backward / positive value : forward)

7
moteur.h
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@ -15,10 +15,3 @@ void Motor2_forward(int speed);
void Motor3_backward(int speed);
void Motor4_speed(int speed);
void Servo_ascenseur_haut();
void Servo_ascenseur_bas();
void Servo_ascenseur_lache_plante();
void Servo_ascenseur_lache_pot_jardiniere();
void Servo_pince_ouverte();
void Servo_pince_pot();
void Servo_pince_plante();