Keuronde/Robot_Riombotique
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This commit is contained in:
Samuel 2024-01-12 18:30:24 +01:00
parent 99b552d7e4
commit a332913978
3 changed files with 24 additions and 10 deletions
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4
communication.c
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@ -97,11 +97,11 @@ void communication_init(void){
i2c_maitre_init(); i2c_maitre_init();
} }
void communication_envoyer_message(unsigned char * message, unsigned int message_length){ void communication_send_message(unsigned char * message, unsigned int message_length){
memcpy(context.mem, message, message_length); memcpy(context.mem, message, message_length);
} }
int communication_lire_message(unsigned char * message){ int communication_read_message(unsigned char * message){
i2c_lire_registre(I2C_SLAVE_ADDRESS, 0, message, 255); i2c_lire_registre(I2C_SLAVE_ADDRESS, 0, message, 255);
} }

4
communication.h
View File

@ -1,5 +1,5 @@
#include "i2c_maitre.h" #include "i2c_maitre.h"
void communication_init(void); void communication_init(void);
void communication_envoyer_message(unsigned char * message, unsigned int message_length); void communication_send_message(unsigned char * message, unsigned int message_length);
enum i2c_resultat_t communication_lire_message(unsigned char * message); enum i2c_resultat_t communication_read_message(unsigned char * message);

26
main.c
View File

@ -58,10 +58,12 @@ void Motor2_forward(int speed);
void Motor3_backward(int speed); void Motor3_backward(int speed);
// Set motor 1 speed and direction (negative value : backward / positive value : forward) // Set motor 1 speed and direction (negative value : backward / positive value : forward)
void Motor4_speed(int speed); void Motor4_speed(int speed);
// Convert te joystick value to an char value
uint8_t Conversions_joystick2uint8(uint16_t joystick_value);
void main(void) void main(void)
{ {
char message[256]; char message[256], reception[256];
stdio_init_all(); stdio_init_all();
Init_motion_motor(); Init_motion_motor();
@ -69,22 +71,26 @@ void main(void)
// Exemple de communication // Exemple de communication
message[0]='B';
message[1]='a';
message[2]='\n';
message[3]='\0';
/*while(1){ while(1){
printf("Envoi message\n"); printf("Envoi message\n");
communication_envoyer_message("Bonjour !\n", 11); communication_send_message(message, 4);
printf("Lire message\n"); printf("Lire message\n");
if (communication_lire_message(message) == I2C_ECHEC){ if (communication_read_message(reception) == I2C_ECHEC){
printf("Echec de la lecture du message\n"); printf("Echec de la lecture du message\n");
}else{ }else{
printf("Succes\n"); printf("Succes\n");
printf("%s",message); printf("%s",reception);
} }
sleep_ms(1000); sleep_ms(1000);
}*/ }
@ -279,4 +285,12 @@ void Motor4_speed(int speed)
{ {
Motor4_forward(speed); 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
uint8_t Conversions_joystick2uint8(uint16_t joystick_value)
{
uint8_t valeur = joystick_value / 4;
return valeur;
} }