Keuronde/Robot_Riombotique
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Diminution de la vitesse de communication 100kHz -> 10kHz + taille du message 255 -> 25.

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Lecture des consignes de vitesse pour commander les moteurs
This commit is contained in:
Samuel 2024-01-21 18:48:59 +01:00
parent 30326baef7
commit b5b6914f2a
4 changed files with 50 additions and 26 deletions
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2
communication.c
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@ -102,6 +102,6 @@ void communication_send_message(unsigned char * message, unsigned int message_le
} }
int communication_read_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, 25);
} }

2
i2c_maitre.c
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@ -31,7 +31,7 @@ enum i2c_resultat_t i2c_transmission(uint8_t _adresse_7bits, uint8_t* emission,
void i2c_maitre_init(void){ void i2c_maitre_init(void){
//stdio_init_all(); //stdio_init_all();
i2c_init(i2c1, 100 * 1000); i2c_init(i2c1, 10 * 1000);
printf("Initialisation des broches\n"); printf("Initialisation des broches\n");
for(int i=0; i++; i<=28){ for(int i=0; i++; i<=28){

68
main.c
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@ -12,8 +12,8 @@
#define I2C1_SDA_PIN 18 #define I2C1_SDA_PIN 18
#define I2C1_SCL_PIN 19 #define I2C1_SCL_PIN 19
// Convert te joystick value to an char value // Allumage de la led verte
uint8_t Conversions_joystick2uint8(uint16_t joystick_value); #define PIN_LED_VERTE 25
void main(void) void main(void)
{ {
@ -24,35 +24,59 @@ void main(void)
Init_motion_motor(); Init_motion_motor();
communication_init(); communication_init();
uint vitesse_x = 0; gpio_init(PIN_LED_VERTE);
uint vitesse_y = 0; gpio_set_function(PIN_LED_VERTE, GPIO_FUNC_PWM);
pwm_set_clkdiv(4, 10000);
pwm_set_wrap(4, 100);
pwm_set_enabled(4, true);
pwm_set_chan_level(4, PWM_CHAN_B, 100);
uint vitesse_angle = 0;
uint vitesse_m1 = 0;
uint vitesse_m2 = 0;
uint vitesse_m3 = 0;
uint vitesse_m4 = 0;
while(1){ while(1){
if (!(communication_read_message(reception) == I2C_ECHEC)) if (!(communication_read_message(reception) == I2C_ECHEC))
{ {
vitesse_x = reception[0]-128; vitesse_m1 = reception[0] - 128;
vitesse_y = reception[1]-128; vitesse_m2 = reception[0] - 128;
vitesse_m3 = reception[1] - 128;
vitesse_m4 = reception[1] - 128;
vitesse_angle = reception[2] - 128;
} }
else else
{ {
vitesse_x = 0; vitesse_angle = 0;
vitesse_y = 0; vitesse_m1 = 0;
vitesse_m2 = 0;
vitesse_m3 = 0;
vitesse_m4 = 0;
pwm_set_chan_level(4, PWM_CHAN_B, 10);
} }
Motor1_speed(vitesse_x); if(vitesse_angle != 0)
Motor2_speed(vitesse_x); {
Motor3_speed(vitesse_y); vitesse_m1 = vitesse_angle;
Motor4_speed(vitesse_y); vitesse_m2 = vitesse_angle;
vitesse_m3 = vitesse_angle;
vitesse_m4 = vitesse_angle;
}
printf(">vitesseM1:%d\n", vitesse_m1);
printf(">vitesseM2:%d\n", vitesse_m2);
printf(">vitesseM3:%d\n", vitesse_m3);
printf(">vitesseM4:%d\n", vitesse_m4);
Motor1_speed(vitesse_m1);
Motor2_speed(vitesse_m2);
Motor3_speed(vitesse_m3);
Motor4_speed(vitesse_m4);
} }
}
/// @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;
} }

4
moteur.c
View File

@ -56,8 +56,8 @@ void Init_motion_motor(void)
gpio_set_function(MOTEUR4_PIN_ACTIVATION, GPIO_FUNC_PWM); gpio_set_function(MOTEUR4_PIN_ACTIVATION, GPIO_FUNC_PWM);
// Set wrap of pwm slices // Set wrap of pwm slices
pwm_set_wrap(0, 1000); pwm_set_wrap(0, 127);
pwm_set_wrap(1, 1000); pwm_set_wrap(1, 127);
// Active all pwm slices // Active all pwm slices
pwm_set_enabled(0, true); pwm_set_enabled(0, true);