123 lines
1.9 KiB
C
123 lines
1.9 KiB
C
/*****
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* Copyright (c) 2023 - Poivron Robotique
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*
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* SPDX-License-Identifier: BSD-3-Clause
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*/
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#include "pico/stdlib.h"
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#include "hardware/pwm.h"
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#include <stdio.h>
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#include "hardware/adc.h"
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#define LED_VERTE 25
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#define PIN_VITESSE_M1 2
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#define PIN_SENS_A_M1 0
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#define PIN_SENS_B_M1 1
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uint16_t result1 = 0;
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uint16_t result0 = 0;
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int M1_INITIALISE()
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{
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gpio_init(PIN_VITESSE_M1);
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gpio_init(PIN_SENS_A_M1);
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gpio_init(PIN_SENS_B_M1);
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gpio_set_dir(PIN_VITESSE_M1, GPIO_OUT);
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gpio_set_dir(PIN_SENS_A_M1, GPIO_OUT);
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gpio_set_dir(PIN_SENS_B_M1, GPIO_OUT);
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gpio_set_function(PIN_VITESSE_M1, GPIO_FUNC_PWM);
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pwm_set_wrap(PIN_VITESSE_M1, 100);
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pwm_set_chan_level(PIN_VITESSE_M1, PWM_CHAN_B, 50);
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}
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int M1_AVANCE()
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{
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gpio_put(PIN_VITESSE_M1, 1);
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gpio_put(PIN_SENS_A_M1, 1);
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gpio_put(PIN_SENS_B_M1, 0);
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}
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int M1_RECULE()
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{
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gpio_put(PIN_VITESSE_M1, 1);
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gpio_put(PIN_SENS_A_M1, 0);
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gpio_put(PIN_SENS_B_M1, 1);
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}
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int Adc_Init()
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{
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adc_init();
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adc_gpio_init(26);
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adc_gpio_init(27);
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}
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int AdcRead0()
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{
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adc_select_input(0);
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uint16_t resultadc = adc_read();
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return resultadc;
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}
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int AdcRead1()
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{
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adc_select_input(1);
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uint16_t resultadc= adc_read();
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return resultadc;
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}
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void main()
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{
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stdio_init_all();
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// CLignottement LED
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gpio_set_function(LED_VERTE, GPIO_FUNC_PWM);
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pwm_set_wrap(4, 100);
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pwm_set_chan_level(4, PWM_CHAN_B, 25);
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pwm_set_enabled(4, true);
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// ADC
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adc_init();
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adc_gpio_init(26);
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adc_gpio_init(27);
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while (1)
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{
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// Voie Y
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result0 = AdcRead0();
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printf(">result:%d\n",result0-2048);
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// Voie X
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result1 = AdcRead1();
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printf(">result1:%d\n",result1-2048);
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printf("test\n",result0);
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sleep_ms(100);
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}
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M1_INITIALISE();
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while(1)
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{
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M1_AVANCE();
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sleep_ms(1000);
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M1_RECULE();
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sleep_ms(1000);
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}
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} |