Essai de calibrage en position

chef/src/calibrage.c

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+#include <stdbool.h>
+#include <stdio.h>
+#include <unistd.h>
+
+#include "calibrage.h"
+
+#include "movement.h"
+#include "dimensions.h"
+#include "securite.h"
+#include "motor.h"
+#include "common.h"
+
+void calibrer(bool orange)
+{
+    struct position pos = {0, 0, 0};
+    setPosition(&pos);
+    return;
+
+    // Calibrage contre mur court
+    /* pos.o = orange ? M_PI_2 : -M_PI_2; */
+    setDestination(&pos);
+    waitDestination();
+    disableAsservissement();
+
+    float frontL, frontR, backL, backR;
+    struct movAvg diffL, diffR;
+    initMovAvg(&diffL, CALIBRAGE_MOVAVG_SIZE);
+    initMovAvg(&diffR, CALIBRAGE_MOVAVG_SIZE);
+    for (int i = 0; i < CALIBRAGE_TEMPS_ACQUISITION; i += SENSOR_SAMPLING_INTERVAL) {
+        getAllDistance(&frontL, &frontR, &backL, &backR);
+        addMovAvg(&diffL, frontL - CALIBRAGE_DISTANCE_Y);
+        addMovAvg(&diffR, frontR - CALIBRAGE_DISTANCE_Y);
+        setMoteurTension(diffL.current * D_KP, diffR.current * D_KP);
+        usleep(SENSOR_SAMPLING_INTERVAL * 1000);
+    }
+    // Les moteurs n'auront peut-être pas atteint le point voulu exactement,
+    // on enregistre alors la différence
+    float diff = (diffL.current + diffR.current) / 2;
+    pos.y = diff;
+
+
+}

chef/src/calibrage.h

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+#ifndef __CALIBRAGE_H_
+#define __CALIBRAGE_H_
+
+#include <stdbool.h>
+
+// Constantes
+
+#define CALIBRAGE_TEMPS_ACQUISITION 30000
+#define CALIBRAGE_DISTANCE_X 300
+#define CALIBRAGE_DISTANCE_Y 300
+#define CALIBRAGE_MOVAVG_SIZE 4
+
+// Public
+void calibrer(bool orange);
+
+#endif

chef/src/testCalibrage.c

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+#include <pthread.h>
+#include <signal.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <time.h>   // random seed
+#include <unistd.h> // sleep
+#include <wiringPi.h>
+
+#include "actionneurs.h"
+#include "calibrage.h"
+#include "debug.h"
+#include "i2c.h"
+#include "motor.h"
+#include "movement.h"
+#include "position.h"
+
+pthread_mutex_t sRunning;
+
+void endRunning(int signal)
+{
+    (void)signal;
+    pthread_mutex_unlock(&sRunning);
+}
+
+int main()
+{
+
+    if (wiringPiSetup() < 0) {
+        fprintf(stderr, "Impossible d'initialiser WiringPi\n");
+        exit(EXIT_FAILURE);
+    }
+    initI2C();
+    srand(time(NULL));
+
+    configureDebug();
+    configurePosition();
+    configureMovement();
+    debugSetActive(true);
+    startDebug();
+
+    calibrer(false);
+
+    deconfigureMovement();
+    deconfigurePosition();
+    deconfigureDebug();
+    return EXIT_SUCCESS;
+}