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https://github.com/RobotechLille/cdf2018-principal
synced 2024-11-14 12:26:06 +01:00
Bon sens des moteurs
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@ -10,7 +10,7 @@
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#define FPGA_PORTNAME "/dev/ttyUSB0"
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#define CF_BAUDRATE B115200
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// #define PRINTRAWDATA
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#define PRINTRAWDATA
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int fpga;
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pthread_mutex_t sSendCF;
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@ -114,6 +114,8 @@ void configureDebug()
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exit(EXIT_FAILURE);
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}
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printf("Writing log in file: %s\n", path);
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fprintf(debugFd, "time");
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}
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@ -8,6 +8,7 @@
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#include "CF.h"
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#include "motor.h"
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#include "imu.h"
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#include "position.h"
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bool recu;
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@ -11,26 +11,26 @@
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// Dimensions robot
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#define WIDTH 250.0 // mm (from meca)
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#define HEIGHT 100.0 // mm (from random);
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#define HEIGHT 100.0 // mm (from random)
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#define DISTANCE_BETWEEN_WHEELS WIDTH // mm (from meca)
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#define WHEEL_DIAMETER 80.0 // mm (from meca)
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#define WHEEL_PERIMETER WHEEL_DIAMETER * M_PI // mm
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#define WHEEL_PERIMETER (WHEEL_DIAMETER * M_PI) // mm
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#define MOTOR_SPEED_GAIN_RPMP_V 233.0 // rpm/V (from datasheet)
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#define MOTOR_SPEED_GAIN MOTOR_SPEED_GAIN_RPMP_V / 60.0 // motor rev/s/V
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#define MOTOR_SPEED_GAIN (MOTOR_SPEED_GAIN_RPMP_V / 60.0) // motor rev/s/V
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#define MOTOR_NOMINAL_TENSION 24.0 // V (from datasheet)
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#define MOTOR_CONTROLLER_ALIMENTATION 24.0 // V (from elec)
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#define MOTOR_CONTROLLER_REFERENCE 3.3 // V (from wiring)
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#define MOTOR_SATURATION_MIN 1.0 //V (from random)
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#define MOTOR_SATURATION_MAX 12.0 //V (from testing)
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#define PWM_MAX 3.3 // V (from FPGA datasheet)
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#define MOTOR_CONTROLLER_REFERENCE 5 // V (from wiring)
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#define MOTOR_SATURATION_MIN 1.0 // V (from random)
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#define MOTOR_SATURATION_MAX 12.0 // V (from testing)
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#define PWM_MAX 3.5 // V (from FPGA datasheet)
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#define CODER_RESOLUTION 370.0 // cycles/motor rev
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#define CODER_DATA_FACTOR 4.0 // increments/motor cycles
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#define CODER_DATA_RESOLUTION CODER_RESOLUTION * CODER_DATA_FACTOR // cycles/motor rev
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#define CODER_DATA_RESOLUTION (CODER_RESOLUTION * CODER_DATA_FACTOR) // cycles/motor rev
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#define CRAN_REDUC_OUT 48.0 // nb crans (from meca)
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#define CRAN_REDUC_IN 12.0 // nb crans (from meca)
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#define REDUC_RATIO CRAN_REDUC_IN / CRAN_REDUC_OUT // reduction ratio
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#define CODER_FULL_RESOLUTION CODER_DATA_RESOLUTION / REDUC_RATIO // cycles / wheel rev
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#define AV_PER_CYCLE WHEEL_PERIMETER / CODER_FULL_RESOLUTION // mm
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#define REDUC_RATIO (CRAN_REDUC_IN / CRAN_REDUC_OUT) // reduction ratio
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#define CODER_FULL_RESOLUTION (CODER_DATA_RESOLUTION / REDUC_RATIO) // cycles / wheel rev
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#define AV_PER_CYCLE (WHEEL_PERIMETER / CODER_FULL_RESOLUTION) // mm
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// Constantes asservissement
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#define D_DIR_ECART_MIN 1 // mm
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@ -1,18 +1,35 @@
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#include "motor.h"
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uint8_t moteurTensionToPWM(float V)
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uint8_t tensionToPWM(float V)
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{
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if (V >= MOTOR_CONTROLLER_ALIMENTATION) {
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printf("PWM tension %f\n", V);
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if (V >= PWM_MAX) {
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return UINT8_MAX;
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} else if (V <= 0) {
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return 0;
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} else {
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return V * UINT8_MAX / MOTOR_CONTROLLER_ALIMENTATION;
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printf("PWM value %d\n", (uint8_t) (V * UINT8_MAX / PWM_MAX));
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return V * UINT8_MAX / PWM_MAX;
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}
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}
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uint8_t moteurTensionToPWM(float V)
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{
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printf("Moteur tension %f\n", V);
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if (V >= MOTOR_CONTROLLER_ALIMENTATION) {
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V = MOTOR_CONTROLLER_ALIMENTATION;
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} else if (V <= 0) {
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V = 0;
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}
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return tensionToPWM(V * MOTOR_CONTROLLER_REFERENCE / MOTOR_CONTROLLER_ALIMENTATION);
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}
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void setMoteurTensionRaw(float lVolt, float rVolt, bool lFor, bool rFor)
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{
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#ifdef INVERSE_L_MOTOR
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lFor = !lFor;
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#endif
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static struct C2FD_PWMs msg;
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msg.in = 0x00;
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if (lVolt > 0) {
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@ -22,6 +39,9 @@ void setMoteurTensionRaw(float lVolt, float rVolt, bool lFor, bool rFor)
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// Nothing needs to be changed for this motor controller
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}
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#ifdef INVERSE_R_MOTOR
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rFor = !rFor;
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#endif
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if (rVolt > 0) {
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msg.in |= 1 << (rFor ? IN3 : IN4);
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msg.enb = moteurTensionToPWM(lVolt);
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@ -7,6 +7,9 @@
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#include "dimensions.h"
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#include "CF.h"
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#define INVERSE_L_MOTOR
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// #define INVERSE_R_MOTOR
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#define TESTINATOR
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// #define TLE5206
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@ -82,12 +82,16 @@ void stopParcours()
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#define HIGH_TIME 3000
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#define DOWN_TIME 1000
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#define LOW_TIME 2000
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#define MAX_VIT 2
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#define MAX_VIT 1
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void* TaskParcours(void* pdata)
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{
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(void)pdata;
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for (;;) {
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setPWMTension(MAX_VIT, MAX_VIT);
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}
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for (;;) {
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addPoints(1);
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for (int i = 0; i < UP_TIME; i++) {
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@ -19,7 +19,6 @@ pthread_t tPosition;
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unsigned int nbCalcPos;
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long lCodTot, rCodTot;
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void* TaskPosition(void* pData)
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{
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(void)pData;
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// Calculation
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nbCalcPos++;
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#ifdef INVERSE_L_CODER
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deltaCoders.dL = -deltaCoders.dL;
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#endif
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#ifdef INVERSE_R_CODER
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deltaCoders.dR = -deltaCoders.dR;
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#endif
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lCodTot += deltaCoders.dL;
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rCodTot += deltaCoders.dR;
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float deltaO = atan2(deltaCoders.dR - deltaCoders.dL, DISTANCE_BETWEEN_WHEELS);
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float deltaD = (deltaCoders.dL + deltaCoders.dR) / 2;
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float dR = deltaCoders.dR * AV_PER_CYCLE;
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float dL = deltaCoders.dL * AV_PER_CYCLE;
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float deltaO = atan2(dR - dL, DISTANCE_BETWEEN_WHEELS);
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float deltaD = (dL + dR) / 2;
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connu.o += deltaO;
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float deltaX = deltaD * cos(connu.o);
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@ -8,6 +8,8 @@
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#include "CF.h"
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#include <pthread.h>
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// #define INVERSE_L_CODER
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#define INVERSE_R_CODER
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// Structures
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struct __attribute__ ((packed)) position {
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@ -12,7 +12,7 @@
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#include "motor.h"
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#include "buttons.h"
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#define PATATE 3.3/2
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#define PATATE 2
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int main(int argc, char* argv[])
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{
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for (;;) {
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clearLCD();
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printToLCD(LCD_LINE_1, "Forward");
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setPWMTension(PATATE, PATATE);
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setMoteurTension(PATATE, PATATE);
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pressedButton(BUT_BLOCK);
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clearLCD();
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printToLCD(LCD_LINE_1, "Right");
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setPWMTension(-PATATE, PATATE);
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setMoteurTension(-PATATE, PATATE);
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pressedButton(BUT_BLOCK);
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clearLCD();
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printToLCD(LCD_LINE_1, "Left");
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setPWMTension(-PATATE, -PATATE);
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setMoteurTension(PATATE, -PATATE);
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pressedButton(BUT_BLOCK);
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clearLCD();
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printToLCD(LCD_LINE_1, "Backward");
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setPWMTension(PATATE, -PATATE);
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setMoteurTension(-PATATE, -PATATE);
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pressedButton(BUT_BLOCK);
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clearLCD();
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@ -12,7 +12,9 @@
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#include "motor.h"
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#include "buttons.h"
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#define VIT 0.40
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#define VIT 1
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#define VITL VIT
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#define VITR 0
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void setPWMTensionWrapper(float l, float r) {
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initLCD();
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configureCF();
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configureButtons();
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configureMovement();
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setPWMTensionWrapper(VIT, VIT);
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for (;;) {
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setPWMTensionWrapper(VIT, VIT);
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setPWMTensionWrapper(VITL, VITR);
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pressedButton(BUT_BLOCK);
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brake();
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pressedButton(BUT_BLOCK);
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17
chef/src/testStop.c
Normal file
17
chef/src/testStop.c
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/* Teste si une broche est connecté à une autre */
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#include <stdlib.h>
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#include "CF.h"
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#include "motor.h"
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int main(int argc, char* argv[])
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{
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(void)argc;
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(void)argv;
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configureCF();
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stop();
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}
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@ -16,14 +16,14 @@
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#define HIGH_TIME 3000
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#define DOWN_TIME 1000
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#define LOW_TIME 2000
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#define MAXI 3.3
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#define MAXI 12
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#define INTERVAL 10
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void changerMoteursWrapper(float l, float r) {
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/* clearLCD(); */
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printfToLCD(LCD_LINE_1, "L: %f", l);
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printfToLCD(LCD_LINE_2, "R: %f", r);
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setPWMTension(l, r);
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setMoteurTension(l, r);
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}
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int main(int argc, char* argv[])
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@ -85,7 +85,7 @@ architecture Behavioral of Principal is
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-- PWM clock
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signal pwmClk : std_logic := '0';
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signal pwmCounter : integer := 0;
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constant PWM_DIVIDER : integer := 1024;
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constant PWM_DIVIDER : integer := 4096;
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-- Motor controller
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signal enAd : std_logic_vector(7 downto 0);
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@ -13,8 +13,14 @@ export PS3="+ "
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export PS4="- "
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alias r="/etc/init.d/S50chef restart"
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alias s="/etc/init.d/S50chef stop"
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alias c="cd /opt/chef/"
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s()
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{
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/etc/init.d/S50chef stop
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/opt/chef/bin/testStop
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}
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l()
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{
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tail -f $(find /opt/chef/log | sort | tail -1)
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