Misc

arduino/arduino.ino

@@ -36,24 +36,26 @@ void barilletUnCran()
 {
 
     ax12a.setEndless(ID, ON);
-    ax12a.turn(ID, LEFT, 1220);
+    ax12a.turn(ID, LEFT, 1224);
     delay(978);
     ax12a.turn(ID, LEFT, 200);
     delay(100);
     ax12a.turn(ID, LEFT, 1224);
     delay(100);
+    ax12a.turn(ID, LEFT, 0);
 }
 
 void barilletDeuxCrans()
 {
 
     ax12a.setEndless(ID, ON);
-    ax12a.turn(ID, LEFT, 1220);
+    ax12a.turn(ID, LEFT, 1224);
     delay(1955);
     ax12a.turn(ID, LEFT, 200);
     delay(100);
     ax12a.turn(ID, LEFT, 1224);
     delay(100);
+    ax12a.turn(ID, LEFT, 0);
 }
 
 void loop()
@@ -96,11 +98,9 @@ void loop()
                 break;
             case 'B': // Tourner barillet d'un cran
                 barilletUnCran();
-                delay(500);
                 break;
             case 'H': // Tourner de deux crans
                 barilletDeuxCrans();
-                delay(500);
                 break;
             case 'R': // Reset barillet
                 // ax12a.setEndless(ID, OFF);
@@ -133,4 +133,4 @@ void loop()
             Serial.write(lettre);
         }
     }
-}
+}

chef/src/CF.h

@@ -11,7 +11,7 @@
 #define FPGA_PORTNAME "/dev/ttyUSB0"
 #define CF_BAUDRATE B115200
 // #define PRINTRAWDATA
-//
+
 typedef void (*rxHandler)(void);
 
 void registerRxHandlerCF(unsigned char code, rxHandler handler); // À utiliser après configureCF();

chef/src/diagnostics.c

@@ -97,7 +97,7 @@ bool diagJustRun(void* arg)
 {
     void (*fonction)(void) = arg;
     fonction();
-    usleep(1000*1000);
+    usleep(300*1000);
     return true;
 }
 
@@ -160,8 +160,8 @@ void runDiagnostics()
     i = 3;
     execDiagnostic("Mot+Cod R AR", diagCodeuse, &i);
 
-    execDiagnostic("Fermeture loquet", diagJustRun, &diagSetLoquetFerme);
     execDiagnostic("Ouverture loquet", diagJustRun, &diagSetLoquetOuvert);
+    execDiagnostic("Fermeture loquet", diagJustRun, &diagSetLoquetFerme);
     execDiagnostic("Reset barillet", diagJustRun, &barilletReset);
     execDiagnostic("T+1 barillet", diagJustRun, &barilletSuivant);
     execDiagnostic("T+2 barillet", diagJustRun, &barilletSkip);

chef/src/diagnostics.h

@@ -10,7 +10,7 @@
 
 #define DIAGNOSTIC_TENSION_TEST 3
 #define DIAGNOSTIC_CODEUSES_DIFF_MIN 100
-#define DIAGNOSTIC_TEMPS_ROTATION 250
+#define DIAGNOSTIC_TEMPS_ROTATION 500
 
 typedef bool (*diagnosticFunc)(void* arg);
 

chef/src/dimensions.h

@@ -21,7 +21,7 @@
 #define MOTOR_CONTROLLER_ALIMENTATION 24.0 // V (from elec)
 #define MOTOR_CONTROLLER_REFERENCE 5 // V (from wiring)
 #define MOTOR_SATURATION_MIN 0 // V (from random)
-#define MOTOR_SATURATION_MAX 12.0 // V (from testing)
+#define MOTOR_SATURATION_MAX 3.0 // V (from testing)
 #define PWM_MAX 3.3 // V (from FPGA datasheet)
 #define CODER_RESOLUTION 370.0 // cycles/motor rev
 #define CODER_DATA_FACTOR 4.0 // increments/motor cycles
@@ -38,8 +38,8 @@
 #define O_DIR_ECART_MIN (5.0 / 360.0 * 2.0 * M_PI) // rad
 #define O_DIR_ECART_MAX (25.0 / 360.0 * 2.0 * M_PI) // rad
 #define O_ECART_MAX (25.0 / 360.0 * 2.0 * M_PI) // rad
-#define O_GAIN 3.0
+#define O_GAIN 5.0
-#define P 7.0
+#define P 5.0
 #define I 0.0
 #define D 0.0
 

chef/src/lcd.c

@@ -21,6 +21,19 @@ void initLCD()
     pinMode(LCD_ON_PIN, OUTPUT);
 }
 
+void eraseLCD()
+{
+    lockLCD();
+    sendLCD(0x01, LCD_MODE_CMD);
+    sendLCD(0x02, LCD_MODE_CMD);
+
+    for (int i = 0; i < LCD_NB_TOTAL; i++) {
+        virtual[i] = ' ';
+    }
+    unlockLCD();
+}
+
+
 void onLCD()
 {
     digitalWrite(LCD_ON_PIN, LOW);
@@ -32,7 +45,7 @@ void onLCD()
     sendLCD(0x06, LCD_MODE_CMD); // Cursor move direction
     sendLCD(0x0C, LCD_MODE_CMD); // Blink Off
     sendLCD(0x28, LCD_MODE_CMD); // Data length, number of lines, font size
-    clearLCD();
+    eraseLCD();
 
     delay(50);
 }
@@ -57,14 +70,8 @@ void resetLCD()
 
 void clearLCD()
 {
-    lockLCD();
+    offLCD();
-    sendLCD(0x01, LCD_MODE_CMD);
+    onLCD();
-    sendLCD(0x02, LCD_MODE_CMD);
-
-    for (int i = 0; i < LCD_NB_TOTAL; i++) {
-        virtual[i] = ' ';
-    }
-    unlockLCD();
 }
 
 void gotoLCD(uint8_t line)

simu/simu.m

@@ -3,7 +3,7 @@ SIMULATION = 0;
 
 % Paramètres de lecture
 DIRNAME = "/home/geoffrey/CdF/cdf2018-principal/log/";
-FILENAME = "000471.csv";
+FILENAME = "000655.csv";
 PATH = DIRNAME + FILENAME;
 
 % Paramètres de simulation
@@ -33,7 +33,7 @@ motorNominalTension = 24.0; % V (from datasheet)
 motorControllerAlimentation = 24.0; % V (from elec)
 motorControllerReference = 5; % V (from wiring)
 motorSaturationMin = 0; % V (from random)
-motorSaturationMax = 12.0; % V (from testing)
+motorSaturationMax = 3.0; % V (from testing)
 pwmMax = 3.3; % V (from FPGA datasheet)
 coderResolution = 370.0; % cycles/motor rev
 coderDataFactor = 4.0; % increments/motor cycles
@@ -51,8 +51,8 @@ dDirEcartMax = 10.0; % mm
 oDirEcartMin = (5.0 / 360.0 * 2.0 * pi); % rad
 oDirEcartMax = (25.0 / 360.0 * 2.0 * pi); % rad
 oEcartMax = (25.0 / 360.0 * 2.0 * pi); % rad
-oGain = 3.0;
+oGain = 5.0;
-P = 7.0;
+P = 5.0;
 I = 0.0;
 D = 0.0;
 
@@ -130,13 +130,15 @@ legend("Gauche", "Droite", "Err. gauche", "Err. droite");
 % Distance
 p = subplot(2, 2, 3);
 hold on;
-timeGraph(["dDirEcart", "dErr"]);
+%timeGraph(["dDirEcart", "dErr"]);
+timeGraph(["dDirEcart", "dErr", "secFront", "secBack"]);
 addLimitline(p, dDirEcartMin);
 addLimitline(p, dDirEcartMax);
 title("Distance");
 xlabel("Temps (s)");
 ylabel("Distance (mm)");
-legend("Ecart direction", "Err. retenue");
+%legend("Ecart direction", "Err. retenue");
+legend("Ecart direction", "Err. retenue", "Distance avant", "Distance arrière");
 
 % Rotation
 p = subplot(2, 2, 4);