mirror of
https://github.com/RobotechLille/cdf2018-principal
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53 lines
775 B
C
53 lines
775 B
C
/*
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* Fonctions de déplacment du robot
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*/
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#ifndef __MOVEMENT_H_
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#define __MOVEMENT_H_
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#include "position.h"
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#include <wiringPi.h>
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#define PWM_MAX 1023
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#define PWM_MAX_V 3.3
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// #define TESTINATOR
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#define TLE5206
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#ifdef TESTINATOR
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#define MOT_MIN_V 0.1
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#define MOT_MAX_V 2.0
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#endif
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#ifdef TLE5206
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#define MOT_MIN_V 0.1
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#define MOT_MAX_V 2.5
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#endif
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// Pins definition
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// Left
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// Physical 32
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#define ENA 26
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#define IN1 2
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#define IN2 3
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// Physical 33
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// Right
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#define ENB 23
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#define IN3 4
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#define IN4 5
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void configureMovement();
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void aller(struct position* pos);
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int changerMoteurs(float vitL, float vitR);
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// Vitesse en mm/s
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// Vitesse < 0 ⇒ sens inverse
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// Si vitesse < seuil ⇒ brake
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int brake();
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int stop();
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int freewheel();
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void deconfigureMovement();
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#endif
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