mirror of
https://github.com/RobotechLille/cdf2018-principal
synced 2024-05-21 14:16:22 +02:00
41 lines
627 B
C
41 lines
627 B
C
/*
|
|
* Fonctions de déplacment du robot
|
|
*/
|
|
|
|
#ifndef __MOVEMENT_H_
|
|
#define __MOVEMENT_H_
|
|
|
|
#include "position.h"
|
|
|
|
#include <wiringPi.h>
|
|
|
|
#define PWM_MAX 1023
|
|
#define PWM_MAX_V 3.3
|
|
#define MOT_MIN_V 0.1
|
|
#define MOT_MAX_V 2.0
|
|
|
|
// Pins definition
|
|
// Physical 32
|
|
#define ENA 26
|
|
#define IN1 2
|
|
#define IN2 3
|
|
|
|
// Physical 33
|
|
#define ENB 23
|
|
#define IN3 4
|
|
#define IN4 5
|
|
|
|
|
|
void configureMovement();
|
|
void aller(struct position* pos);
|
|
int changerMoteurs(float vitL, float vitR);
|
|
// Vitesse en mm/s
|
|
// Vitesse < 0 ⇒ sens inverse
|
|
// Si vitesse < seuil ⇒ brake
|
|
int brake();
|
|
int stop();
|
|
int freewheel();
|
|
void deconfigureMovement();
|
|
|
|
#endif
|