pfrison / projet-crep

Commit 01e0e7b7b34e136045bd83af05f5eb28e9d4d146

Authored by pfrison
1 parent 3fcb1d7b

modification PercTeacher java et test moteurs sur le robot (pcb)

Showing 2 changed files with 19 additions and 9 deletions   Show diff stats
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PercTeacher/Sources/ApplicationJava/SerialCommands.java
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@@ -2,9 +2,19 @@ @@ -2,9 +2,19 @@
2 public class SerialCommands { 2 public class SerialCommands {
3 public static void sendDeltas(SerialCom serialCom, int deltaLeft, int deltaRight) { 3 public static void sendDeltas(SerialCom serialCom, int deltaLeft, int deltaRight) {
4 byte dataL1 = (byte) ((deltaLeft & 0xFF00) >> 8); 4 byte dataL1 = (byte) ((deltaLeft & 0xFF00) >> 8);
  5 + if(deltaLeft < 0)
  6 + dataL1 &= 0x7F;
  7 + else
  8 + dataL1 |= 0x80;
5 byte dataL2 = (byte) (deltaLeft & 0xFF); 9 byte dataL2 = (byte) (deltaLeft & 0xFF);
  10 +
6 byte dataR1 = (byte) ((deltaRight & 0xFF00) >> 8); 11 byte dataR1 = (byte) ((deltaRight & 0xFF00) >> 8);
  12 + if(deltaRight < 0)
  13 + dataR1 &= 0x7F;
  14 + else
  15 + dataR1 |= 0x80;
7 byte dataR2 = (byte) (deltaRight & 0xFF); 16 byte dataR2 = (byte) (deltaRight & 0xFF);
  17 +
8 byte[] data = new byte[] {dataL1, dataL2, dataR1, dataR2}; 18 byte[] data = new byte[] {dataL1, dataL2, dataR1, dataR2};
9 serialCom.send(data); 19 serialCom.send(data);
10 20
tests/atmega2560/servoAndStepperControl/servoAndStepperControl.c
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@@ -3,26 +3,26 @@ @@ -3,26 +3,26 @@
3 3
4 int main(void){ 4 int main(void){
5 // pin 13 5 // pin 13
6 - DDRB = 0xC0; 6 + DDRB = 0x60;
7 7
8 - PORTB |= 0x40; // forward 8 + PORTB |= 0x20; // forward
9 int i = 0; 9 int i = 0;
10 int sens = 0; 10 int sens = 0;
11 while(1){ 11 while(1){
12 // step 12 // step
13 - PORTB |= 0x80;  
14 - _delay_ms(5);  
15 - PORTB &= 0x7F;  
16 - _delay_ms(5); 13 + PORTB |= 0x40;
  14 + _delay_ms(2);
  15 + PORTB &= 0xBF;
  16 + _delay_ms(2);
17 // dir 17 // dir
18 i++; 18 i++;
19 - if(i > 200){ 19 + if(i > 1000){
20 i = 0; 20 i = 0;
21 sens = 1 - sens; 21 sens = 1 - sens;
22 if(sens == 0) 22 if(sens == 0)
23 - PORTB |= 0x40; // forward 23 + PORTB |= 0x20; // forward
24 else 24 else
25 - PORTB &= 0xBF; // backward 25 + PORTB &= 0xDF; // backward
26 } 26 }
27 } 27 }
28 return 0; 28 return 0;