pfrison / projet-crep

Commit 6601d4decc245caf83e960c43c3109a2c5a8d6d1

Authored by pfrison
1 parent 7d329109

Test moteurs sur le robot

Showing 2 changed files with 25 additions and 8 deletions   Show diff stats
Inline Side-by-side
PercTeacher/Sources/Robot/servoAndStepperControl.c
  Show/Hide comments   View file @6601d4d
... ... @@ -6,6 +6,8 @@
6 6 #define PIN_MOTEUR_GAUCHE 0x40 // pin 12
7 7 #define PIN_MOTEUR_DROIT 0x20 // pin 11
8 8  
  9 +#define CPU_FREQ 16000000L
  10 +
9 11 //gestion des moteurs
10 12 void init_pins(void){
11 13 // pin 12 et 11
... ... @@ -57,8 +59,8 @@ int main(void){
57 59 unsigned char deltaR2 = get_serial();
58 60  
59 61 // conversion 2x8 bits => 16 bits
60   - int deltaL = deltaL1 << 8 + deltaL2;
61   - int deltaR = deltaR1 << 8 + deltaR2;
  62 + int deltaL = (deltaL1 << 8) + deltaL2;
  63 + int deltaR = (deltaR1 << 8) + deltaR2;
62 64  
63 65 int deltaMax = deltaL > deltaR ? deltaL : deltaR;
64 66 for(int i=0; i<deltaMax; i++){
... ... @@ -67,7 +69,8 @@ int main(void){
67 69 if(deltaR > i)
68 70 pas_moteur_droit();
69 71 }
70   -
  72 +
  73 + send_serial(0x01);
71 74 }
72 75 return 0;
73 76 }
... ...
tests/atmega2560/servoAndStepperControl/servoAndStepperControl.c
  Show/Hide comments   View file @6601d4d
... ... @@ -3,13 +3,27 @@
3 3  
4 4 int main(void){
5 5 // pin 13
6   - DDRB = 0x80;
  6 + DDRB = 0xC0;
7 7  
  8 + PORTB |= 0x40; // forward
  9 + int i = 0;
  10 + int sens = 0;
8 11 while(1){
9   - PORTB = 0x80;
10   - _delay_us(1000);
11   - PORTB = 0x00;
12   - _delay_us(1000);
  12 + // step
  13 + PORTB |= 0x80;
  14 + _delay_ms(5);
  15 + PORTB &= 0x7F;
  16 + _delay_ms(5);
  17 + // dir
  18 + i++;
  19 + if(i > 200){
  20 + i = 0;
  21 + sens = 1 - sens;
  22 + if(sens == 0)
  23 + PORTB |= 0x40; // forward
  24 + else
  25 + PORTB &= 0xBF; // backward
  26 + }
13 27 }
14 28 return 0;
15 29 }
... ...