Commit 6601d4decc245caf83e960c43c3109a2c5a8d6d1
1 parent
7d329109
Test moteurs sur le robot
Showing
2 changed files
with
25 additions
and
8 deletions
Show diff stats
PercTeacher/Sources/Robot/servoAndStepperControl.c
| @@ -6,6 +6,8 @@ | @@ -6,6 +6,8 @@ | ||
| 6 | #define PIN_MOTEUR_GAUCHE 0x40 // pin 12 | 6 | #define PIN_MOTEUR_GAUCHE 0x40 // pin 12 |
| 7 | #define PIN_MOTEUR_DROIT 0x20 // pin 11 | 7 | #define PIN_MOTEUR_DROIT 0x20 // pin 11 |
| 8 | 8 | ||
| 9 | +#define CPU_FREQ 16000000L | ||
| 10 | + | ||
| 9 | //gestion des moteurs | 11 | //gestion des moteurs |
| 10 | void init_pins(void){ | 12 | void init_pins(void){ |
| 11 | // pin 12 et 11 | 13 | // pin 12 et 11 |
| @@ -57,8 +59,8 @@ int main(void){ | @@ -57,8 +59,8 @@ int main(void){ | ||
| 57 | unsigned char deltaR2 = get_serial(); | 59 | unsigned char deltaR2 = get_serial(); |
| 58 | 60 | ||
| 59 | // conversion 2x8 bits => 16 bits | 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 | int deltaMax = deltaL > deltaR ? deltaL : deltaR; | 65 | int deltaMax = deltaL > deltaR ? deltaL : deltaR; |
| 64 | for(int i=0; i<deltaMax; i++){ | 66 | for(int i=0; i<deltaMax; i++){ |
| @@ -67,7 +69,8 @@ int main(void){ | @@ -67,7 +69,8 @@ int main(void){ | ||
| 67 | if(deltaR > i) | 69 | if(deltaR > i) |
| 68 | pas_moteur_droit(); | 70 | pas_moteur_droit(); |
| 69 | } | 71 | } |
| 70 | - | 72 | + |
| 73 | + send_serial(0x01); | ||
| 71 | } | 74 | } |
| 72 | return 0; | 75 | return 0; |
| 73 | } | 76 | } |
tests/atmega2560/servoAndStepperControl/servoAndStepperControl.c
| @@ -3,13 +3,27 @@ | @@ -3,13 +3,27 @@ | ||
| 3 | 3 | ||
| 4 | int main(void){ | 4 | int main(void){ |
| 5 | // pin 13 | 5 | // pin 13 |
| 6 | - DDRB = 0x80; | 6 | + DDRB = 0xC0; |
| 7 | 7 | ||
| 8 | + PORTB |= 0x40; // forward | ||
| 9 | + int i = 0; | ||
| 10 | + int sens = 0; | ||
| 8 | while(1){ | 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 | return 0; | 28 | return 0; |
| 15 | } | 29 | } |