PercTeacher programme robot

pifou
1 parent a89c030d
Showing 26 changed files with 110 additions and 0 deletions Show diff stats
PercTeacher/Sources/Action.java -> PercTeacher/Sources/ApplicationJava/Action.java
PercTeacher/Sources/ActionList.java -> PercTeacher/Sources/ApplicationJava/ActionList.java
PercTeacher/Sources/ImportExport.java -> PercTeacher/Sources/ApplicationJava/ImportExport.java
PercTeacher/Sources/Interface.java -> PercTeacher/Sources/ApplicationJava/Interface.java
PercTeacher/Sources/InvalidActionListArrays.java -> PercTeacher/Sources/ApplicationJava/InvalidActionListArrays.java
PercTeacher/Sources/InvalidInputException.java -> PercTeacher/Sources/ApplicationJava/InvalidInputException.java
PercTeacher/Sources/Main.java -> PercTeacher/Sources/ApplicationJava/Main.java
PercTeacher/Sources/NoSerialPortException.java -> PercTeacher/Sources/ApplicationJava/NoSerialPortException.java
PercTeacher/Sources/SerialCom.java -> PercTeacher/Sources/ApplicationJava/SerialCom.java
PercTeacher/Sources/SerialComPortException.java -> PercTeacher/Sources/ApplicationJava/SerialComPortException.java
PercTeacher/Sources/SerialComWrongCallbackMethod.java -> PercTeacher/Sources/ApplicationJava/SerialComWrongCallbackMethod.java
PercTeacher/Sources/SerialCommands.java -> PercTeacher/Sources/ApplicationJava/SerialCommands.java
PercTeacher/Sources/SerialPortChooserDialog.java -> PercTeacher/Sources/ApplicationJava/SerialPortChooserDialog.java
PercTeacher/Sources/Util.java -> PercTeacher/Sources/ApplicationJava/Util.java
PercTeacher/Sources/icons/Thumbs.db -> PercTeacher/Sources/ApplicationJava/icons/Thumbs.db
PercTeacher/Sources/icons/move00.png -> PercTeacher/Sources/ApplicationJava/icons/move00.png
PercTeacher/Sources/icons/move01.png -> PercTeacher/Sources/ApplicationJava/icons/move01.png
PercTeacher/Sources/icons/move02.png -> PercTeacher/Sources/ApplicationJava/icons/move02.png
PercTeacher/Sources/icons/move10.png -> PercTeacher/Sources/ApplicationJava/icons/move10.png
PercTeacher/Sources/icons/move12.png -> PercTeacher/Sources/ApplicationJava/icons/move12.png
@@ -0,0 +1,36 @@
+export CC = avr-gcc
+
+export MCU = atmega2560
+export TARGET_ARCH = -mmcu=$(MCU)
+
+export CFLAGS =  -Wall -I. -DF_CPU=16000000 -Os #-g
+export LDFLAGS = -g $(TARGET_ARCH) -lm -Wl,--gc-sections #	-Os
+
+TARGET = servoAndStepperControl
+TERM = /dev/ttyACM0
+CPPFLAGS = -mmcu=$(MCU)
+PGMERISP = -c wiring -b 115200 -P $(TERM) -D
+export DUDE = /usr/bin/avrdude -F -v -p $(MCU)
+
+C_SRC = $(wildcard *.c)
+OBJS = $(C_SRC:.c=.o)
+
+all: $(TARGET).hex
+
+clean:
+	rm -f *.o *.hex *.elf
+
+%.o:%.c
+	$(CC) -c $(CPPFLAGS) $(CFLAGS) $< -o $@
+
+$(TARGET).elf: $(OBJS)
+	$(CC) $(LDFLAGS) -o $@ $(OBJS)
+
+$(TARGET).hex: $(TARGET).elf
+	avr-objcopy -j .text -j .data -O ihex $(TARGET).elf $(TARGET).hex
+	avr-objcopy -j .eeprom --set-section-flags=.eeprom="alloc,load" --change-section-lma .eeprom=0 -O ihex $(TARGET).elf eeprom.hex
+
+upload: $(TARGET).hex
+	stty -F $(TERM) hupcl # reset
+	$(DUDE) $(PGMERISP) -U flash:w:$(TARGET).hex
+	make clean
@@ -0,0 +1,74 @@
+#include <avr/io.h>
+#include <util/delay.h>
+
+#define SERIAL_BAUDE_RATE 9600
+#define DELAI_STEP 1000
+#define PIN_MOTEUR_GAUCHE 0x40 // pin 12
+#define PIN_MOTEUR_DROIT 0x20 // pin 11
+
+//gestion des moteurs
+void init_pins(void){
+    // pin 12 et 11
+    DDRB = PIN_MOTEUR_GAUCHE | PIN_MOTEUR_DROIT;
+}
+
+void pas_moteur_gauche(void){
+    // pin 12
+    PORTB |= PIN_MOTEUR_GAUCHE;
+    _delay_us(DELAI_STEP);
+    PORTB &= ~PIN_MOTEUR_GAUCHE;
+    _delay_us(DELAI_STEP);
+}
+
+void pas_moteur_droit(void){
+    // pin 11
+    PORTB |= PIN_MOTEUR_DROIT;
+    _delay_us(DELAI_STEP);
+    PORTB &= ~PIN_MOTEUR_DROIT;
+    _delay_us(DELAI_STEP);
+}
+
+//gestion de la liaison serie
+void init_serial(int speed){
+    UBRR0 = CPU_FREQ / (((unsigned long int) speed) << 4) - 1; //Set baud rate
+    UCSR0B = (1 << TXEN0 | 1 << RXEN0); //Enable transmitter & receiver
+    UCSR0C = (1 << UCSZ01 | 1 << UCSZ00); //Set 8 bits character and 1 stop bit
+    UCSR0A &= ~(1 << U2X0); //Set off UART baud doubler
+}
+
+void send_serial(unsigned char c){
+    loop_until_bit_is_set(UCSR0A, UDRE0);
+    UDR0 = c;
+}
+
+unsigned char get_serial(void){
+    loop_until_bit_is_set(UCSR0A, RXC0);
+    return UDR0;
+}
+
+int main(void){
+    init_pins();
+    init_serial(SERIAL_BAUDE_RATE);
+
+    while(1){
+        unsigned char deltaL1 = get_serial();
+        unsigned char deltaL2 = get_serial();
+        unsigned char deltaR1 = get_serial();
+        unsigned char deltaR2 = get_serial();
+        
+        // conversion 2x8 bits => 16 bits
+        int deltaL = deltaL1 << 8 + deltaL2;
+        int deltaR = deltaR1 << 8 + deltaR2;
+        
+        int deltaMax = deltaL > deltaR ? deltaL : deltaR;
+        for(int i=0; i<deltaMax; i++){
+            if(deltaL > i)
+                pas_moteur_gauche();
+            if(deltaR > i)
+                pas_moteur_droit();
+        }
+        
+    }
+    return 0;
+}
+