Commit 7d3291092c4c5e84913547dea2a7796823040828

Authored by pifou
1 parent a89c030d

PercTeacher programme robot

Showing 26 changed files with 110 additions and 0 deletions   Show diff stats
PercTeacher/Sources/Action.java renamed to PercTeacher/Sources/ApplicationJava/Action.java
PercTeacher/Sources/ActionList.java renamed to PercTeacher/Sources/ApplicationJava/ActionList.java
PercTeacher/Sources/ImportExport.java renamed to PercTeacher/Sources/ApplicationJava/ImportExport.java
PercTeacher/Sources/Interface.java renamed to PercTeacher/Sources/ApplicationJava/Interface.java
PercTeacher/Sources/InvalidActionListArrays.java renamed to PercTeacher/Sources/ApplicationJava/InvalidActionListArrays.java
PercTeacher/Sources/InvalidInputException.java renamed to PercTeacher/Sources/ApplicationJava/InvalidInputException.java
PercTeacher/Sources/Main.java renamed to PercTeacher/Sources/ApplicationJava/Main.java
PercTeacher/Sources/NoSerialPortException.java renamed to PercTeacher/Sources/ApplicationJava/NoSerialPortException.java
PercTeacher/Sources/SerialCom.java renamed to PercTeacher/Sources/ApplicationJava/SerialCom.java
PercTeacher/Sources/SerialComPortException.java renamed to PercTeacher/Sources/ApplicationJava/SerialComPortException.java
PercTeacher/Sources/SerialComWrongCallbackMethod.java renamed to PercTeacher/Sources/ApplicationJava/SerialComWrongCallbackMethod.java
PercTeacher/Sources/SerialCommands.java renamed to PercTeacher/Sources/ApplicationJava/SerialCommands.java
PercTeacher/Sources/SerialPortChooserDialog.java renamed to PercTeacher/Sources/ApplicationJava/SerialPortChooserDialog.java
PercTeacher/Sources/Util.java renamed to PercTeacher/Sources/ApplicationJava/Util.java
PercTeacher/Sources/icons/Thumbs.db renamed to PercTeacher/Sources/ApplicationJava/icons/Thumbs.db
No preview for this file type
PercTeacher/Sources/icons/move00.png renamed to PercTeacher/Sources/ApplicationJava/icons/move00.png

1.03 KB

PercTeacher/Sources/icons/move01.png renamed to PercTeacher/Sources/ApplicationJava/icons/move01.png

1.07 KB

PercTeacher/Sources/icons/move02.png renamed to PercTeacher/Sources/ApplicationJava/icons/move02.png

1.03 KB

PercTeacher/Sources/icons/move10.png renamed to PercTeacher/Sources/ApplicationJava/icons/move10.png

605 Bytes

PercTeacher/Sources/icons/move12.png renamed to PercTeacher/Sources/ApplicationJava/icons/move12.png

604 Bytes

PercTeacher/Sources/icons/move20.png renamed to PercTeacher/Sources/ApplicationJava/icons/move20.png

1.03 KB

PercTeacher/Sources/icons/move21.png renamed to PercTeacher/Sources/ApplicationJava/icons/move21.png

1016 Bytes

PercTeacher/Sources/icons/move22.png renamed to PercTeacher/Sources/ApplicationJava/icons/move22.png

1.04 KB

PercTeacher/Sources/icons/robot.png renamed to PercTeacher/Sources/ApplicationJava/icons/robot.png

4.42 KB

PercTeacher/Sources/Robot/makefile 0 → 100644
@@ -0,0 +1,36 @@ @@ -0,0 +1,36 @@
  1 +export CC = avr-gcc
  2 +
  3 +export MCU = atmega2560
  4 +export TARGET_ARCH = -mmcu=$(MCU)
  5 +
  6 +export CFLAGS = -Wall -I. -DF_CPU=16000000 -Os #-g
  7 +export LDFLAGS = -g $(TARGET_ARCH) -lm -Wl,--gc-sections # -Os
  8 +
  9 +TARGET = servoAndStepperControl
  10 +TERM = /dev/ttyACM0
  11 +CPPFLAGS = -mmcu=$(MCU)
  12 +PGMERISP = -c wiring -b 115200 -P $(TERM) -D
  13 +export DUDE = /usr/bin/avrdude -F -v -p $(MCU)
  14 +
  15 +C_SRC = $(wildcard *.c)
  16 +OBJS = $(C_SRC:.c=.o)
  17 +
  18 +all: $(TARGET).hex
  19 +
  20 +clean:
  21 + rm -f *.o *.hex *.elf
  22 +
  23 +%.o:%.c
  24 + $(CC) -c $(CPPFLAGS) $(CFLAGS) $< -o $@
  25 +
  26 +$(TARGET).elf: $(OBJS)
  27 + $(CC) $(LDFLAGS) -o $@ $(OBJS)
  28 +
  29 +$(TARGET).hex: $(TARGET).elf
  30 + avr-objcopy -j .text -j .data -O ihex $(TARGET).elf $(TARGET).hex
  31 + avr-objcopy -j .eeprom --set-section-flags=.eeprom="alloc,load" --change-section-lma .eeprom=0 -O ihex $(TARGET).elf eeprom.hex
  32 +
  33 +upload: $(TARGET).hex
  34 + stty -F $(TERM) hupcl # reset
  35 + $(DUDE) $(PGMERISP) -U flash:w:$(TARGET).hex
  36 + make clean
PercTeacher/Sources/Robot/servoAndStepperControl.c 0 → 100644
@@ -0,0 +1,74 @@ @@ -0,0 +1,74 @@
  1 +#include <avr/io.h>
  2 +#include <util/delay.h>
  3 +
  4 +#define SERIAL_BAUDE_RATE 9600
  5 +#define DELAI_STEP 1000
  6 +#define PIN_MOTEUR_GAUCHE 0x40 // pin 12
  7 +#define PIN_MOTEUR_DROIT 0x20 // pin 11
  8 +
  9 +//gestion des moteurs
  10 +void init_pins(void){
  11 + // pin 12 et 11
  12 + DDRB = PIN_MOTEUR_GAUCHE | PIN_MOTEUR_DROIT;
  13 +}
  14 +
  15 +void pas_moteur_gauche(void){
  16 + // pin 12
  17 + PORTB |= PIN_MOTEUR_GAUCHE;
  18 + _delay_us(DELAI_STEP);
  19 + PORTB &= ~PIN_MOTEUR_GAUCHE;
  20 + _delay_us(DELAI_STEP);
  21 +}
  22 +
  23 +void pas_moteur_droit(void){
  24 + // pin 11
  25 + PORTB |= PIN_MOTEUR_DROIT;
  26 + _delay_us(DELAI_STEP);
  27 + PORTB &= ~PIN_MOTEUR_DROIT;
  28 + _delay_us(DELAI_STEP);
  29 +}
  30 +
  31 +//gestion de la liaison serie
  32 +void init_serial(int speed){
  33 + UBRR0 = CPU_FREQ / (((unsigned long int) speed) << 4) - 1; //Set baud rate
  34 + UCSR0B = (1 << TXEN0 | 1 << RXEN0); //Enable transmitter & receiver
  35 + UCSR0C = (1 << UCSZ01 | 1 << UCSZ00); //Set 8 bits character and 1 stop bit
  36 + UCSR0A &= ~(1 << U2X0); //Set off UART baud doubler
  37 +}
  38 +
  39 +void send_serial(unsigned char c){
  40 + loop_until_bit_is_set(UCSR0A, UDRE0);
  41 + UDR0 = c;
  42 +}
  43 +
  44 +unsigned char get_serial(void){
  45 + loop_until_bit_is_set(UCSR0A, RXC0);
  46 + return UDR0;
  47 +}
  48 +
  49 +int main(void){
  50 + init_pins();
  51 + init_serial(SERIAL_BAUDE_RATE);
  52 +
  53 + while(1){
  54 + unsigned char deltaL1 = get_serial();
  55 + unsigned char deltaL2 = get_serial();
  56 + unsigned char deltaR1 = get_serial();
  57 + unsigned char deltaR2 = get_serial();
  58 +
  59 + // conversion 2x8 bits => 16 bits
  60 + int deltaL = deltaL1 << 8 + deltaL2;
  61 + int deltaR = deltaR1 << 8 + deltaR2;
  62 +
  63 + int deltaMax = deltaL > deltaR ? deltaL : deltaR;
  64 + for(int i=0; i<deltaMax; i++){
  65 + if(deltaL > i)
  66 + pas_moteur_gauche();
  67 + if(deltaR > i)
  68 + pas_moteur_droit();
  69 + }
  70 +
  71 + }
  72 + return 0;
  73 +}
  74 +