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PAMI_Super_Star_2025
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Simplification de code et changement de valeurs

This commit is contained in:
Ulysse Cura 2025-01-29 21:08:21 +01:00
parent 8dea440f6b
commit 2d7be3ade0
2 changed files with 7 additions and 5 deletions
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8
IO.hpp
View File

@ -6,8 +6,8 @@
#define PIN_TIRETTE 5
#define PIN_BUTTON_COLOR 6
#define PIN_MOTOR1 2
#define PIN_MOTOR2 1
#define PIN_MOTOR1 1
#define PIN_MOTOR2 2
#define PIN_SERVO 7
#define DANCING_ACTION_DELTA_ANGLE 2
@ -15,6 +15,8 @@
#define GAIN_KD 100
#define ANGULAR_SPEED 10 // °/s
using std::abs;
enum class Axes {
X,
Y,
@ -120,7 +122,7 @@ class IO {
Serial.printf("Angular Speed : %d\nStatic Cast : %d\nprev_time : %d\n millis : %d\n", angular_speed, static_cast<float>(millis() / 1000 - prev_time / 1000), prev_time, millis());
if(std::abs(err_dir) < angular_displacement)
if(abs(err_dir) < angular_displacement)
{
m_dir = dir;
}

4
Main.ino
View File

@ -76,8 +76,8 @@ void loop()
//Serial.printf("Is Selected Color Blue : %d\n", my_IO.isSelectedColorBlue());
//Serial.printf("Is Tirette Pulled : %d\n", my_IO.isTirettePulled());
my_IO.setDirWithAngularSpeed(90);
my_IO.setSpeed(1024.0f);
my_IO.setDir(0);
my_IO.setSpeed(2048.0f);
}
#else