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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
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@ -6,8 +6,8 @@
#define PIN_TIRETTE 5 #define PIN_TIRETTE 5
#define PIN_BUTTON_COLOR 6 #define PIN_BUTTON_COLOR 6
#define PIN_MOTOR1 2 #define PIN_MOTOR1 1
#define PIN_MOTOR2 1 #define PIN_MOTOR2 2
#define PIN_SERVO 7 #define PIN_SERVO 7
#define DANCING_ACTION_DELTA_ANGLE 2 #define DANCING_ACTION_DELTA_ANGLE 2
@ -15,6 +15,8 @@
#define GAIN_KD 100 #define GAIN_KD 100
#define ANGULAR_SPEED 10 // °/s #define ANGULAR_SPEED 10 // °/s
using std::abs;
enum class Axes { enum class Axes {
X, X,
Y, 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()); 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; 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 Selected Color Blue : %d\n", my_IO.isSelectedColorBlue());
//Serial.printf("Is Tirette Pulled : %d\n", my_IO.isTirettePulled()); //Serial.printf("Is Tirette Pulled : %d\n", my_IO.isTirettePulled());
my_IO.setDirWithAngularSpeed(90); my_IO.setDir(0);
my_IO.setSpeed(1024.0f); my_IO.setSpeed(2048.0f);
} }
#else #else