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Asservissement fonctionnel mais changement de direction en fonction du temps défectueux, tests en cour...

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Ulysse Cura 2025-01-29 18:12:22 +01:00
parent 3748c54515
commit 8dea440f6b
2 changed files with 17 additions and 8 deletions
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17
IO.hpp
View File

@ -112,24 +112,33 @@ class IO {
m_motors[1].setSpeed(0); m_motors[1].setSpeed(0);
} }
void setDir(float dir) void setDirWithAngularSpeed(float dir, float angular_speed = ANGULAR_SPEED)
{ {
static unsigned long prev_time {millis()}; static unsigned long prev_time {millis()};
float err_dir = dir - m_dir; float err_dir = dir - m_dir;
float max_angular_displacement = ANGULAR_SPEED * (millis() - prev_time); float angular_displacement = angular_speed * static_cast<float>(millis() / 1000 - prev_time / 1000);
if(std::abs(err_dir) < max_angular_displacement) 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)
{ {
m_dir = dir; m_dir = dir;
} }
else else
{ {
m_dir += max_angular_displacement * (err_dir < 0) ? -1 : 1; m_dir += angular_displacement * (err_dir < 0) ? -1 : 1;
} }
Serial.printf("Angle : %d\nAngular Displacement : %d\n", m_dir, angular_displacement);
prev_time = millis(); prev_time = millis();
} }
void setDir(float dir)
{
m_dir = dir;
}
void setSpeed(float speed) void setSpeed(float speed)
{ {
m_speed = speed; m_speed = speed;

8
Main.ino
View File

@ -55,13 +55,13 @@ void setup()
while(true); while(true);
} }
my_IO.getScreen()->drawBitmap(0, 0, Imgs::riombotique, 52, 64, WHITE); my_IO.getScreen()->drawBitmap(38, 0, Res::Imgs::riombotique, 52, 64, WHITE);
my_IO.getScreen()->drawBitmap(75, 0, Imgs::poivron_robotique, 52, 64, WHITE); //my_IO.getScreen()->drawBitmap(75, 0, Imgs::poivron_robotique, 52, 64, WHITE);
//my_IO.motorControlOn();
Serial.println("Initalisation Finished"); Serial.println("Initalisation Finished");
my_IO.motorControlOn();
#ifdef UNIT_TESTS #ifdef UNIT_TESTS
Serial.println("UNIT_TESTS"); Serial.println("UNIT_TESTS");
#endif #endif