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PAMI_Super_Star_2025
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compare: ulysse:0f647cec10b88656a2a81067c907cdbd52bec420
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1 changed files with 289 additions and 292 deletions
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39
IO.hpp
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@ -3,9 +3,10 @@
Thibaut Ferrand / Ulysse Cura Thibaut Ferrand / Ulysse Cura
*/ */
#include <Adafruit_SSD1306.h> #include "esp32-hal.h"
#include <CodeCell.h> #include <CodeCell.h>
#include <ESP32Servo.h> #include <ESP32Servo.h>
#include <Adafruit_SSD1306.h>
#include <cmath> #include <cmath>
#define PIN_TIRETTE 5 #define PIN_TIRETTE 5
@ -16,7 +17,7 @@
#define DANCING_ACTION_DELTA_ANGLE 2 #define DANCING_ACTION_DELTA_ANGLE 2
#define GAIN_KD 50 #define GAIN_KD 100
#define ANGULAR_SPEED 10 // °/s #define ANGULAR_SPEED 10 // °/s
using std::abs; using std::abs;
@ -29,26 +30,23 @@ enum class Axes {
class Motor { class Motor {
public: public:
int init(int pin, int channel) int init(int pin)
{ {
m_pin = pin; m_pin = pin;
m_channel = channel;
pinMode(m_pin, OUTPUT); pinMode(m_pin, OUTPUT);
ledcAttachChannel(m_pin, 5000, 12, m_channel); analogWriteFrequency(m_pin, 5000);
ledcWriteChannel(m_channel, 0); analogWriteResolution(m_pin, 12);
//ledcSetup(m_channel, 5000, 12); // Channel, Frequency, Resolution
//ledcAttachPin(m_pin, m_channel); // Attach pin to channel analogWrite(m_pin, 0);
return 0; return 0;
} }
void setSpeed(int speed) void setSpeed(int speed)
{ {
if(speed > 4095) speed = 4095; analogWrite(m_pin, speed);
ledcWriteChannel(m_channel, speed);
} }
private: private:
@ -127,6 +125,8 @@ class IO {
float err_dir = dir - m_dir; float err_dir = dir - m_dir;
float angular_displacement = angular_speed * static_cast<float>(millis() / 1000 - prev_time / 1000); float angular_displacement = angular_speed * static_cast<float>(millis() / 1000 - prev_time / 1000);
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(abs(err_dir) < angular_displacement) if(abs(err_dir) < angular_displacement)
{ {
m_dir = dir; m_dir = dir;
@ -136,6 +136,8 @@ class IO {
m_dir += 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();
} }
@ -178,17 +180,14 @@ class IO {
return &m_screen; return &m_screen;
} }
Motor *getMotor(int motor) Motor m_motors[2];
{
return &(m_motors[motor]);
}
private: private:
// Init Motors // Init Motors
void m_initMotors() void m_initMotors()
{ {
m_motors[0].init(PIN_MOTOR1, 0); m_motors[0].init(PIN_MOTOR1);
m_motors[1].init(PIN_MOTOR2, 1); m_motors[1].init(PIN_MOTOR2);
} }
// Init Servo // Init Servo
@ -200,7 +199,6 @@ class IO {
m_servo.write(87); m_servo.write(87);
} }
// Init Screen
int m_initScreen() int m_initScreen()
{ {
if(!m_screen.begin(SSD1306_SWITCHCAPVCC, 0x3C)) if(!m_screen.begin(SSD1306_SWITCHCAPVCC, 0x3C))
@ -257,12 +255,12 @@ class IO {
if(m1_speed < 0) if(m1_speed < 0)
{ {
m1_speed = 0; m1_speed = 0;
//m2_speed = static_cast<int>(m_speed - 2 * correction); m2_speed = static_cast<int>(m_speed - 2 * correction);
} }
else if(m2_speed < 0) else if(m2_speed < 0)
{ {
m2_speed = 0; m2_speed = 0;
//m1_speed = static_cast<int>(m_speed + 2 * correction); m1_speed = static_cast<int>(m_speed + 2 * correction);
} }
m_motors[0].setSpeed(m1_speed); m_motors[0].setSpeed(m1_speed);
@ -279,7 +277,6 @@ class IO {
bool m_is_color_blue {false}; bool m_is_color_blue {false};
bool m_is_dancing {false}; bool m_is_dancing {false};
Motor m_motors[2];
Servo m_servo; Servo m_servo;
Adafruit_SSD1306 m_screen {128, 64, &Wire, -1}; Adafruit_SSD1306 m_screen {128, 64, &Wire, -1};