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Modified values and some parts in the code

This commit is contained in:
Ulysse Cura 2025-05-26 20:30:04 +02:00
parent d17765aff8
commit 7d2c17a0fd
4 changed files with 13 additions and 4 deletions
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2
main controller code/CMakeLists.txt
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@ -23,9 +23,9 @@ add_executable(main_controller
src/gyro.c src/gyro.c
src/motion_control.c src/motion_control.c
src/i2c_master.c src/i2c_master.c
src/wifi_operator.c
src/udp_client.c src/udp_client.c
src/udp_payload.c src/udp_payload.c
src/wifi_operator.c
) )
target_include_directories(main_controller PRIVATE target_include_directories(main_controller PRIVATE

2
main controller code/src/include/i2c_master.h
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@ -6,7 +6,7 @@
#define I2C_MASTER_SDA_PIN 4 #define I2C_MASTER_SDA_PIN 4
#define I2C_MASTER_SCL_PIN 5 #define I2C_MASTER_SCL_PIN 5
#define I2C_MASTER_INSTANCE i2c0 #define I2C_MASTER_INSTANCE i2c0
#define I2C_MASTER_BAUD_RATE 100 * 1000 #define I2C_MASTER_BAUD_RATE 300 * 1000
// Init master i2c // Init master i2c
void i2c_master_init(void); void i2c_master_init(void);

7
main controller code/src/include/motion_control.h
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@ -2,17 +2,20 @@
#define MOTION_CONTROL_H #define MOTION_CONTROL_H
#include <stdint.h> #include <stdint.h>
#include "motors.h"
typedef struct motion_control_data_t { typedef struct motion_control_data_t {
int16_t angle; int16_t angle;
int8_t x_axis_speed; int8_t x_axis_speed;
int8_t y_axis_speed; int8_t y_axis_speed;
uint8_t servo_motors_pos[NB_SERVO_MOTORS];
} motion_control_data_t; } motion_control_data_t;
// Init values for motion control // Init values for motion control
void init_motion_control(void); void init_motion_control(void);
// Update motion control buffer from motion control data and gyro data
// Update motion control buffer from udp buffer and gyro data
void i2c_update_motion_control(void); void i2c_update_motion_control(void);
// Update servo motors from motion control data
void i2c_update_servo_motors(void);
#endif // MOTION_CONTROL_H #endif // MOTION_CONTROL_H

6
main controller code/src/motion_control.c
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@ -56,3 +56,9 @@ void i2c_update_motion_control(void)
i2c_set_motor(MOTOR3, motor3_speed); i2c_set_motor(MOTOR3, motor3_speed);
i2c_set_motor(MOTOR4, motor4_speed); i2c_set_motor(MOTOR4, motor4_speed);
} }
void i2c_update_servo_motors(void)
{
for(servo_motors_enum_t actual_servo_motor = SERVO_MOTOR1; actual_servo_motor < NB_SERVO_MOTORS; actual_servo_motor++)
i2c_set_servo_motor(actual_servo_motor, robot.motion_control_data.servo_motors_pos[actual_servo_motor]);
}