ulysse
/
main_robot_2025-2026
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Fonctionne avec l'USB déconnecté et l'esclave en mode minimal + moteur

This commit is contained in:
Samuel 2026-02-25 21:38:32 +01:00
parent 9966f4745c
commit 7224acd615
1 changed files with 16 additions and 13 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

27
program/main_controller/src/motion_control.c
View File

@ -74,26 +74,29 @@ void motion_control_update(void)
if(elapsed_time_ms >= MSG_DELAY_MS)
{
// Send motors speed via I2C
union {
struct {
uint8_t motor1_speed;
uint8_t motor2_speed;
} hard;
uint8_t data[5];
uint8_t raw[MSG_LEN];
} data;
data[0] = 0x00; /// registre
data.hard.motor1_speed = (uint8_t)abs((int)motor1_speed);
data.hard.motor2_speed = (uint8_t)abs((int)motor2_speed);
//data.motor1_speed = (uint8_t)abs((int)motor1_speed);
//data.motor2_speed = (uint8_t)abs((int)motor2_speed);
data.hard.motor1_speed = (uint8_t)abs((int)robot.udp_client.data.hard.inputs.joystick_x);
data.hard.motor2_speed = (uint8_t)abs((int)robot.udp_client.data.hard.inputs.joystick_x);
//data.motor1_speed = (uint8_t)abs((int)robot.udp_client.data.hard.inputs.joystick_x);
//data.motor2_speed = (uint8_t)abs((int)robot.udp_client.data.hard.inputs.joystick_x);
data[1] = (uint8_t)abs((int)robot.udp_client.data.hard.inputs.joystick_x);
data[2] = (uint8_t)abs((int)robot.udp_client.data.hard.inputs.joystick_x);
motor_set_dir(MOTOR1, (int16_t)robot.udp_client.data.hard.inputs.joystick_x);
motor_set_dir(MOTOR2, (int16_t)robot.udp_client.data.hard.inputs.joystick_x);
uint8_t reg = 0x00;
if(i2c_write_blocking(I2C_MASTER_INSTANCE, I2C_MOTION_CONTROLLER_ADDRESS, data, 3, false) == PICO_ERROR_GENERIC)
{
puts("Motion controller not reachable");
}
/*
if(i2c_write_blocking(I2C_MASTER_INSTANCE, I2C_MOTION_CONTROLLER_ADDRESS, &reg, 1, true) == PICO_ERROR_GENERIC)
{
puts("Motion controller not reachable");
@ -102,6 +105,6 @@ void motion_control_update(void)
if(i2c_write_blocking(I2C_MASTER_INSTANCE, I2C_MOTION_CONTROLLER_ADDRESS, data.raw, MSG_LEN, false) == PICO_ERROR_GENERIC)
{
puts("Motion controller not reachable");
}
}*/
}
}