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[NOT WORKING] I think I found thomething...

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Adrien de Joux 2024-04-19 20:51:05 +02:00
parent 8294b9c0d1
commit ea3a44c024
3 changed files with 15 additions and 39 deletions
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52
jacobot/arduino/Car.cpp
View File

@ -37,52 +37,26 @@ void Car::turn(float angle, double setPoint) { //angle : degre
const float m1_mmp = pi*(*m_m1).m_radius*2/(*m_m1).m_ratio; // mm/pulse for m1 const float m1_mmp = pi*(*m_m1).m_radius*2/(*m_m1).m_ratio; // mm/pulse for m1
const float m2_mmp = pi*(*m_m2).m_radius*2/(*m_m2).m_ratio; // mm/pulse for m2 const float m2_mmp = pi*(*m_m2).m_radius*2/(*m_m2).m_ratio; // mm/pulse for m2
double m1_duration = 0; double m1_duration = 0;
double m2_duration = 0;
m_m1->setPoint = setPoint; m_m1->setPoint = setPoint;
m_m2->setPoint = setPoint/m2_mmp*m1_mmp; m_m2->setPoint = setPoint/m2_mmp*m1_mmp;
boolean m1_tmp = false;
boolean m2_tmp = false;
if(angle>0) { if(angle>0) {
while(!m1_tmp && !m2_tmp) { while(m1_duration<distance/m1_mmp) {
if(m1_duration<distance/m1_mmp) { m1_duration+=m_m1->duration;
// Serial.print("M1 cycle "); m_m1->compute(0);
// Serial.print(m1_duration); m_m1->advance();
// Serial.print(" "); m_m2->compute(0);
// Serial.println(m_m1->duration); m_m2->back();
m1_duration+=m_m1->duration;
m_m1->compute(0);
m_m1->advance();
m_m1->duration = 0;
} else {m1_tmp = true; m_m1->stop();}
if(m2_duration<distance/m2_mmp) {
// Serial.print("M2 cycle ");
// Serial.print(m2_duration);
// Serial.print(" ");
// Serial.println(m_m2->duration);
m2_duration-=m_m2->duration;
m_m2->compute(0);
m_m2->back();
m_m2->duration = 0;
} else {m2_tmp = true; m_m2->stop();}
} }
} else if(angle<0) { } else if(angle<0) {
while(!m1_tmp && !m2_tmp) { while(m1_duration<distance/m1_mmp) {
if(m1_duration<distance/m1_mmp) { m1_duration+=m_m1->duration;
m1_duration-=m_m1->duration; m_m1->compute(0);
m_m1->compute(0); m_m1->back();
m_m1->back(); m_m2->compute(0);
m_m1->duration = 0; m_m2->advance();
} else {m1_tmp = true; m_m1->stop();}
if(m2_duration<distance/m2_mmp) {
m2_duration+=m_m2->duration;
m_m2->compute(0);
m_m2->advance();
m_m2->duration = 0;
} else {m2_tmp = true; m_m2->stop();}
} }
} }
Serial.println(m1_tmp);
Serial.println("End");
m_m1->stop(); m_m1->stop();
m_m2->stop(); m_m2->stop();
return;
} }

1
jacobot/arduino/MotorEncoder.cpp
View File

@ -56,6 +56,7 @@ void MotorEncoder::back() {
} }
void MotorEncoder::stop() { void MotorEncoder::stop() {
digitalWrite(m_M_left, LOW);
analogWrite(m_E_left, 0); analogWrite(m_E_left, 0);
} }

1
jacobot/arduino/main.cpp
View File

@ -30,4 +30,5 @@ void setup() {
} }
void loop() { void loop() {
Serial.println(m1.duration);
} }