From 2103417e66c65f09ea85f82d96f5f5a2a6f3bd64 Mon Sep 17 00:00:00 2001
From: Sarra Ayed <sarrah.ayed@gmail.com>
Date: Tue, 3 Mar 2020 15:15:16 -0500
Subject: [PATCH] ajout du moteur de la tourelle
---
Device/list_motor.c | 82 ++++++++++++++++++++++++++-------------------
Device/list_motor.h | 3 +-
2 files changed, 49 insertions(+), 36 deletions(-)
diff --git a/Device/list_motor.c b/Device/list_motor.c
index b18aa65..337e5a5 100644
--- a/Device/list_motor.c
+++ b/Device/list_motor.c
@@ -3,6 +3,10 @@
#include "list_motor.h"
motor_t gm6020;
+
+motor_t gm6020_up;
+motor_t gm6020_down;
+
motor_t m3508_frontleft;
motor_t m3508_frontright;
motor_t m3508_backleft;
@@ -22,40 +26,48 @@ const pid_struct_t GM6020_pid_pos = { //A VERIFIER
0, 12, 3, 5, 10000, 10000
};
-void motors_init(void){
- gm6020.type = GM6020;
- gm6020.can_info.can_id = 0;
- gm6020.can_info.tx_id = 1;
- gm6020.can_info.rx_id = 0x205;
- gm6020.pid_pos = GM6020_pid_pos;
- gm6020.pid_speed = GM6020_pid_speed;
-
- m3508_frontleft.type = M3508;
- m3508_frontleft.can_info.can_id = 0;
- m3508_frontleft.can_info.tx_id = 0;
- m3508_frontleft.can_info.rx_id = 0x201;
- m3508_frontleft.pid_pos = M3508_pid_pos;
- m3508_frontleft.pid_speed = M3508_pid_speed;
-
- m3508_frontright.type = M3508;
- m3508_frontright.can_info.can_id = 0;
- m3508_frontright.can_info.tx_id = 0;
- m3508_frontright.can_info.rx_id = 0x202;
- m3508_frontright.pid_pos = M3508_pid_pos;
- m3508_frontright.pid_speed = M3508_pid_speed;
-
- m3508_backleft.type = M3508;
- m3508_backleft.can_info.can_id = 0;
- m3508_backleft.can_info.tx_id = 0;
- m3508_backleft.can_info.rx_id = 0x203;
- m3508_backleft.pid_pos = M3508_pid_pos;
- m3508_backleft.pid_speed = M3508_pid_speed;
-
- m3508_backright.type = M3508;
- m3508_backright.can_info.can_id = 0;
- m3508_backright.can_info.tx_id = 0;
- m3508_backright.can_info.rx_id = 0x204;
- m3508_backright.pid_pos = M3508_pid_pos;
- m3508_backright.pid_speed = M3508_pid_speed;
+
+// void motors_init (motor_t motor, int motor_tx_id, int motor_rx_id, enum motors mot){
+// switch ()
+
+// motor.type = GM6020;
+// motor.can_info.can_id = 0;
+// motor.can_info.tx_id = 1;
+// motor.can_info.rx_id = 0x205;
+// motor.pid_pos = GM6020_pid_pos;
+// motor.pid_speed = GM6020_pid_speed;
+// }
+//extern motor_t gm6020_down;
+//extern motor_t gm6020_up;
+
+
+void motors_init(motor_t motor, int motor_rx_id, enum motors mtr){
+ switch (mtr){
+ case GM6020 :
+ motor.type = GM6020 ;
+ motor.pid_pos = GM6020_pid_pos;
+ motor.pid_speed = GM6020_pid_speed;
+ motor.can_info.tx_id = 1;
+ break;
+ case M3508 :
+ motor.type = M3508 ;
+ motor.pid_pos = M3508_pid_pos;
+ motor.pid_speed = M3508_pid_speed;
+ motor.can_info.tx_id = 0;
+ break;
+ default :
+ break;
+ }
+ motor.can_info.can_id = 0;
+ motor.can_info.rx_id = motor_rx_id ;
+}
+
+void motors_all_init(void){
+ motors_init(gm6020_down, 0x206, GM6020);
+ motors_init(gm6020_up, 0x205, GM6020);
+ motors_init(m3508_frontleft, 0x204, M3508);
+ motors_init(m3508_frontright, 0x203, M3508);
+ motors_init(m3508_backleft, 0x202, M3508);
+ motors_init(m3508_backright, 0x201, M3508);
}
diff --git a/Device/list_motor.h b/Device/list_motor.h
index 2090545..2ad2340 100644
--- a/Device/list_motor.h
+++ b/Device/list_motor.h
@@ -18,4 +18,5 @@ extern const pid_struct_t M3508_pid_pos;
extern const pid_struct_t GM6020_pid_speed;
extern const pid_struct_t GM6020_pid_pos;
-void motors_init(void);
+void motors_all_init(void);
+void motors_init(motor_t motor, int motor_rx_id, enum motors mtr);
--
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