Skip to content
Snippets Groups Projects
Commit a77a79c8 authored by Nathan Girard's avatar Nathan Girard
Browse files

fonction motors initialisation fixed

parent 1cfd4a2b
No related branches found
No related tags found
1 merge request!4fonction motors initialisation fixed
Hide whitespace changes
Inline Side-by-side
Showing
with 73 additions and 71 deletions
Device/list_motor.c
+ 73
− 71
View file @ a77a79c8
...@@ -2,7 +2,6 @@ ...@@ -2,7 +2,6 @@
#include "oled.h" #include "oled.h"
#include "list_motor.h" #include "list_motor.h"
motor_t gm6020;
motor_t gm6020_up; motor_t gm6020_up;
motor_t gm6020_down; motor_t gm6020_down;
motor_t m3508_frontleft; motor_t m3508_frontleft;
...@@ -34,72 +33,67 @@ const pid_struct_t M2006_pid_pos = { //A FAIRE ...@@ -34,72 +33,67 @@ const pid_struct_t M2006_pid_pos = { //A FAIRE
0, 12, 3, 5, 10000, 10000 0, 12, 3, 5, 10000, 10000
}; };
void motors_all_init(void){ //void motors_all_init(void){
/*gm6020.type = GM6020; //
gm6020.can_info.can_id = 0; // m3508_frontleft.type = M3508;
gm6020.can_info.tx_id = 1; // m3508_frontleft.can_info.can_id = 0;
gm6020.can_info.rx_id = 0x205; // m3508_frontleft.can_info.tx_id = 0;
gm6020.pid_pos = GM6020_pid_pos; // m3508_frontleft.can_info.rx_id = 0x201;
gm6020.pid_speed = GM6020_pid_speed;*/ // m3508_frontleft.pid_pos = M3508_pid_pos;
// m3508_frontleft.pid_speed = M3508_pid_speed;
m3508_frontleft.type = M3508; //
m3508_frontleft.can_info.can_id = 0; // m3508_frontright.type = M3508;
m3508_frontleft.can_info.tx_id = 0; // m3508_frontright.can_info.can_id = 0;
m3508_frontleft.can_info.rx_id = 0x201; // m3508_frontright.can_info.tx_id = 0;
m3508_frontleft.pid_pos = M3508_pid_pos; // m3508_frontright.can_info.rx_id = 0x202;
m3508_frontleft.pid_speed = M3508_pid_speed; // m3508_frontright.pid_pos = M3508_pid_pos;
// m3508_frontright.pid_speed = M3508_pid_speed;
m3508_frontright.type = M3508; //
m3508_frontright.can_info.can_id = 0; // m3508_backleft.type = M3508;
m3508_frontright.can_info.tx_id = 0; // m3508_backleft.can_info.can_id = 0;
m3508_frontright.can_info.rx_id = 0x202; // m3508_backleft.can_info.tx_id = 0;
m3508_frontright.pid_pos = M3508_pid_pos; // m3508_backleft.can_info.rx_id = 0x203;
m3508_frontright.pid_speed = M3508_pid_speed; // m3508_backleft.pid_pos = M3508_pid_pos;
// m3508_backleft.pid_speed = M3508_pid_speed;
m3508_backleft.type = M3508; //
m3508_backleft.can_info.can_id = 0; // m3508_backright.type = M3508;
m3508_backleft.can_info.tx_id = 0; // m3508_backright.can_info.can_id = 0;
m3508_backleft.can_info.rx_id = 0x203; // m3508_backright.can_info.tx_id = 0;
m3508_backleft.pid_pos = M3508_pid_pos; // m3508_backright.can_info.rx_id = 0x204;
m3508_backleft.pid_speed = M3508_pid_speed; // m3508_backright.pid_pos = M3508_pid_pos;
// m3508_backright.pid_speed = M3508_pid_speed;
m3508_backright.type = M3508; //
m3508_backright.can_info.can_id = 0; // m2006.type = M2006;
m3508_backright.can_info.tx_id = 0; // m2006.can_info.can_id = 0;
m3508_backright.can_info.rx_id = 0x204; // m2006.can_info.tx_id = 1;
m3508_backright.pid_pos = M3508_pid_pos; // m2006.can_info.rx_id = 0x207;
m3508_backright.pid_speed = M3508_pid_speed; // m2006.pid_pos = M2006_pid_pos;
// m2006.pid_speed = M2006_pid_speed;
m2006.type = M2006;
m2006.can_info.can_id = 0; // gm6020_up.type = GM6020;
m2006.can_info.tx_id = 1; // gm6020_up.can_info.can_id = 0;
m2006.can_info.rx_id = 0x207; // gm6020_up.can_info.tx_id = 1;
m2006.pid_pos = M2006_pid_pos; // gm6020_up.can_info.rx_id = 0x205;
m2006.pid_speed = M2006_pid_speed; // gm6020_up.pid_pos = GM6020_pid_pos;
// gm6020_up.pid_speed = GM6020_pid_speed;
// gm6020_up.MIN_POSITION = 5565;
// gm6020_up.MAX_POSITION = 6675;
//
// gm6020_down.type = GM6020;
// gm6020_down.can_info.can_id = 0;
// gm6020_down.can_info.tx_id = 1;
// gm6020_down.can_info.rx_id = 0x206;
// gm6020_down.pid_pos = GM6020_pid_pos;
// gm6020_down.pid_speed = GM6020_pid_speed;
// gm6020_down.MIN_POSITION = 2519;
// gm6020_down.MAX_POSITION = 7015;
//
//
// gm6020_down.target = 4750;
// gm6020_up.target = 6200;
//}
gm6020_up.type = GM6020;
gm6020_up.can_info.can_id = 0;
gm6020_up.can_info.tx_id = 1;
gm6020_up.can_info.rx_id = 0x205;
gm6020_up.pid_pos = GM6020_pid_pos;
gm6020_up.pid_speed = GM6020_pid_speed;
gm6020_up.MIN_POSITION = 5565;
gm6020_up.MAX_POSITION = 6675;
gm6020_down.type = GM6020;
gm6020_down.can_info.can_id = 0;
gm6020_down.can_info.tx_id = 1;
gm6020_down.can_info.rx_id = 0x206;
gm6020_down.pid_pos = GM6020_pid_pos;
gm6020_down.pid_speed = GM6020_pid_speed;
gm6020_down.MIN_POSITION = 2519;
gm6020_down.MAX_POSITION = 7015;
gm6020_down.target = 4750;
gm6020_up.target = 6200;
}
/*
void motors_init(motor_t *motor, int16_t motor_rx_id, enum motors mtr){ void motors_init(motor_t *motor, int16_t motor_rx_id, enum motors mtr){
switch (mtr){ switch (mtr){
...@@ -128,14 +122,22 @@ void motors_init(motor_t *motor, int16_t motor_rx_id, enum motors mtr){ ...@@ -128,14 +122,22 @@ void motors_init(motor_t *motor, int16_t motor_rx_id, enum motors mtr){
motor->can_info.rx_id = motor_rx_id ; motor->can_info.rx_id = motor_rx_id ;
} }
void motors_all_init(void){ void motors_all_init(void){
motors_init(&m2006, 0x207, M2006); motors_init(&m2006, 0x207, M2006);
motors_init(&gm6020_down, 0x206, GM6020); motors_init(&gm6020_down, 0x206, GM6020);
motors_init(&gm6020_up, 0x205, GM6020); motors_init(&gm6020_up, 0x205, GM6020);
motors_init(&m3508_frontleft, 0x204, M3508); motors_init(&m3508_frontleft, 0x201, M3508);
motors_init(&m3508_frontright, 0x203, M3508); motors_init(&m3508_frontright, 0x202, M3508);
motors_init(&m3508_backleft, 0x202, M3508); motors_init(&m3508_backleft, 0x203, M3508);
motors_init(&m3508_backright, 0x201, M3508); motors_init(&m3508_backright, 0x204, M3508);
gm6020_up.MIN_POSITION = 5565;
gm6020_up.MAX_POSITION = 6675;
gm6020_down.MIN_POSITION = 2519;
gm6020_down.MAX_POSITION = 7015;
gm6020_down.target = 4750;
gm6020_up.target = 6200;
} }
*/
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment