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Commit d7f73924 authored by Nathan Girard's avatar Nathan Girard
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Merge branch 'fonction_Sara_BSP' into 'master' 

fonction motors initialisation fixed

See merge request !4
parents 1cfd4a2b a77a79c8
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1 merge request!4fonction motors initialisation fixed
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Device/list_motor.c
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− 71
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...@@ -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;
} }
*/
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