From 1d41f9ae5e7bb4d0f744837a69faee21fcc367c0 Mon Sep 17 00:00:00 2001
From: Nathan Girard <nathan.girard@polymtl.ca>
Date: Tue, 3 Mar 2020 13:39:48 -0500
Subject: [PATCH] ajout de la souris et clavier pour la manette
---
.../MDK-ARM/Standard_robot.uvguix.natha | 39 +-
Standard_robot/MDK-ARM/Standard_robot.uvoptx | 2 +-
.../MDK-ARM/Standard_robot/Standard_robot.hex | 2446 ++++++++---------
Standard_robot/Src/main.c | 34 +-
4 files changed, 1264 insertions(+), 1257 deletions(-)
diff --git a/Standard_robot/MDK-ARM/Standard_robot.uvguix.natha b/Standard_robot/MDK-ARM/Standard_robot.uvguix.natha
index e1a0f13..bb3a40c 100644
--- a/Standard_robot/MDK-ARM/Standard_robot.uvguix.natha
+++ b/Standard_robot/MDK-ARM/Standard_robot.uvguix.natha
@@ -110,8 +110,8 @@
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@@ -450,7 +450,7 @@
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@@ -470,7 +470,7 @@
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diff --git a/Standard_robot/Src/main.c b/Standard_robot/Src/main.c
index e4a1022..cfd0bc4 100644
--- a/Standard_robot/Src/main.c
+++ b/Standard_robot/Src/main.c
@@ -70,7 +70,7 @@ int16_t led_cnt;
float target_speed;
motor_t m2006;
-extern rc_info_t rc;
+extern RC_ctrl_t rc_ctrl;
//char buf[200];
//uint16_t pwm_pulse = 1080; // default pwm pulse width:1080~1920
@@ -186,10 +186,10 @@ int main(void)
// PWM_SetAllDuty(&htim1, 0, 0, 0, 0);
}
- m3508_frontleft.target = 4*rc.ch1 + 4*rc.ch2;
- m3508_frontright.target = -(4*rc.ch1 - 4*rc.ch2);
- m3508_backleft.target = -(4*rc.ch1 + 4*rc.ch2);
- m3508_backright.target = 4*rc.ch1 - 4*rc.ch2;
+ m3508_frontleft.target = 4*rc_ctrl.rc.ch[0] + 4*rc_ctrl.rc.ch[1];
+ m3508_frontright.target = -(4*rc_ctrl.rc.ch[0] - 4*rc_ctrl.rc.ch[1]);
+ m3508_backleft.target = -(4*rc_ctrl.rc.ch[0] + 4*rc_ctrl.rc.ch[1]);
+ m3508_backright.target = 4*rc_ctrl.rc.ch[0] - 4*rc_ctrl.rc.ch[1];
get_motor_data(&m3508_frontleft);
get_motor_data(&m3508_frontright);
@@ -199,20 +199,20 @@ int main(void)
get_motor_data(&gm6020);
/*Affichage de donnees sur le OLED*/
- oled_clear(Pen_Clear);
- oled_printf(1, 1, "GM6020");
- oled_printf(2, 1," Target: %f", gm6020.target);
- oled_printf(3, 1," Speed: %i", gm6020.info.M3508_info.speed);
- oled_printf(4, 1," Angle: %i", gm6020.info.M3508_info.angle);
- oled_refresh_gram();
-
// oled_clear(Pen_Clear);
-// oled_printf(0, 1, "Manette");
-// oled_printf(1, 1," CH1: %i", rc.ch1);
-// oled_printf(2, 1," CH2: %i", rc.ch2);
-// oled_printf(3, 1," CH3: %i", rc.ch3);
-// oled_printf(4, 1," CH4: %i", rc.ch4);
+// oled_printf(1, 1, "GM6020");
+// oled_printf(2, 1," Target: %f", gm6020.target);
+// oled_printf(3, 1," Speed: %i", gm6020.info.M3508_info.speed);
+// oled_printf(4, 1," Angle: %i", gm6020.info.M3508_info.angle);
// oled_refresh_gram();
+
+ oled_clear(Pen_Clear);
+ oled_printf(0, 1, "Manette");
+ oled_printf(1, 1," CH1: %i", rc_ctrl.rc.ch[0]);
+ oled_printf(2, 1," CH2: %i", rc_ctrl.rc.ch[1]);
+ oled_printf(3, 1," CH3: %i", rc_ctrl.rc.ch[2]);
+ oled_printf(4, 1," CH4: %i", rc_ctrl.rc.ch[3]);
+ oled_refresh_gram();
/* led blink */
led_cnt ++;
--
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