From e8f22150c5f7fa0167be708fd51b172a4a206466 Mon Sep 17 00:00:00 2001
From: Baptiste Toussaint <baptiste.toussaint@polymtl.ca>
Date: Sun, 23 Feb 2020 23:16:24 -0500
Subject: [PATCH] =?UTF-8?q?Ajout=20parametres=20moteurs=20&=20r=C3=A9parat?=
=?UTF-8?q?ions?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
---
Standard_robot/BSP | 2 +-
.../MDK-ARM/Standard_robot.uvguix.Baptiste | 1941 ++++++++++++++
Standard_robot/MDK-ARM/Standard_robot.uvoptx | 74 +-
Standard_robot/MDK-ARM/Standard_robot.uvprojx | 5 +
.../MDK-ARM/Standard_robot/Standard_robot.hex | 2279 +++++++++--------
Standard_robot/Src/main.c | 40 +-
6 files changed, 3180 insertions(+), 1161 deletions(-)
create mode 100644 Standard_robot/MDK-ARM/Standard_robot.uvguix.Baptiste
diff --git a/Standard_robot/BSP b/Standard_robot/BSP
index 2b2ac1e..f8edc81 160000
--- a/Standard_robot/BSP
+++ b/Standard_robot/BSP
@@ -1 +1 @@
-Subproject commit 2b2ac1e71a80de9337fe6ed08e9923fc4eb029db
+Subproject commit f8edc8107d6a0f1d79b913f70e483e52e8041d11
diff --git a/Standard_robot/MDK-ARM/Standard_robot.uvguix.Baptiste b/Standard_robot/MDK-ARM/Standard_robot.uvguix.Baptiste
new file mode 100644
index 0000000..c7a7c60
--- /dev/null
+++ b/Standard_robot/MDK-ARM/Standard_robot.uvguix.Baptiste
@@ -0,0 +1,1941 @@
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diff --git a/Standard_robot/MDK-ARM/Standard_robot.uvprojx b/Standard_robot/MDK-ARM/Standard_robot.uvprojx
index 508c54e..d17cb0a 100644
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diff --git a/Standard_robot/Src/main.c b/Standard_robot/Src/main.c
index fe985f0..4382534 100644
--- a/Standard_robot/Src/main.c
+++ b/Standard_robot/Src/main.c
@@ -28,6 +28,7 @@
#include "usart.h"
#include "gpio.h"
+
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
@@ -37,10 +38,12 @@
#include "bsp_led.h"
#include "bsp_can.h"
-#include "motor.h"
+
#include "pid.h"
+#include "motor.h"
#include "oled.h"
#include "string.h"
+#include "list_motor.h"
/* USER CODE END Includes */
@@ -64,9 +67,11 @@
/* USER CODE BEGIN PV */
int16_t led_cnt;
float target_speed;
-motor_t gm6020;
+//motor_t gm6020;
motor_t m2006;
+
+
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
@@ -132,13 +137,10 @@ int main(void)
can_user_init(&hcan1); // config can filter, start can
-
+ motors_init();
/* USER CODE END 2 */
- gm6020.type = GM6020;
- gm6020.can_info.can_id = 0;
- gm6020.can_info.tx_id = 1;
- gm6020.can_info.rx_id = 0x205;
+
/* Infinite loop */
/* USER CODE BEGIN WHILE */
@@ -152,17 +154,21 @@ int main(void)
/* scan is key be pressd down to change target speed and pwm pulse */
if (key_scan())
{
- gm6020.voltage += 10000;
- if (gm6020.voltage > 30000)
+ gm6020.target += 2000;
+ if (gm6020.target > 7000)
{
- gm6020.voltage = 0;
+ gm6020.target = 0;
+
}
}
+
get_motor_data(&gm6020);
+
+ oled_clear(Pen_Clear);
oled_printf(1, 1, "GM6020");
- oled_printf(2, 1," Voltage: %f", gm6020.info.GM6020_info.angle);
- oled_printf(3, 1," Angle: %f", gm6020.info.GM6020_info.angle);
- oled_printf(4, 1," Speed: %f", 500);
+ oled_printf(2, 1," Target: %f", gm6020.target);
+ oled_printf(3, 1," Speed: %i", gm6020.info.GM6020_info.speed);
+ oled_printf(4, 1," Angle: %i", gm6020.info.GM6020_info.angle);
/* led blink */
led_cnt ++;
@@ -171,9 +177,13 @@ int main(void)
led_cnt = 0;
LED_RED_TOGGLE(); //blink cycle 500ms
}
-
+ for (uint8_t i = 0; i < 4; i++)
+ {
+ set_motor_position(&gm6020);
+ }
+
set_motor_voltage(1, &gm6020, NULL, NULL, NULL); //0x1ff
- set_motor_voltage(0, &m2006, NULL, NULL, NULL); //0x200
+ //set_motor_voltage(0, &m2006, NULL, NULL, NULL); //0x200
oled_refresh_gram();
HAL_Delay(10);
--
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