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[Krobot-commits] [SCM] krobot branch, master, updated. 6795c8d0a9e01b24e1762dd433acc9c48591d393
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From: Olivier B. <Ba...@us...> - 2010-03-13 17:29:54
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- Log -----------------------------------------------------------------
commit 6795c8d0a9e01b24e1762dd433acc9c48591d393
Author: Olivier BICHLER <oli...@gm...>
Date: Sat Mar 13 18:29:08 2010 +0100
Pack de modifs sur Motor Controller :
- Correction d'un bug dans resetInterrupt (on resettait toutes les interruptions sauf celle désirée !)
- Ajout de plusieurs variables d'état sur la trajectoire, qui remplacent la variable traj_engaged du fichier main.c (cela devrait diminuer le risque d'entrer dans un état incohérent suite à un problème)
- Ajout de la gestion de breakpoints, avec la fonction setBreakpoint(), avec possibilité de charger une trajectoire et de l'exécuter au moment du breakpoint
- Ajout des fonctions getDesiredPosition() et getDesiredVelocity()
- La fonction getRelPos() remplace les fonctions getRelPosRight() et getRelPosLeft() (pour deux fonctions alors que toutes les autres ont un paramètre axis ?) et tient compte des coefficients relatifs à la connexion des moteurs
- Ajout d'une fonction isTrajEngaged() pour connaitre l'état de la trajectoire
- Corrections mineures dans la documentation : arguments annoncées sur 16 bits alors qu'ils sont sur 32 bits en réalité + ajout des valeurs de retour pour les fonctions get...()
- Utilisation de la fonction getRealPosition() dans la fonction start() au lieu des commandes de bas niveau
- La fonction checkLM629Interrupt() ne lit qu'une seule fois l'état de chaque LM pour de meilleures performances
-----------------------------------------------------------------------
Changes:
diff --git a/USB_Module/Motor_Controller/Firmware/lm629.c b/USB_Module/Motor_Controller/Firmware/lm629.c
index 9f52c7c..800bf09 100644
--- a/USB_Module/Motor_Controller/Firmware/lm629.c
+++ b/USB_Module/Motor_Controller/Firmware/lm629.c
@@ -8,23 +8,56 @@
#include "lm629.h"
-volatile DWORD_VAL posRight = 0;
-volatile DWORD_VAL posLeft = 0;
+volatile BOOL trajLoaded = 0;
+volatile BOOL trajEngaged = 0;
+volatile BOOL trajCompleted = 0;
+
+volatile DWORD posRight = 0;
+volatile DWORD posLeft = 0;
void checkLM629Interrupt(void) {
// Ne jamais oublier de resetter l'interruption correspondante sous peine de flooder l'USB dans le cas de la mode LM_POLLING
// et de ne pas dcter les interruptions suivantes dans le cas de la mode LM_INTERRUPT !
// Toutes les interruptions non masqu doivent e traitici dans le cas de la mode LM_INTERRUPT.
+ BYTE statusRight = readStatus(MOTOR_RIGHT);
+ BYTE statusLeft = readStatus(MOTOR_LEFT);
- if (readStatusBit(MOTOR_RIGHT, LM_COMMAND_ERROR) || readStatusBit(MOTOR_LEFT, LM_COMMAND_ERROR)) {
+ // Bit 1: Command-Error Interrupt
+ if ((statusRight & LM_COMMAND_ERROR) || (statusLeft & LM_COMMAND_ERROR)) {
error(ERR_LM_COMMAND_ERROR);
resetInterrupt(MOTOR_BOTH, LM_COMMAND_ERROR);
}
- if (readStatusBit(MOTOR_RIGHT, LM_POSITION_ERROR) || readStatusBit(MOTOR_LEFT, LM_POSITION_ERROR)) {
+ // Bit 2: Trajectory-Complete Interrupt
+ if ((statusRight & LM_TRAJECTORY_COMPLETE) && (statusLeft & LM_TRAJECTORY_COMPLETE)) {
+ trajCompleted = 1;
+ resetInterrupt(MOTOR_BOTH, LM_TRAJECTORY_COMPLETE);
+ }
+
+ // Bit 3: Index-Pulse Interrupt -- Not implemented
+
+ // Bit 4: Wrap-Around Interrupt -- Not implemented
+
+ // Bit 5: Position-Error Interrupt
+ if ((statusRight & LM_POSITION_ERROR) || (statusLeft & LM_POSITION_ERROR)) {
error(ERR_LM_POSITION_ERROR);
resetInterrupt(MOTOR_BOTH, LM_POSITION_ERROR);
}
+
+ // Bit 6: Breakpoint Interrupt
+ if (statusRight & LM_BREAKPOINT) {
+ if (trajLoaded)
+ start(MOTOR_RIGHT);
+
+ resetInterrupt(MOTOR_RIGHT, LM_BREAKPOINT);
+ }
+
+ if (statusLeft & LM_BREAKPOINT) {
+ if (trajLoaded)
+ start(MOTOR_LEFT);
+
+ resetInterrupt(MOTOR_LEFT, LM_BREAKPOINT);
+ }
}
/**
@@ -330,10 +363,11 @@ BOOL readStatusBit(char axis, BYTE type) {
* #MOTOR_RIGHT le moteur de droite uniquement @n
* #MOTOR_LEFT le moteur de gauche uniquement @n
* #MOTOR_BOTH les 2 moteurs
+ * @param type type d'interruption esetter
*/
void resetInterrupt(char axis, WORD type) {
writeCommand(axis, LM_CMD_RSTI);
- writeDataWord(axis, type);
+ writeDataWord(axis, ~type);
}
/**
@@ -387,7 +421,7 @@ initLM_RESET:
writeCommand(axis, LM_CMD_MSKI);
#if defined(LM_INTERRUPT)
- writeDataWord(axis, LM_COMMAND_ERROR | LM_POSITION_ERROR);
+ writeDataWord(axis, LM_COMMAND_ERROR | LM_TRAJECTORY_COMPLETE | LM_POSITION_ERROR | LM_BREAKPOINT);
#else
writeDataWord(axis, 0);
#endif
@@ -415,6 +449,10 @@ initLM_RESET:
// Srit writeCommand(axis, LM_CMD_LPES);
writeDataWord(axis, LM_PES_LIMIT);
+
+ trajLoaded = 0;
+ trajEngaged = 0;
+ trajCompleted = 0;
}
/**
@@ -469,9 +507,9 @@ BOOL initLMs(void) {
* #MOTOR_LEFT le moteur de gauche uniquement @n
* #MOTOR_BOTH les 2 moteurs
*
- * @param pos position tteindre, sur 16 bits
- * @param vel vitesse max., sur 16 bits
- * @param acc accration, sur 16 bits @n
+ * @param pos position tteindre, sur 32 bits
+ * @param vel vitesse max., sur 32 bits
+ * @param acc accration, sur 32 bits @n
* /!\ uniquement si l'on part d'une position 'arr
* l'accration ne peut pas e changen court de trajectoire
*/
@@ -511,6 +549,8 @@ void newPosition(char axis, DWORD pos, DWORD vel, DWORD acc) {
writeDataWord(MOTOR_RIGHT, posData.word.LW);
}
}
+
+ trajLoaded = 1;
}
/**
@@ -521,8 +561,8 @@ void newPosition(char axis, DWORD pos, DWORD vel, DWORD acc) {
* #MOTOR_LEFT le moteur de gauche uniquement @n
* #MOTOR_BOTH les 2 moteurs
*
- * @param vel vitesse, sur 16 bits
- * @param acc accration, sur 16 bits @n
+ * @param vel vitesse, sur 32 bits
+ * @param acc accration, sur 32 bits @n
* /!\ uniquement si l'on part d'une position 'arr
* l'accration ne peut pas e changen court de trajectoire
*
@@ -569,6 +609,8 @@ void newVelocity(char axis, DWORD vel, DWORD acc, char dir) {
writeDataWord(axis, velData.word.HW);
writeDataWord(axis, velData.word.LW);
+
+ trajLoaded = 1;
}
/**
@@ -579,7 +621,7 @@ void newVelocity(char axis, DWORD vel, DWORD acc, char dir) {
* #MOTOR_LEFT le moteur de gauche uniquement @n
* #MOTOR_BOTH les 2 moteurs
*
- * @param vel vitesse, sur 16 bits
+ * @param vel vitesse, sur 32 bits
* @param dir sens de rotation, peut valoir : @n
* 1 avance @n
* -1 recule
@@ -597,19 +639,17 @@ void changeVelocity(char axis, DWORD vel, char dir) {
* #MOTOR_BOTH les 2 moteurs
*/
void start(char axis) {
- if (axis == MOTOR_RIGHT || axis == MOTOR_BOTH) {
- writeCommand(MOTOR_RIGHT, LM_CMD_RDRP);
- posRight.word.HW = readDataWord(MOTOR_RIGHT);
- posRight.word.LW = readDataWord(MOTOR_RIGHT);
- }
+ if (axis == MOTOR_RIGHT || axis == MOTOR_BOTH)
+ posRight = getRealPosition(MOTOR_RIGHT);
- if (axis == MOTOR_LEFT || axis == MOTOR_BOTH) {
- writeCommand(MOTOR_LEFT, LM_CMD_RDRP);
- posLeft.word.HW = readDataWord(MOTOR_LEFT);
- posLeft.word.LW = readDataWord(MOTOR_LEFT);
- }
+ if (axis == MOTOR_LEFT || axis == MOTOR_BOTH)
+ posLeft = getRealPosition(MOTOR_LEFT);
+
+ trajLoaded = 0;
writeCommand(axis, LM_CMD_STT);
+ trajEngaged = 1;
+ trajCompleted = 0;
}
/**
@@ -628,7 +668,72 @@ void start(char axis) {
void stop(char axis, WORD type) {
writeCommand(axis, LM_CMD_LTRJ);
writeDataWord(axis, type);
+
writeCommand(axis, LM_CMD_STT);
+ trajEngaged = 1;
+ trajCompleted = 0;
+}
+
+/**
+ * Ajoute un breakpoint pour l'enchainement de trajectoires.
+ *
+ * @param axis l'axe moteur correspondant au LM rrer, peut valoir : @n
+ * #MOTOR_RIGHT le moteur de droite uniquement @n
+ * #MOTOR_LEFT le moteur de gauche uniquement @n
+ * #MOTOR_BOTH les 2 moteurs
+ * @param pos la position du breakpoint, depuis le dt de la trajectoire (rel = 0)
+ * ou par rapport a position finale dr(rel = 1), sur 16 bits
+ * @param rel indique si la position du breakpoint est exprimen valeur relative (rel = 1) ou absolue (rel = 0)
+*/
+void setBreakpoint(char axis, DWORD pos, BOOL rel) {
+ DWORD_VAL posData;
+
+ if (rel) {
+ posData.Val = pos;
+ writeCommand(axis, LM_CMD_SBPR);
+ writeDataWord(axis, posData.word.HW);
+ writeDataWord(axis, posData.word.LW);
+ }
+ else {
+ writeCommand(axis, LM_CMD_SBPA);
+
+ if (axis == MOTOR_BOTH || axis == MOTOR_LEFT) {
+ posData.Val = posLeft + CON_MOTOR_LEFT * pos;
+ writeDataWord(MOTOR_LEFT, posData.word.HW);
+ writeDataWord(MOTOR_LEFT, posData.word.LW);
+ }
+
+ if (axis == MOTOR_BOTH || axis == MOTOR_RIGHT) {
+ posData.Val = posRight + CON_MOTOR_RIGHT * pos;
+ writeDataWord(MOTOR_RIGHT, posData.word.HW);
+ writeDataWord(MOTOR_RIGHT, posData.word.LW);
+ }
+ }
+}
+
+/**
+ * Rp la position dr(la consigne) des moteurs drminpar les LMs.
+ * Attention : cela ne correspond pas a position finale tteindre, mais bien
+ * a consigne 'instant prnt en entrde la boucle d'asservissement.
+ *
+ * @param axis l'axe moteur correspondant au LM, peut valoir : @n
+ * #MOTOR_RIGHT le moteur de droite uniquement @n
+ * #MOTOR_LEFT le moteur de gauche uniquement @n
+ * (spfier les #MOTOR_BOTH est bien demment impossible)
+ *
+ * @return DWORD la position de consigne, sur 32 bits
+*/
+DWORD getDesiredPosition(char axis) {
+ DWORD_VAL posData;
+
+ if (axis == MOTOR_BOTH)
+ return 0;
+ else {
+ writeCommand(axis, LM_CMD_RDDP);
+ posData.word.HW = readDataWord(axis);
+ posData.word.LW = readDataWord(axis);
+ return posData.Val;
+ }
}
/**
@@ -638,6 +743,8 @@ void stop(char axis, WORD type) {
* #MOTOR_RIGHT le moteur de droite uniquement @n
* #MOTOR_LEFT le moteur de gauche uniquement @n
* (spfier les #MOTOR_BOTH est bien demment impossible)
+ *
+ * @return DWORD la position rle, sur 32 bits
*/
DWORD getRealPosition(char axis) {
DWORD_VAL posData;
@@ -653,12 +760,39 @@ DWORD getRealPosition(char axis) {
}
/**
+ * Rp la vitesse dr(la consigne) des moteurs drminpar les LMs.
+ * Attention : cela ne correspond pas a vitesse finale tteindre, mais bien
+ * a consigne 'instant prnt en entrde la boucle d'asservissement.
+ *
+ * @param axis l'axe moteur correspondant au LM, peut valoir : @n
+ * #MOTOR_RIGHT le moteur de droite uniquement @n
+ * #MOTOR_LEFT le moteur de gauche uniquement @n
+ * (spfier les #MOTOR_BOTH est bien demment impossible)
+ *
+ * @return DWORD la vitesse de consigne, sur 32 bits
+*/
+DWORD getDesiredVelocity(char axis) {
+ DWORD_VAL velData;
+
+ if (axis == MOTOR_BOTH)
+ return 0;
+ else {
+ writeCommand(axis, LM_CMD_RDDV);
+ velData.word.HW = readDataWord(axis);
+ velData.word.LW = readDataWord(axis);
+ return velData.Val;
+ }
+}
+
+/**
* Rp la vitesse vtable des moteurs drminpar les LMs.
*
* @param axis l'axe moteur correspondant au LM, peut valoir : @n
* #MOTOR_RIGHT le moteur de droite uniquement @n
* #MOTOR_LEFT le moteur de gauche uniquement @n
* (spfier les #MOTOR_BOTH est bien demment impossible)
+ *
+ * @return DWORD la vitesse rle, sur 32 bits
*/
DWORD getRealVelocity(char axis) {
DWORD_VAL velData;
@@ -680,6 +814,8 @@ DWORD getRealVelocity(char axis) {
* #MOTOR_RIGHT le moteur de droite uniquement @n
* #MOTOR_LEFT le moteur de gauche uniquement @n
* (spfier les #MOTOR_BOTH est bien demment impossible)
+ *
+ * @return WORD la valeur de l'intation, sur 16 bits
*/
WORD getIntegrationSum(char axis) {
if (axis == MOTOR_BOTH)
@@ -691,6 +827,25 @@ WORD getIntegrationSum(char axis) {
}
/**
+ * Rp la valeur de la distance actuelle relativement au dt de la trajectoire.
+ *
+ * @param axis l'axe moteur correspondant au LM, peut valoir : @n
+ * #MOTOR_RIGHT le moteur de droite uniquement @n
+ * #MOTOR_LEFT le moteur de gauche uniquement @n
+ * (spfier les #MOTOR_BOTH est bien demment impossible)
+ *
+ * @return short la distance parcourue, en mm, sur 16 bits
+*/
+short getRelPos(char axis) {
+ if (axis == MOTOR_RIGHT)
+ return ((float) ((long) getRealPosition(MOTOR_RIGHT) - (long) posRight) / (float) COEF_RIGHT_WHEEL * CON_MOTOR_RIGHT);
+ else if (axis == MOTOR_LEFT)
+ return ((float) ((long) getRealPosition(MOTOR_LEFT) - (long) posLeft) / (float) COEF_LEFT_WHEEL * CON_MOTOR_LEFT);
+ else
+ return 0;
+}
+
+/**
* Avance.
*
* @param pos position tteindre, en mm, sur 16 bits
@@ -698,7 +853,6 @@ WORD getIntegrationSum(char axis) {
* @param acc accration, en mm/s, sur 16 bits
*/
void moveForward(short pos, short vel, short acc) {
- resetAllInterrupt(MOTOR_BOTH);
newPosition(MOTOR_BOTH,
(long) ((float) pos * COEF_RIGHT_WHEEL),
(long) ((float) vel * COEF_RIGHT_WHEEL * CONST_VEL),
@@ -714,7 +868,6 @@ void moveForward(short pos, short vel, short acc) {
* @param acc accration, en mm/s, sur 16 bits
*/
void moveBackward(short pos, short vel, short acc) {
- resetAllInterrupt(MOTOR_BOTH);
newPosition(MOTOR_BOTH,
- (long) ((float) pos * COEF_RIGHT_WHEEL),
(long) ((float) vel * COEF_RIGHT_WHEEL * CONST_VEL),
@@ -730,7 +883,6 @@ void moveBackward(short pos, short vel, short acc) {
* @param acc accration, en mm/s, sur 16 bits
*/
void turnRight(short angle, short vel, short acc) {
- resetAllInterrupt(MOTOR_BOTH);
newPosition(MOTOR_RIGHT,
- (long) ((float) angle * CONST_POS * WHEELS_DIST * COEF_RIGHT_WHEEL),
(long) ((float) vel * COEF_RIGHT_WHEEL * CONST_VEL),
@@ -750,7 +902,6 @@ void turnRight(short angle, short vel, short acc) {
* @param acc accration, en mm/s, sur 16 bits
*/
void turnLeft(short angle, short vel, short acc) {
- resetAllInterrupt(MOTOR_BOTH);
newPosition(MOTOR_RIGHT,
(long) ((float) angle * CONST_POS * WHEELS_DIST * COEF_RIGHT_WHEEL),
(long) ((float) vel * COEF_RIGHT_WHEEL * CONST_VEL),
@@ -770,7 +921,7 @@ void turnLeft(short angle, short vel, short acc) {
* @param vel vitesse max., en mm/s, sur 16 bits
* @param acc accration, en mm/s, sur 16 bits
* @param c position du centre de rotation par rapport au milieu de l'axe des roues, en mm ou en %, sur 16 bits
- * @param rel indique si c est exprimn mm (relative = 0) ou en % de la distance du milieu a roue, #WHEELS_DIST/2 (relative = 1)
+ * @param rel indique si c est exprimn mm (rel = 0) ou en % de la distance du milieu a roue, #WHEELS_DIST/2 (rel = 1)
*
* -100 0 100
* relative = 1: ||--------.--------||
@@ -797,8 +948,6 @@ void turn(short angle, short vel, short acc, short c, BOOL rel) {
acc1 = (2.0 * d1d2 * (float) acc) / (1.0 + d1d2);
acc2 = 2.0 * (float) acc - acc1;
- resetAllInterrupt(MOTOR_BOTH);
-
newPosition(MOTOR_RIGHT,
(long) (d1 * CONST_POS * COEF_RIGHT_WHEEL),
(long) (vel1 * COEF_RIGHT_WHEEL * CONST_VEL),
@@ -845,8 +994,6 @@ void goTo(short x, short y, short vel, short acc, BYTE mode, short d) {
a = (((float) x)*((float) x) + ((float) y)*((float) y))/4.0;
angle1 = atan2((float)y, (float)x);
- resetAllInterrupt(MOTOR_BOTH);
-
if (mode == GOTO_STRAIGHT || d == 0) {
turnRight(90.0 - angle1*180.0/PI, vel, acc);
waitTrajComplete();
@@ -915,14 +1062,6 @@ void goTo(short x, short y, short vel, short acc, BYTE mode, short d) {
}
}
-WORD getRelPosRight() {
- return ((float) ((long) getRealPosition(MOTOR_RIGHT) - (long) posRight.Val) / (float) COEF_RIGHT_WHEEL);
-}
-
-WORD getRelPosLeft() {
- return ((float) ((long) getRealPosition(MOTOR_LEFT) - (long) posLeft.Val) / (float) COEF_LEFT_WHEEL);
-}
-
/**
* Indique si la derni trajectoire est termin
* Attention : cette fonction renvoie 1 dque la trajectoire programm
@@ -938,8 +1077,12 @@ WORD getRelPosLeft() {
BOOL isTrajComplete(void) {
// Delay10KTCYx(12); // attends 120000 cycles, 8 MHz / 4 = 10 ms
- return (readStatusBit(MOTOR_RIGHT, LM_TRAJECTORY_COMPLETE)
- && readStatusBit(MOTOR_LEFT, LM_TRAJECTORY_COMPLETE));
+ if (trajCompleted) {
+ trajEngaged = 0;
+ return TRUE;
+ }
+ else
+ return FALSE;
}
/**
@@ -954,4 +1097,15 @@ void waitTrajComplete(void) {
while (!isTrajComplete());
}
+/**
+ * Indique si une trajectoire est en cours.
+ * Si une trajectoire en cours est terminle rltat de cette fonction sera maintenu RUE
+ * jusqu'e qu'une des fonctions isTrajComplete() ou waitTrajComplete() soit appel
+ *
+ * @return done renvoie #TRUE en si une trajectoire est en cours et #FALSE sinon
+*/
+BOOL isTrajEngaged(void) {
+ return trajEngaged;
+}
+
#endif
diff --git a/USB_Module/Motor_Controller/Firmware/lm629.h b/USB_Module/Motor_Controller/Firmware/lm629.h
index 341794a..85aeba3 100644
--- a/USB_Module/Motor_Controller/Firmware/lm629.h
+++ b/USB_Module/Motor_Controller/Firmware/lm629.h
@@ -223,9 +223,12 @@ void resetAllInterrupt(char axis);
void initLM(char axis, WORD kp, WORD ki, WORD kd, WORD il);
// Fonctions de rptions des grandeurs actuelles
+DWORD getDesiredPosition(char axis);
DWORD getRealPosition(char axis);
+DWORD getDesiredVelocity(char axis);
DWORD getRealVelocity(char axis);
WORD getIntegrationSum(char axis);
+short getRelPos(char axis);
// Fonctions de gration des trajectoires
void newPosition(char axis, DWORD pos, DWORD vel, DWORD acc);
@@ -233,6 +236,7 @@ void newVelocity(char axis, DWORD vel, DWORD acc, char dir);
void changeVelocity(char axis, DWORD vel, char dir);
void start(char axis);
void stop(char axis, WORD type);
+void setBreakpoint(char axis, DWORD pos, BOOL rel);
// Fonctions de haut niveau
BOOL initLMs(void);
@@ -242,9 +246,8 @@ void turnRight(short angle, short vel, short acc);
void turnLeft(short angle, short vel, short acc);
void turn(short angle, short vel, short acc, short c, BOOL rel);
void goTo(short x, short y, short vel, short acc, BYTE mode, short d);
-WORD getRelPosRight(void);
-WORD getRelPosLeft(void);
BOOL isTrajComplete(void);
void waitTrajComplete(void);
+BOOL isTrajEngaged(void);
#endif
diff --git a/USB_Module/Motor_Controller/Firmware/main.c b/USB_Module/Motor_Controller/Firmware/main.c
index 65ec694..bc5d400 100644
--- a/USB_Module/Motor_Controller/Firmware/main.c
+++ b/USB_Module/Motor_Controller/Firmware/main.c
@@ -574,7 +574,6 @@ void UserInit(void)
void ProcessIO(void) {
BYTE eeprom;
static char state = 0;
- static char traj_engaged = 0;
DWORD_VAL dword;
WORD_VAL word1, word2, word3, word4, word5;
@@ -586,10 +585,9 @@ void ProcessIO(void) {
// User Application USB tasks
if((USBDeviceState < CONFIGURED_STATE)||(USBSuspendControl==1)) {
// Mesure de srit ce n'est pas normal de perdre la liaison USB au milieu d'une trajectoire
- if (traj_engaged) {
+ if (isTrajEngaged()) {
stop(MOTOR_BOTH, TRAJ_STOP_MOTOR_OFF);
waitTrajComplete();
- traj_engaged = 0;
}
return;
@@ -614,7 +612,7 @@ void ProcessIO(void) {
errno = 31;
}
- if (!HIDTxHandleBusy(USBInHandle) && traj_engaged == 1) {
+ if (!HIDTxHandleBusy(USBInHandle) && isTrajEngaged()) {
if (isTrajComplete()) {
ToSendDataBuffer.HSEQ = 0; // Num sence PC
ToSendDataBuffer.DSEQ = (UPClientSeq++); // Num sence PIC
@@ -622,8 +620,6 @@ void ProcessIO(void) {
ToSendDataBuffer.ERR = 0; // Pas Erreur
ToSendDataBuffer.DATA[0] = TRAJ_COMPLETED; // On indique que c'est fini
USBInHandle = HIDTxPacket(HID_EP, (BYTE*) &ToSendDataBuffer, 64);
-
- traj_engaged = 0;
}
}
@@ -854,10 +850,9 @@ void ProcessIO(void) {
disableMotor(ReceivedDataBuffer.DATA[1]);
// Mesure de srit ce n'est pas normal que l'on dctive les moteurs au milieu d'une trajectoire
- if (traj_engaged) {
+ if (isTrajEngaged()) {
stop(MOTOR_BOTH, TRAJ_STOP_MOTOR_OFF);
waitTrajComplete();
- traj_engaged = 0;
}
break;
@@ -979,7 +974,6 @@ void ProcessIO(void) {
word3.byte.HB = ReceivedDataBuffer.DATA[5];
word3.byte.LB = ReceivedDataBuffer.DATA[6];
moveForward(word1.Val, word2.Val, word3.Val);
- traj_engaged = 1;
break;
case TRAJ_BACKWARD:
@@ -990,7 +984,6 @@ void ProcessIO(void) {
word3.byte.HB = ReceivedDataBuffer.DATA[5];
word3.byte.LB = ReceivedDataBuffer.DATA[6];
moveBackward(word1.Val, word2.Val, word3.Val);
- traj_engaged = 1;
break;
case TRAJ_TR:
@@ -1001,7 +994,6 @@ void ProcessIO(void) {
word3.byte.HB = ReceivedDataBuffer.DATA[5];
word3.byte.LB = ReceivedDataBuffer.DATA[6];
turnRight(word1.Val, word2.Val, word3.Val);
- traj_engaged = 1;
break;
case TRAJ_TL:
@@ -1012,7 +1004,6 @@ void ProcessIO(void) {
word3.byte.HB = ReceivedDataBuffer.DATA[5];
word3.byte.LB = ReceivedDataBuffer.DATA[6];
turnLeft(word1.Val, word2.Val, word3.Val);
- traj_engaged = 1;
break;
case TRAJ_TURN:
@@ -1025,7 +1016,6 @@ void ProcessIO(void) {
word4.byte.HB = ReceivedDataBuffer.DATA[7];
word4.byte.LB = ReceivedDataBuffer.DATA[8];
turn(word1.Val, word2.Val, word3.Val, word4.Val, ReceivedDataBuffer.DATA[9]);
- traj_engaged = 1;
break;
case TRAJ_GOTO:
@@ -1040,7 +1030,6 @@ void ProcessIO(void) {
word5.byte.HB = ReceivedDataBuffer.DATA[10];
word5.byte.LB = ReceivedDataBuffer.DATA[11];
goTo(word1.Val, word2.Val, word3.Val, word4.Val, ReceivedDataBuffer.DATA[9], word5.Val);
- traj_engaged = 1;
break;
case TRAJ_STOP:
@@ -1058,7 +1047,6 @@ void ProcessIO(void) {
word3.byte.HB = ReceivedDataBuffer.DATA[6];
word3.byte.LB = ReceivedDataBuffer.DATA[7];
- resetAllInterrupt(ReceivedDataBuffer.DATA[1]);
newPosition(ReceivedDataBuffer.DATA[1],
(long) ((float) word1.Val * COEF_WHEEL),
(long) ((float) word2.Val * COEF_WHEEL * CONST_VEL),
@@ -1071,7 +1059,6 @@ void ProcessIO(void) {
word2.byte.HB = ReceivedDataBuffer.DATA[4];
word2.byte.LB = ReceivedDataBuffer.DATA[5];
- resetAllInterrupt(ReceivedDataBuffer.DATA[1]);
newVelocity(ReceivedDataBuffer.DATA[1],
(long) ((float) word1.Val * COEF_WHEEL * CONST_VEL),
(long) ((float) word2.Val * COEF_WHEEL * CONST_ACC),
@@ -1082,7 +1069,6 @@ void ProcessIO(void) {
word1.byte.HB = ReceivedDataBuffer.DATA[2];
word1.byte.LB = ReceivedDataBuffer.DATA[3];
- resetAllInterrupt(ReceivedDataBuffer.DATA[1]);
changeVelocity(ReceivedDataBuffer.DATA[1],
(long) ((float) word1.Val * COEF_WHEEL * CONST_VEL),
ReceivedDataBuffer.DATA[4]);
@@ -1090,20 +1076,19 @@ void ProcessIO(void) {
case TRAJ_START:
start(ReceivedDataBuffer.DATA[1]);
- traj_engaged = 1;
break;
case TRAJ_GET_REL_POS:
- word1.Val = getRelPosRight();
- word2.Val = getRelPosLeft();
-
ToSendDataBuffer.HSEQ = ReceivedDataBuffer.HSEQ; // Num sence PC
ToSendDataBuffer.DSEQ = 0; // Num sence PIC
ToSendDataBuffer.CMD = CMD_RESPOND; // Type requ
ToSendDataBuffer.ERR = 0; // Erreur
+ word1.Val = getRelPos(MOTOR_RIGHT);
ToSendDataBuffer.DATA[0] = word1.byte.HB;
ToSendDataBuffer.DATA[1] = word1.byte.LB;
+
+ word1.Val = getRelPos(MOTOR_LEFT);
ToSendDataBuffer.DATA[2] = word2.byte.HB;
ToSendDataBuffer.DATA[3] = word2.byte.LB;
diff --git a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.cof b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.cof
index 442d6f5..e76d155 100644
Binary files a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.cof and b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.cof differ
diff --git a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex
index 12343c1..91a16f9 100644
--- a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex
+++ b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex
@@ -1,1544 +1,1563 @@
:020000040000FA
-:06000000A6EF32F0120031
+:0600000041EF33F0120095
:0600080004EF04F01200F9
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