[Krobot-commits] [SCM] krobot branch, master, updated. efa746efba990043a76fe4dfa5726a11fe35dc9b

[Justin <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit efa746efba990043a76fe4dfa5726a11fe35dc9b
Author: Justin <jus...@en...>
Date:   Thu Jun 9 20:55:05 2011 +0200

    Simplification of control

-----------------------------------------------------------------------

Changes:
diff --git a/elec/boards/Controller_Motor_STM32/Firmwares/Junior_Drive/controller_motor_stm32/asservissement.c b/elec/boards/Controller_Motor_STM32/Firmwares/Junior_Drive/controller_motor_stm32/asservissement.c
index 7f6081a..b6703ed 100644
--- a/elec/boards/Controller_Motor_STM32/Firmwares/Junior_Drive/controller_motor_stm32/asservissement.c
+++ b/elec/boards/Controller_Motor_STM32/Firmwares/Junior_Drive/controller_motor_stm32/asservissement.c
@@ -52,7 +52,6 @@ void NORETURN control_process(void)
   timer_setEvent(&timer_control_process);
   
   enableMotors( MOTEUR4|MOTEUR2|MOTEUR3);
-  //convertRadInImpulsions(desiredPositions, desiredImpulsions);
   
   
   while(1) {
@@ -64,9 +63,9 @@ void NORETURN control_process(void)
   			if (desiredPositions[i]>(2*M_PI)) desiredPositions[i]=2*M_PI;
   		}
   	convertRadInImpulsions(desiredPositions, desiredImpulsions);*/
-  	//generateRampeMotor(MOTEUR4|MOTEUR2|MOTEUR3,-20*2*M_PI,10,5);
+  	//generateRampeMotor(MOTEUR1,2*M_PI,10,5);
   	generateRampeRobotPlan();
-  	controlMotors(MOTEUR4|MOTEUR2|MOTEUR3);	
+  	controlMotors(MOTEUR4|MOTEUR2|MOTEUR3|MOTEUR2);	
 
     timer_waitEvent(&timer_control_process); // Wait until the end of counting
   }
diff --git a/elec/boards/Controller_Motor_STM32/Firmwares/Junior_Drive/controller_motor_stm32/avoid.c b/elec/boards/Controller_Motor_STM32/Firmwares/Junior_Drive/controller_motor_stm32/avoid.c
index bc3efa8..70f79ca 100644
--- a/elec/boards/Controller_Motor_STM32/Firmwares/Junior_Drive/controller_motor_stm32/avoid.c
+++ b/elec/boards/Controller_Motor_STM32/Firmwares/Junior_Drive/controller_motor_stm32/avoid.c
@@ -63,8 +63,8 @@ void NORETURN avoid_process(void)
   	
   	timer_add(&timer_avoid_process);// Start process timer
   	refreshSensors();
-  	if(sharp_sensors.state_trigger[7]==1) LED2_ON();
-  	else LED2_OFF();
+  	//if(sharp_sensors.state_trigger[7]==1) LED2_ON();
+  	//else LED2_OFF();
   	make_choice();
     timer_waitEvent(&timer_avoid_process); // Wait until the end of counting
   }
diff --git a/elec/boards/Controller_Motor_STM32/Firmwares/Junior_Drive/controller_motor_stm32/intelligence.c b/elec/boards/Controller_Motor_STM32/Firmwares/Junior_Drive/controller_motor_stm32/intelligence.c
index c63bdad..ffab3c2 100644
--- a/elec/boards/Controller_Motor_STM32/Firmwares/Junior_Drive/controller_motor_stm32/intelligence.c
+++ b/elec/boards/Controller_Motor_STM32/Firmwares/Junior_Drive/controller_motor_stm32/intelligence.c
@@ -99,7 +99,8 @@ void makePath(void)  {
 				holonome.ymax = signe*0;
 				holonome.vitesse = 0.5;
 				holonome.acceleration=0.5;
-				//ouvrir_pinces();
+				holonome.Tmax=2*M_PI;
+				ouvrir_pinces();
 				etape+=1;
 				break;
 			case 1://recul
@@ -107,11 +108,11 @@ void makePath(void)  {
 				holonome.asserPosition=0;
 				holonome.xmax = 0;
 				holonome.ymax = signe*0;
-				holonome.vitesse = 0.25;
+				holonome.vitesse = 0.5;
 				holonome.acceleration=0.5;
 				holonome.Tmax = 0;
-				//ouvrir_pinces();
-				etape+=1;
+				fermer_pinces();
+				etape=0;
 				break;
 				/*case 2://drift sur la droite
 				holonome.busy=1;
diff --git a/elec/boards/Controller_Motor_STM32/Firmwares/Junior_Drive/controller_motor_stm32/main.c b/elec/boards/Controller_Motor_STM32/Firmwares/Junior_Drive/controller_motor_stm32/main.c
index a2d7035..96e92e2 100644
--- a/elec/boards/Controller_Motor_STM32/Firmwares/Junior_Drive/controller_motor_stm32/main.c
+++ b/elec/boards/Controller_Motor_STM32/Firmwares/Junior_Drive/controller_motor_stm32/main.c
@@ -88,13 +88,12 @@ int main(void)
 	 * utilization of all the processes (1 probe per second).
 	 */
 	 
-	 
-	
+	//enableMotors(MOTEUR1); 
 	
 	while (1)
 	{
           //monitor_report();
-         /* if( getEncoderDirection(ENCODER3) == FORWARD_DIRECTION ) 
+	  /*if( getEncoderDirection(ENCODER1) == FORWARD_DIRECTION ) 
           	{
           		if(status==0)
           			{
@@ -110,12 +109,11 @@ int main(void)
           				status=0;
           			}
           		LED4_OFF();
-          	}
-          coder = getEncoderCount(ENCODER2);
-          timer_delay(10);
-          if ( getEncoderCount(ENCODER2)==65535) LED3_ON();
-          //else LED3_OFF();
-          timer_delay(10);*/
+          	}*/
+          //coder = getEncoderCount(ENCODER2);
+          //timer_delay(10);
+          //if (abs(encoders_status[0].globalCounter)>10000) LED2_ON();
+          //else LED2_OFF();
           timer_delay(1000);
 	}
 


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