From d79ebb7de331496d6813046b48a0c68c01e9699d Mon Sep 17 00:00:00 2001 From: leo Date: Thu, 1 Dec 2022 16:28:34 +0100 Subject: [PATCH] maj pins anal --- adapter_ard.h | 9 +++++++-- main.cpp | 2 +- projet-tuteure-3a | 2 +- robot.py | 8 ++++---- 4 files changed, 13 insertions(+), 8 deletions(-) diff --git a/adapter_ard.h b/adapter_ard.h index f9ef511..4097d0b 100644 --- a/adapter_ard.h +++ b/adapter_ard.h @@ -33,8 +33,13 @@ class serial_c{ extern serial_c Serial; -#define A0 0 -#define A1 1 +#define A0 20 +#define A1 21 +#define A2 22 +#define A3 23 +#define A4 24 +#define A5 25 +#define A6 26 #define INPUT 1 #define OUTPUT 2 #define LOW 0 diff --git a/main.cpp b/main.cpp index 17c28d9..1d369bb 100644 --- a/main.cpp +++ b/main.cpp @@ -13,7 +13,7 @@ HCSR04_c HCSR04; struct timespec start, end; -int pinState[16]; +int pinState[32]; double dists[2]; int main(int argc, char** argv){ diff --git a/projet-tuteure-3a b/projet-tuteure-3a index 55b6ea6..91c7d7c 160000 --- a/projet-tuteure-3a +++ b/projet-tuteure-3a @@ -1 +1 @@ -Subproject commit 55b6ea6ff947589b354610e1d07d872e799be815 +Subproject commit 91c7d7cea6d017c23da3368f8a17d6a066493842 diff --git a/robot.py b/robot.py index aa1d45d..01b2066 100644 --- a/robot.py +++ b/robot.py @@ -4,7 +4,7 @@ class Robot: # position pos=(0.1,1) # orientation - rot=-pi/2 + rot=pi/2 # velocite v=0 # velocite angulaire @@ -18,7 +18,7 @@ class Robot: # time t = 0 # pins level - pins = [0]*16 + pins = [0]*32 # acceleration maximal avant de perdre l'adhérance maxRotAccel = 10 # pins reliés au moteurs (bw_l, fw_l, bw_r, fw_r) @@ -33,8 +33,8 @@ class Robot: PHOTORES_LIGHT = 100 PHOTORES_SHADOW = 20000 PHOTORES_BRIDGE = 1000 - pr_l_pin = 0 # A0 voir adapter_ard.h - pr_r_pin = 1 # A1 + pr_l_pin = 20 # A0 voir adapter_ard.h + pr_r_pin = 21 # A1 # rayon de mesure des capteurs ultrason ultr_sense_max = 4 ultr_sense_rays = (pi/2, -pi/2)