leo/simulateur-robot-arduino
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This commit is contained in:
leo 2022-12-01 16:28:34 +01:00
parent 95dcc68055
commit d79ebb7de3
Signed by: leo
GPG Key ID: 0DD993BFB2B307DB
4 changed files with 13 additions and 8 deletions
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9
adapter_ard.h
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@ -33,8 +33,13 @@ class serial_c{
extern serial_c Serial; extern serial_c Serial;
#define A0 0 #define A0 20
#define A1 1 #define A1 21
#define A2 22
#define A3 23
#define A4 24
#define A5 25
#define A6 26
#define INPUT 1 #define INPUT 1
#define OUTPUT 2 #define OUTPUT 2
#define LOW 0 #define LOW 0

2
main.cpp
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@ -13,7 +13,7 @@ HCSR04_c HCSR04;
struct timespec start, end; struct timespec start, end;
int pinState[16]; int pinState[32];
double dists[2]; double dists[2];
int main(int argc, char** argv){ int main(int argc, char** argv){

2
projet-tuteure-3a

@ -1 +1 @@
Subproject commit 55b6ea6ff947589b354610e1d07d872e799be815 Subproject commit 91c7d7cea6d017c23da3368f8a17d6a066493842

8
robot.py
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@ -4,7 +4,7 @@ class Robot:
# position # position
pos=(0.1,1) pos=(0.1,1)
# orientation # orientation
rot=-pi/2 rot=pi/2
# velocite # velocite
v=0 v=0
# velocite angulaire # velocite angulaire
@ -18,7 +18,7 @@ class Robot:
# time # time
t = 0 t = 0
# pins level # pins level
pins = [0]*16 pins = [0]*32
# acceleration maximal avant de perdre l'adhérance # acceleration maximal avant de perdre l'adhérance
maxRotAccel = 10 maxRotAccel = 10
# pins reliés au moteurs (bw_l, fw_l, bw_r, fw_r) # pins reliés au moteurs (bw_l, fw_l, bw_r, fw_r)
@ -33,8 +33,8 @@ class Robot:
PHOTORES_LIGHT = 100 PHOTORES_LIGHT = 100
PHOTORES_SHADOW = 20000 PHOTORES_SHADOW = 20000
PHOTORES_BRIDGE = 1000 PHOTORES_BRIDGE = 1000
pr_l_pin = 0 # A0 voir adapter_ard.h pr_l_pin = 20 # A0 voir adapter_ard.h
pr_r_pin = 1 # A1 pr_r_pin = 21 # A1
# rayon de mesure des capteurs ultrason # rayon de mesure des capteurs ultrason
ultr_sense_max = 4 ultr_sense_max = 4
ultr_sense_rays = (pi/2, -pi/2) ultr_sense_rays = (pi/2, -pi/2)