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Tracer.cpp
232 lines (209 loc) · 7.13 KB
/
Tracer.cpp
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//----------------------------------------------------------------------------------------------------------------------
// Class Tracer.
// Joel - MajorLee- Soranzo
// le 10/07/2016
// VoLAB by VoRoBoTics
//----------------------------------------------------------------------------------------------------------------------
// class pour robot de desin, source Instructable
#include "Tracer.h"
int freeRam () {
extern int __heap_start, *__brkval;
int v;
return (int) &v - (__brkval == 0 ? (int) &__heap_start : (int) __brkval);
}
//----------------------------------------------------------------------------------------------------------------------
//Constructor
Tracer::Tracer():
_L_stepperPins( { (int)LSTEPPERPIN0, (int)LSTEPPERPIN1,\
(int)LSTEPPERPIN2, (int)LSTEPPERPIN3 })
{
// 2 syntaxes possibles : dans la liste d'init ou dans le corps
_R_stepperPins[0] = (int)RSTEPPERPIN0;
_R_stepperPins[1] = (int)RSTEPPERPIN1;
_R_stepperPins[2] = (int)RSTEPPERPIN2;
_R_stepperPins[3] = (int)RSTEPPERPIN3;
}
//----------------------------------------------------------------------------------------------------------------------
// void Tracer::tracerBegin(){
void Tracer::begin(){
for(int pin=0; pin<4; pin++){
pinMode(_L_stepperPins[pin], OUTPUT);
digitalWrite(_L_stepperPins[pin], LOW);
pinMode(_R_stepperPins[pin], OUTPUT);
digitalWrite(_R_stepperPins[pin], LOW);
}
_penServo.write(PENUP);
_upDownServopin = UDSERVOPIN; //quel est l'utilite de ce membre ?
_penServo.attach(_upDownServopin);
penup();
}
void Tracer::tracerDebug(){
#ifdef DEBUG
/*
spl("into the tracer class");
for (int i = 0; i < 4; i++){
dsp( F("L_stepper_pin")); dsp(i);dsp(" = ");dspl(_L_stepperPins[i]);
}
for (int i = 0; i < 4; i++){
dsp( F("R_stepper_pin")); dsp(i);dsp(" = ");dspl(_R_stepperPins[i]);
}
dsp(F("steps for 10 mm = "));dspl( step(10));
*/
#endif
}
//----------------------------------------------------------------------------------------------------------------------
// Méthodes de bas niveaux pour le pilotage des moteurs pas à pas
void Tracer::penup(){
_penServo.attach(_upDownServopin);
delay(20);
_penServo.write(PENUP);
delay(250);
_penServo.detach();
}
void Tracer::pendown(){
_penServo.attach(_upDownServopin);
delay(20);
_penServo.write(PENDOWN);
delay(250);
_penServo.detach();
}
int Tracer::step(float distance){
int steps = distance * STEPREV / (WHEELDIA * 3.1412); //24.61
return steps;
}
void Tracer::forward(float distance){
int steps = step(distance);
for(int step=0; step<steps; step++){
for(int mask=0; mask<4; mask++){
for(int pin=0; pin<4; pin++){
digitalWrite(_L_stepperPins[pin], _rev_mask[mask][pin]);
digitalWrite(_R_stepperPins[pin], _fwd_mask[mask][pin]);
}
delay(DELAYTIME);
}
}
}
void Tracer::backward(float distance){
int steps = step(distance);
for(int step=0; step<steps; step++){
for(int mask=0; mask<4; mask++){
for(int pin=0; pin<4; pin++){
digitalWrite(_L_stepperPins[pin], _fwd_mask[mask][pin]);
digitalWrite(_R_stepperPins[pin], _rev_mask[mask][pin]);
}
delay(DELAYTIME);
}
}
}
void Tracer::right(float degrees){
float rotation = degrees / 360.0;
float distance = WHEELBASE * 3.1412 * rotation;
int steps = step(distance);
for(int step=0; step<steps; step++){
for(int mask=0; mask<4; mask++){
for(int pin=0; pin<4; pin++){
digitalWrite(_R_stepperPins[pin], _rev_mask[mask][pin]);
digitalWrite(_L_stepperPins[pin], _rev_mask[mask][pin]);
}
delay(DELAYTIME);
}
}
}
void Tracer::left(float degrees){
float rotation = degrees / 360.0;
float distance = WHEELBASE * 3.1412 * rotation;
int steps = step(distance);
for(int step=0; step<steps; step++){
for(int mask=0; mask<4; mask++){
for(int pin=0; pin<4; pin++){
digitalWrite(_R_stepperPins[pin], _fwd_mask[mask][pin]);
digitalWrite(_L_stepperPins[pin], _fwd_mask[mask][pin]);
}
delay(DELAYTIME);
}
}
}
void Tracer::done(){ // unlock stepper to save battery
for(int mask=0; mask<4; mask++){
for(int pin=0; pin<4; pin++){
digitalWrite(_R_stepperPins[pin], LOW);
digitalWrite(_L_stepperPins[pin], LOW);
}
delay(DELAYTIME);
}
}
//----------------------------------------------------------------------------------------------------------------------
//protected
void Tracer::trace(int cmd, int param){
static int offsetRcpt = 0;
switch (cmd){
default: // PU:
penup();
break;
case PD:
pendown();
break;
case FW:
forward( (float) param );
break;
case TR:
//correction déviation droite déterminée de manière empirique
offsetRcpt += param;
if (offsetRcpt >= 180 ){
offsetRcpt = 0;
param +=2;
}
right( (float) param );
break;
case TL:
left( (float) param );
break;
}
}
//----------------------------------------------------------------------------------------------------------------------
// methode : filenameContructor
// cree le nom de fichier pour acceder a la lettre
// le lettre est convertie en majuscules
// pas de verification !
String Tracer::fileNameConstructor( String sousDir, String fileNameBase ){
fileNameBase.toUpperCase();
return String(sousDir)+"/"+fileNameBase+String(".hex");
}
//----------------------------------------------------------------------------------------------------------------------
// methode : pour debug
void Tracer::printBufferCmd(){
dsp(F("Contenu du buffer de commandes :")); dspl( _nbrCommandes );
for (int i = 0; i< _nbrCommandes; i++){
sp( F("cmd : ") );sp( _bufferCommandes[i][0] );
sp( F(", ") );spl(_bufferCommandes[i][1]);
}
}
void Tracer::traceBuffer(){
for(int x=0; x < _nbrCommandes; x++){
trace( _bufferCommandes[x][0], _bufferCommandes[x][1] );
}
}
//----------------------------------------------------------------------------------------------------------------------
// methode readBufferFromSD
// in:
// sous-repertoire, base du nom de fichier
// out:
// 0: echec
// ou nombre de commandes
// renseigne le membre prive : _bufferCommandes[30][2];
int Tracer::readBufferFromSD( String sousDir, String fileNameBase ){
String fileName = fileNameConstructor( sousDir, fileNameBase );
dspl( fileName );
_myFile = SD.open(fileName, FILE_READ);
_nbrCommandes = 0;
while (_myFile.available()) {
_bufferCommandes[_nbrCommandes][0] = _myFile.read();
_bufferCommandes[_nbrCommandes][1] = _myFile.read();
_nbrCommandes++ ;
}
_myFile.close();
dspl( freeRam() );
if ( _nbrCommandes <= NBRCMDMAX )return _nbrCommandes;
else return 0;
}
// That's all folks