ça faisait longtemps autant uploader de temps en temps

Makefile

 
-.PHONY : clean #all
+.PHONY : clean dieg#all
 
 # ++ = g++
 
@@ -12,6 +12,12 @@
 
 
 # commande de lancement
+
+dieg: 
+	rm -rf dieg
+	g++ dieg.cpp -o dieg -lwiringPi
+	sudo ./dieg
+
 switch : compile_switch
 	sudo ./switch
 
@@ -41,7 +47,7 @@ compile_switch :
 	g++ -o switch switch.cpp -lwiringPi
 
 compile_motor :
-	gcc -o motor motor.c -lwiringPi
+	g++ -o motor motor.cpp -lwiringPi
 
 compile_LED :
 	g++ -o i2c I2C.cpp -lwiringPi

dieg.cpp

+#include <wiringPi.h>
+#include <wiringPiSPI.h>
+
+#include <stdio.h>
+#include <unistd.h>
+#include <stdlib.h>
+
+#include <conio.h>
+
+const int PWM_PIN_RIGHT = 23;
+const int M1DIR_RIGHT   = 21;
+const int PWM_PIN_LEFT  = 26;
+const int M2DIR_LEFT    = 22;
+
+int main(int argc, char const *argv[])
+{
+    if (wiringPiSetup() == -1) {
+        printf("WiringPiSetup failed\n");
+        exit(EXIT_FAILURE);
+    }
+
+    pinMode(PWM_PIN_RIGHT, PWM_OUTPUT);
+    pinMode(PWM_PIN_LEFT, PWM_OUTPUT);
+    pinMode(M1DIR_RIGHT, OUTPUT);
+    pinMode(M2DIR_LEFT, OUTPUT);
+
+    digitalWrite(M1DIR_RIGHT, 1);
+
+    int fd;
+
+    fd = wiringPiSPISetup(1, 1000000);
+
+    unsigned char buffer [4];
+
+    buffer[0] = 0x00;
+    buffer[1] = 0x00;
+    buffer[2] = 0x00;
+    buffer[3] = 0x00;
+
+    wiringPiSPIDataRW(1, buffer, 4);
+
+    sleep(1);
+
+    buffer[0] = 0x00;
+    buffer[1] = 0x00;
+    buffer[2] = 0x00;
+    buffer[3] = 0x01;
+
+    wiringPiSPIDataRW(1, buffer, 4);
+
+    pwmWrite(PWM_PIN_RIGHT, 560);
+
+    while (1)
+    {
+        if (kbhit()) goto end;
+        buffer[0] = 0x00;
+        buffer[1] = 0x00;
+        buffer[2] = 0x00;
+        buffer[3] = 0x01;
+        wiringPiSPIDataRW(1,buffer, 4);
+        printf("%x %x %x %x\n", buffer[0],buffer[1],buffer[2],buffer[3]);
+        sleep(1); 
+    }
+
+end:
+    pwmWrite(PWM_PIN_RIGHT, 0);
+    return 0;
+}

encoder.cpp

@@ -19,7 +19,8 @@ float clock_count;
 float count_delayed;
 float speed;
 int freq=500000;
-int res = 2048;
+int res = 64;
+int i =0;
 int main(int argc, char const *argv[])
 {   
     
@@ -34,8 +35,7 @@ int main(int argc, char const *argv[])
     }
 
     //memset(rawData,0x01,BYTE_len);
-    //rawData[0]=0x0F;
-    rawData[3]=0x01;
+    rawData[3]=0x00;
     rawData[2]=0x00;
     rawData[1]=0x00;
     rawData[0]=0x00;
@@ -44,28 +44,33 @@ int main(int argc, char const *argv[])
     //for (int i=0; i<4; i++){
            //printf("%02X \n", rawData[i]); 
         //}
-    //FILE *file = fopen("encoder.txt", "w");
+    FILE *file = fopen("encoder.txt", "w");
    while(1) { 
         int result = wiringPiSPIDataRW(SPI_CHANNEL, rawData, BYTE_len);
-        //printf("\r%02X %02X %02X %02X", rawData[0], rawData[1], rawData[2], rawData[3]); 
+        //printf("\n%02X %02X %02X %02X", rawData[0], rawData[1], rawData[2], rawData[3]); 
         //fflush(stdout);
         //printf("\n");
-        count=((rawData[0]*pow(16, 4))+(rawData[1]*pow(16, 2))+(rawData[2]*pow(16, 0)))/4;
-        printf("\n%d %d %d %d %d", rawData[0], rawData[1], rawData[2], rawData[3], rawData[4]); 
-        //fprintf(file, "\n%d %d %d %d", rawData[0], rawData[1], rawData[2], rawData[3]);
+        count=(rawData[0]*pow(16, 4))+(rawData[1]*pow(16, 2))+(rawData[2]*pow(16, 0));
+        //printf("\r%lf", count);
+        //printf("\n%d %d %d %d", rawData[0], rawData[1], rawData[2], rawData[3]); 
+        //fflush(stdout);
+
         //fflush(stdout);
         //clock_count=(rawData[2]*pow(16, 2))+(rawData[3]*pow(16, 0));
         
-        //speed=clock_count*(2*3.1415/res)*(count);
-        //printf("\n%lf", count); 
-        //fflush(stdout);
-        //count_delayed=count;
+        speed=(60/(2*3.1415))*(2*3.1415/res)*50000000/(count-count_delayed);
+        printf("\r%lf", speed); 
+        fflush(stdout);
+        count_delayed=count;
         //printf("\n");
-        sleep(0.5);
+        //sleep(1);
+        i+=1;
+        if (speed!=INFINITY){
+        fprintf(file, "\n%lf,%d",speed, i);}
         if (kbhit()) break; 
     }
 
-    //fclose(file);
+    fclose(file);
     return 0;
     
 }

motor.c → motor.cpp

-
 #include <stdio.h>
 #include <stdlib.h>
+#include <stdbool.h>
+#include <conio.h>
+#include <unistd.h>
 
 #include <wiringPi.h>
 
@@ -9,7 +11,8 @@ const int M1DIR_RIGHT   = 21;
 const int PWM_PIN_LEFT  = 26;
 const int M2DIR_LEFT    = 22;
 
-int wheelSpeed = 600;
+// PWM pour vitesse minimale
+int wheelSpeed = 550;
 
 int main(int argc, char const *argv[])
 {
@@ -21,20 +24,22 @@ int main(int argc, char const *argv[])
     pinMode(PWM_PIN_LEFT, PWM_OUTPUT);
     pinMode(M1DIR_RIGHT, OUTPUT);
     pinMode(M2DIR_LEFT, OUTPUT);
-
-    printf("pin ready !\n");
+    
+    printf("pin ready\n");
 
     digitalWrite(M1DIR_RIGHT, 1);
     digitalWrite(M2DIR_LEFT, 0);
-    pwmWrite(PWM_PIN_RIGHT, wheelSpeed);
-    pwmWrite(PWM_PIN_LEFT, wheelSpeed);
-
-    printf("There we go !\n");
-
-    delay(10000);
+    pwmWrite(PWM_PIN_RIGHT, 0);
+    // pwmWrite(PWM_PIN_LEFT, wheelSpeed);
 
-    printf("And we stop\n");
+    for (int i = 566; i < 600; i+=5) { //DEBUT=566 FIN=?
+        printf("motor @pwm = %i\n", i);
+        pwmWrite(PWM_PIN_RIGHT, i);
+        if (kbhit()) goto end;
+        sleep(2);
+    }
     
+end:  
     pwmWrite(PWM_PIN_RIGHT, 0);
     pwmWrite(PWM_PIN_LEFT, 0);