From 8cb00734d2aaf87c2bc8b6087692d8e142e71f72 Mon Sep 17 00:00:00 2001
From: ddebernardde <diego.debernard@student.uclouvain.be>
Date: Wed, 9 Nov 2022 02:17:10 +0100
Subject: [PATCH] bon avancement
---
I2C.cpp | 82 +++++++++++++++++++++++++++++++++++++++++++++++++++++--
Makefile | 8 +++---
encoder.c | 7 +++--
3 files changed, 88 insertions(+), 9 deletions(-)
diff --git a/I2C.cpp b/I2C.cpp
index 01a2603..b269c9b 100644
--- a/I2C.cpp
+++ b/I2C.cpp
@@ -8,11 +8,21 @@
using namespace std;
+void takeARide(int speed);
+void StopTheRide();
+
const int LED = 0x08;
const int ON = 0x01;
const int OFF = 0x00;
-int main(int argc, char const *argv[]) {
+const int ADC = 0x48;
+
+const int PWM_PIN_RIGHT = 23;
+const int M1DIR_RIGHT = 21;
+const int PWM_PIN_LEFT = 26;
+const int M2DIR_LEFT = 22;
+
+void useTheLED() {
int fd = wiringPiI2CSetup(LED);
@@ -22,13 +32,81 @@ int main(int argc, char const *argv[]) {
printf("LIGHT ON!\n");
}
- delay(5000);
+ for (int i = 0; i < 10; i++) {
+ wiringPiI2CWrite(fd, ON);
+ delay(770);
+ wiringPiI2CWrite(fd, OFF);
+ delay(770);
+ }
wiringPiI2CWrite(fd, OFF);
if (wiringPiI2CRead(fd) == OFF) {
printf("LIGHT OFF!\n");
}
+}
+
+void useADC() {
+
+ int fd = wiringPiI2CSetup(ADC);
+
+ cout << wiringPiI2CRead(fd) << endl;
+
+ takeARide(600);
+ for (int i = 0; i < 10; i++)
+ {
+ cout << wiringPiI2CRead(fd) << endl;
+ delay(500);
+ }
+ StopTheRide();
+ cout << wiringPiI2CRead(fd) << endl;
+
+}
+
+void takeARide(int speed) {
+
+ int wheelSpeed = speed;
+
+ 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);
+
+ 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");
+
+}
+
+void StopTheRide() {
+
+ printf("And we stop\n");
+
+ pwmWrite(PWM_PIN_RIGHT, 0);
+ pwmWrite(PWM_PIN_LEFT, 0);
+}
+
+int main(int argc, char const *argv[]) {
+
+ string answer;
+
+ cout << "led or adc ?" << endl;
+ cin >> answer ;
+
+ if (answer == "led") useTheLED();
+ else if (answer == "adc") {
+ useADC();
+ }
+
return 0;
}
diff --git a/Makefile b/Makefile
index 22a4528..3e2d8c7 100644
--- a/Makefile
+++ b/Makefile
@@ -6,8 +6,8 @@ switch : compile_switch
motor : compile_motor
sudo ./motor
-led : compile_LED
- sudo ./led
+i2c : compile_LED
+ sudo ./i2c
# compilations
@@ -18,8 +18,8 @@ compile_motor :
gcc -o motor motor.c -lwiringPi
compile_LED :
- g++ -o led I2C.cpp -lwiringPi
+ g++ -o i2c I2C.cpp -lwiringPi
.PHONY : clean
clean :
- rm -rf switch motor led
+ rm -rf switch motor led i2c
diff --git a/encoder.c b/encoder.c
index b7977b2..8d22335 100644
--- a/encoder.c
+++ b/encoder.c
@@ -14,9 +14,10 @@ const int ENC_PIN_2A = 35; //from FPGA to ENCODER -> ouput data from encod
const int ENC_PIN_2B = 34; //from FPGA to ENCODER -> ouput data from encoder
const int SCK_PIN = 14; //from RASPI to FPGA -> clock signal
const int SCK_PIN_FPGA = 13; //from FPGA to ENCODER -> clock signal
-const int SS_BAR_1 = 10; //CE0 from RASPI to FPGA -> enable encoder
-const int SS_BAR_2 = 11; //CE1 from RASPI to FPGA -> enable encoder
-
+const int SS_PIN_1 = 10; //CE0 from RASPI to FPGA -> enable encoder
+const int SS_PIN_2 = 11; //CE1 from RASPI to FPGA -> enable encoder
+const int CE0_PIN_FPGA = 11;
+const int CE1_PIN_FPGA = 11;
int main(int argc, char const *argv[])
{
if (wiringPiSetup() == -1) {
--
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