bon avancement

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;
 }

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

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) {