Merge branch 'main' of https://forge.uclouvain.be/ddebernardde/minibot

.gitignore

 WiringPi/
+MyInclude/
 *.out
-*.o
\ No newline at end of file
+*.o

Makefile

@@ -14,6 +14,6 @@ compile_switch :
 compile_motor :
 	gcc -o motor motor.c -lwiringPi
 
-.PHONY
+
 clean :
 	rm *.o
\ No newline at end of file

encoder.c

@@ -3,16 +3,31 @@
 
 #include <wiringPi.h>
 
-const int MOSI_PIN = 12; 
-const int MISO_PIN = 13;
-const int MOSI_PIN_FPGA = 14;
-const int MISO_PIN_FPGA = 16;
-const int ENC_PIN_1A = 38;
-const int ENC_PIN_1B = 36;
-const int ENC_PIN_2A = 35;
-const int ENC_PIN_2B = 34;
+const int MOSI_PIN = 12;        //from RASPI to FPGA
+const int MISO_PIN = 13;        //from RASPI to FPGA
+const int MOSI_PIN_FPGA = 14;   //from RASPI to FPGA
+const int MISO_PIN_FPGA = 16;   //from RASPI to FPGA
+const int VDD_PIN_FPGA = 29;    //from FPGA to ENCODER  -> ouput data from encoder
+const int ENC_PIN_1A = 38;      //from FPGA to ENCODER  -> ouput data from encoder
+const int ENC_PIN_1B = 36;      //from FPGA to ENCODER  -> ouput data from encoder
+const int ENC_PIN_2A = 35;      //from FPGA to ENCODER  -> ouput data from encoder
+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 = 2;         //from RASPI to FPGA    -> enable encoder
+const int SS_BAR_2 = 3;         //from RASPI to FPGA    -> enable encoder
 
 int main(int argc, char const *argv[])
 {   
+    if (wiringPiSetup() == -1) {
+        printf("WiringPiSetup failed\n");
+        exit(EXIT_FAILURE);
+    }
+
+    pinMode(ENC_PIN_1A, INPUT);
+    pinMode(ENC_PIN_1B, INPUT);
+    pinMode(ENC_PIN_2A, INPUT);
+    pinMode(ENC_PIN_2B, INPUT);
+
     return 0;
 }
\ No newline at end of file

motor.c

@@ -13,7 +13,8 @@ int wheelSpeed = 600;
 int main(int argc, char const *argv[])
 {
     if (wiringPiSetup() == -1) {
-        exit(1);
+        printf("WiringPiSetup failed\n");
+        exit(EXIT_FAILURE);
     }
     pinMode(PWM_PIN_RIGHT, PWM_OUTPUT);
     pinMode(PWM_PIN_LEFT, PWM_OUTPUT);

switch.c

@@ -9,8 +9,10 @@ const int PIN_SWITCH_LEFT  = 29;
 
 int main(int argc, char const *argv[])
 {
-    if (wiringPiSetup() == -1) exit(1);
-
+    if (wiringPiSetup() == -1) {
+        printf("WiringPiSetup failed\n");
+        exit(EXIT_FAILURE);
+    }
     pinMode(PIN_SWITCH_RIGHT, INPUT);
     pinMode(PIN_SWITCH_LEFT, INPUT);
     
@@ -23,6 +25,10 @@ int main(int argc, char const *argv[])
             printf("Vous avez poussé sur le uswitch gauche\n");
             delay(300);
         }
+
+        if (kbhit()) {
+            exit(EXIT_SUCCESS);
+        }
     }
 
     return 0;