diff --git a/LiDAR/LIDAR.cpp b/LiDAR/LIDAR.cpp
index b46b00011ca528aa967c5b4a8e38a77f55c0592a..42a702913b5580b9a6bbacae3208e381ae69c5bb 100644
--- a/LiDAR/LIDAR.cpp
+++ b/LiDAR/LIDAR.cpp
@@ -9,12 +9,15 @@
#include <iostream>
#include <time.h>
-#include "../main.c"
+#include "diegdieg.h"
+#include "dams.h"
+
+// #include "../main.h"
using namespace sl;
-int main_lidar(int argc, char const *argv[])
-{
+void** InitialiseLiDAR() {
+
// Create communication instance channel
IChannel *channel;
channel = *createSerialPortChannel("/dev/ttyUSB0", 115200);
@@ -22,6 +25,10 @@ int main_lidar(int argc, char const *argv[])
ILidarDriver *lidar = *createLidarDriver();
auto res = lidar->connect(channel);
+ // int nothing = times2(2);
+ // printf("nothing = %i\n", nothing);
+ // printDams();
+
if (SL_IS_OK(res)) {
// Infos sur le LiDAR
sl_lidar_response_device_info_t deviceInfo;
@@ -43,12 +50,10 @@ int main_lidar(int argc, char const *argv[])
fprintf(stderr, "Error, slamtec lidar internal error detected. Please reboot the device to retry.\n");
// enable the following code if you want slamtec lidar to be reboot by software
// drv->reset();
- return false;
}
} else {
fprintf(stderr, "Error, cannot retrieve the lidar health code: %x\n", res);
- return false;
}
} else {
fprintf(stderr, "Failed to connect to LIDAR %08x\r\n", res);
@@ -60,40 +65,63 @@ int main_lidar(int argc, char const *argv[])
LidarScanMode scanmode;
res = lidar->startScan(0,1,0,&scanmode);
+ void ** result = (void **) malloc(sizeof(IChannel*) + sizeof(ILidarDriver *));
+ result[0] = lidar;
+ result[1] = channel;
+ return result;
+}
+
+void destroyLidar(void** machin) {
+ ILidarDriver *lidar;
+ IChannel* channel;
+ lidar = (ILidarDriver *) machin[0];
+ channel = (IChannel *) machin[1];
+ lidar->stop();
+ lidar->disconnect();
+ free(lidar);
+ free(channel);
+ free(machin);
+}
+
+int main(int argc, char const *argv[])//, regulation *myregulation)
+{
+ ILidarDriver *lidar;
+ IChannel* channel;
+ void** dptr = InitialiseLiDAR();
+ lidar = (ILidarDriver *) dptr[0];
+ channel = (IChannel *) dptr[1];
+
sl_lidar_response_measurement_node_hq_t nodes[8300];
size_t nodeCount = sizeof(nodes)/sizeof(sl_lidar_response_measurement_node_hq_t);
- clock_t start, end;
- start = clock();
- res = lidar->grabScanDataHq(nodes, nodeCount);
- end = clock();
+ // clock_t start, end;
+ // start = clock();
+ auto res = lidar->grabScanDataHq(nodes, nodeCount);
+ // end = clock();
if (IS_FAIL(res))
{
fprintf(stderr, "Failed to grab data\n");
}
- printf("time for grabbing data : %f\n", double((end-start)) / CLOCKS_PER_SEC);
+ // printf("time for grabbing data : %f\n", double((end-start)) / CLOCKS_PER_SEC);
lidar->ascendScanData(nodes, nodeCount);
- FILE *file = fopen("lidar.csv","w");
+ // FILE *file = fopen("lidar.csv","w");
- fprintf(file, "theta\tdist\n");
+ // fprintf(file, "theta\tdist\n");
for (size_t i = 0; i < nodeCount; i++)
{
- fprintf(file, "%.3f\t%.3f\n",nodes[i].angle_z_q14 * 90.f / (1 << 14), nodes[i].dist_mm_q2 / 1000.f / (1 << 2));
+ // fprintf(file, "%.3f\t%.3f\n",nodes[i].angle_z_q14 * 90.f / (1 << 14), nodes[i].dist_mm_q2 / 1000.f / (1 << 2));
// printf("mesure %i : theta = %.3f°, dist = %.3f m\n",i,nodes[i].angle_z_q14 * 90.f / (1 << 14), nodes[i].dist_mm_q2 / 1000.f / (1 << 2));
-
+ // myregulation->mylidardata->angle[i]=nodes[i].angle_z_q14 * 90.f / (1 << 14);
+ // myregulation->mylidardata->dist[i]=nodes[i].dist_mm_q2 / 1000.f / (1 << 2);
}
- fclose(file);
- lidar->stop();
- lidar->disconnect();
+ // fclose(file);
+ destroyLidar(dptr);
- // Delete the instances
- delete lidar;
- delete channel;
return 0;
}
diff --git a/LiDAR/LiDAR b/LiDAR/LiDAR
index 8488ce33f70c4eb41710c0500212c383bf5362c7..0280b76f8ba11267e0c7e1bc8897cc23998b7a8e 100755
Binary files a/LiDAR/LiDAR and b/LiDAR/LiDAR differ
diff --git a/LiDAR/Makefile b/LiDAR/Makefile
index 8fec5da5b8a368e917e4df41d501c43e22cfdbb1..6e71bf91655a6f85a30927398e62963c4e93ffcf 100644
--- a/LiDAR/Makefile
+++ b/LiDAR/Makefile
@@ -7,8 +7,8 @@ include $(HOME_TREE)/mak_def.inc
CXXSRC += LIDAR.cpp
C_INCLUDES += -I$(CURDIR)/../rplidar_sdk-master/sdk/include -I$(CURDIR)/../rplidar_sdk-master/sdk/src
-EXTRA_OBJ :=
-LD_LIBS += -lstdc++ -lpthread
+EXTRA_OBJ := diegdieg.o dams.o
+LD_LIBS += -lstdc++ -lpthread -lwiringPi
all: build_app
diff --git a/LiDAR/dams.cpp b/LiDAR/dams.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..868c173dd720eb6b72b8fc934b716f6beb5d0ecf
--- /dev/null
+++ b/LiDAR/dams.cpp
@@ -0,0 +1,5 @@
+#include "dams.h"
+
+void printDams() {
+ printf("Je suis Damien\n");
+}
\ No newline at end of file
diff --git a/LiDAR/dams.h b/LiDAR/dams.h
new file mode 100644
index 0000000000000000000000000000000000000000..84c15831b7b6aee75cda29062d25badce71065a9
--- /dev/null
+++ b/LiDAR/dams.h
@@ -0,0 +1,9 @@
+#ifndef _DAM_H_
+#define _DAM_H_
+
+#include <stdio.h>
+#include <stdlib.h>
+
+void printDams();
+
+#endif
\ No newline at end of file
diff --git a/LiDAR/diegdieg.cpp b/LiDAR/diegdieg.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..a63009d279a2cbf6752f8ef5d8f010176d55dc69
--- /dev/null
+++ b/LiDAR/diegdieg.cpp
@@ -0,0 +1,8 @@
+#include "diegdieg.h"
+
+int times2(int i) {
+
+
+
+ return 2*i;
+}
diff --git a/LiDAR/diegdieg.h b/LiDAR/diegdieg.h
new file mode 100644
index 0000000000000000000000000000000000000000..61b6f325b32d974b3a066a9bbffc8b430b9b4aa7
--- /dev/null
+++ b/LiDAR/diegdieg.h
@@ -0,0 +1,8 @@
+#ifndef _DIEG_H_
+#define _DIEG_H_
+
+#include <wiringPi.h>
+
+int times2(int i);
+
+#endif
\ No newline at end of file
diff --git a/LiDAR/lidar.csv b/LiDAR/lidar.csv
index c718b8e21d44ed71be1912a10fc56a89775fa940..68871c52132536273d286cad1afff06a8b903382 100644
--- a/LiDAR/lidar.csv
+++ b/LiDAR/lidar.csv
@@ -1,1063 +1,1059 @@
theta dist
-0.011 3.008
-0.357 2.984
-0.703 2.964
-1.044 2.964
-1.373 2.956
-1.714 2.932
-2.060 2.920
-2.390 2.908
-2.730 2.880
-3.076 2.868
-3.406 2.856
-3.746 2.844
-4.092 2.840
-4.417 2.820
-4.763 2.800
-5.109 2.804
-5.433 2.792
-5.779 2.764
-6.125 2.748
-6.449 2.740
-6.795 2.736
-7.185 2.732
-7.531 2.720
-7.872 2.704
-8.201 2.692
-9.174 0.000
-9.218 2.656
-9.509 0.000
-10.190 0.000
-10.234 2.608
-10.525 0.000
-10.574 2.612
-10.920 2.644
-11.250 2.652
-11.591 2.640
-11.937 2.628
-12.261 2.620
-12.607 2.624
-12.953 2.644
-13.277 2.628
-13.623 2.556
-13.964 2.496
-14.293 2.476
-14.639 2.492
-14.980 2.520
-15.326 2.544
-15.886 3.076
-16.216 3.112
-16.287 0.000
-16.562 3.148
-17.232 3.188
-17.644 0.000
-18.089 5.632
-18.325 0.000
-18.660 0.000
-18.984 2.888
-19.325 2.900
-19.341 0.000
-19.671 2.900
-19.995 2.896
-20.341 2.900
-20.687 2.904
-21.011 2.900
-21.357 2.896
-21.698 2.896
-22.028 2.892
-22.374 2.896
-22.714 2.900
-23.060 2.900
-23.390 2.900
-23.730 2.900
-24.077 2.896
-24.417 2.896
-24.747 2.900
-25.093 2.904
-25.433 2.904
-25.763 2.904
-26.109 2.904
-26.450 2.900
-26.796 2.900
-27.120 2.900
-27.466 2.904
-27.812 2.908
-28.152 2.912
-28.482 2.912
-28.828 2.912
-29.169 2.916
-29.498 2.916
-29.839 2.920
-30.185 2.924
-30.531 2.928
-30.855 2.932
-31.201 2.932
-31.542 2.932
-31.888 2.936
-32.217 2.940
-32.558 2.944
-32.904 2.948
-33.234 2.948
-33.574 2.948
-33.920 2.952
-34.261 2.956
-34.590 2.960
-34.937 2.964
-35.277 2.968
-35.623 2.972
-35.953 2.972
-36.293 2.976
-36.639 2.980
-36.980 2.984
-37.310 2.992
-37.656 2.996
-37.996 3.000
-38.326 3.004
-38.672 3.008
-39.012 3.016
-39.359 3.020
-39.683 3.028
-40.029 3.036
-40.375 3.048
-40.715 3.052
-41.045 3.060
-41.385 3.064
-41.732 3.072
-42.358 3.420
-42.687 3.428
-42.731 0.000
-43.028 3.436
-43.374 3.444
-43.698 3.452
-44.044 3.460
-44.390 3.468
-44.731 3.476
-45.747 3.484
-45.780 0.000
-46.121 0.000
-46.137 3.068
-46.483 3.024
-46.824 2.988
-47.153 2.956
-47.499 2.932
-47.840 2.908
-48.186 2.876
-48.516 2.848
-48.856 2.816
-49.202 2.784
-49.526 2.760
-49.872 2.744
-50.867 0.000
-50.949 2.708
-51.207 0.000
-51.625 2.548
-51.883 0.000
-51.965 2.492
-52.701 2.384
-52.899 0.000
-53.042 2.364
-53.915 0.000
-54.058 2.344
-54.256 0.000
-54.575 3.456
-54.921 3.472
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-55.245 3.488
-55.591 3.500
-55.871 3.516
-56.217 3.524
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-57.233 3.580
-57.574 3.600
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-58.936 3.620
-59.002 0.000
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-59.952 3.560
-60.018 0.000
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-61.013 3.472
-61.035 0.000
-61.359 3.448
-61.375 0.000
-61.699 3.424
-62.029 3.404
-62.375 3.388
-62.715 3.372
-63.062 3.320
-63.386 3.276
-63.732 3.268
-64.078 3.260
-64.402 3.260
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-65.089 3.256
-65.435 3.252
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-66.105 3.252
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-69.500 3.232
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-70.170 3.236
-71.136 4.008
-71.208 0.000
-71.483 4.008
-71.543 0.000
-71.812 3.996
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diff --git a/controller.cpp b/controller.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..5bd9d1d2a97b25bae4f8c0033028a773eec7daf5
--- /dev/null
+++ b/controller.cpp
@@ -0,0 +1,110 @@
+# include "main.h"
+
+
+//modélise les deux moteur séparément ? -> deux K et tau distinc et donc 2 controller différent aussi
+#define K 1
+#define Tau 1
+#define Kp 1
+#define Ki 1
+#define Kp_dist 1
+#define Kp_angl 1
+
+#define pwm_start 560
+#define pwm_end 600
+
+
+double e[2];
+double e_pos[2];
+
+void low_level(regulation *myregulation){
+ //printf("LOW level unit\n");
+
+ double timestep = 0.01; //a définir plus tard soit avec une clock soit un import time
+ e[0] = myregulation->myspeed->w_ref[0]-myregulation->myspeed->w[0];
+ e[1] = myregulation->myspeed->w_ref[1]-myregulation->myspeed->w[1];
+
+ //integral part
+ myregulation->myspeed->e_int[0] += e[0]*timestep;
+ myregulation->myspeed->e_int[1] += e[1]*timestep;
+
+ //REGULATEUR PI
+ myregulation->myspeed->wheel_command[0] = e[0]*Kp + myregulation->myspeed->e_int[0]*Ki;
+ myregulation->myspeed->wheel_command[1] = e[1]*Kp + myregulation->myspeed->e_int[1]*Ki;
+ limiter(myregulation);
+ convert_pwm(myregulation);
+
+}
+
+void middle_level(regulation *myregulation){
+ //printf("MIDDLE level unit\n");
+
+ /*
+ if (myregulation->myspeed->w_robot[1]==0.0){ //d abord annuler l erreur sur l angle
+ myregulation->myspeed->w_ref[0]=myregulation->myspeed->w_robot[0]; //vitesse linéaire => vitesse de chaque roue égale
+ myregulation->myspeed->w_ref[1]=-myregulation->myspeed->w_robot[0];
+ }else{
+ myregulation->myspeed->w_ref[0]=dist_roue_axe*myregulation->myspeed->w_robot[1];
+ myregulation->myspeed->w_ref[1]=dist_roue_axe*myregulation->myspeed->w_robot[1]; //positif ou négatif ?
+ }
+ */
+
+ //%%%%tourner et rouler en meme temps//
+
+ myregulation->myspeed->w_ref[0]=(myregulation->myspeed->w_robot[0]-myregulation->myspeed->w_robot[1]*dist_roue_axe)/rayon_roue;
+ myregulation->myspeed->w_ref[1]=-(myregulation->myspeed->w_robot[0]+myregulation->myspeed->w_robot[1]*dist_roue_axe)/rayon_roue;
+
+ low_level(myregulation);
+}
+
+void high_level(regulation *myregulation){
+ //printf("HIGH level unit\n");
+
+ e_pos[0]=myregulation->mybeacon->beacon_data[0]; //ici dis_ref et angle_ref = 0 car on veut venir proche sur beacon
+ e_pos[1]=myregulation->mybeacon->beacon_data[1];
+
+ //REGULATEUR P
+ myregulation->myspeed->w_robot[0]=Kp_dist*e_pos[0];
+ myregulation->myspeed->w_robot[1]=Kp_angl*e_pos[1];
+
+ middle_level(myregulation);
+}
+
+void limiter(regulation *myregulation){
+ //printf("LIMITER unit\n");
+
+ int i;
+ for(i=0; i<2; i++){ //pour chaque roue on regarde si on est pas hors de la zone liénaire
+ if (myregulation->myspeed->wheel_command[i] > 100){
+ myregulation->myspeed->wheel_command[i] = 100;
+ }
+ else if (myregulation->myspeed->wheel_command[i] < -100){
+ myregulation->myspeed->wheel_command[i] = -100;
+ }
+ }
+}
+
+void convert_pwm(regulation *myregulation){
+ //printf("PWM CONVERTOR unit\n");
+
+ //pour chaque roue venir regarder dans quel sens on veut qu'elle aille et de la venir assigner
+ //la valeur 0 ou 1 selon la roue considéré !! à vérifier
+ if (myregulation->myspeed->wheel_command[0]>0){
+ myregulation->myspeed->wheel_direction[0]=0;
+ }
+ else if (myregulation->myspeed->wheel_command[0]<0){
+ myregulation->myspeed->wheel_direction[0]=1;
+ }
+
+ if (myregulation->myspeed->wheel_command[1]<0){
+ myregulation->myspeed->wheel_direction[1]=1;
+
+ }
+ else if (myregulation->myspeed->wheel_command[1]>0){
+ myregulation->myspeed->wheel_direction[1]=0;
+
+ }
+ //0 -> 565 ?
+ //100 -> 655?
+ myregulation->myspeed->wheel_command[0]=pwm_start + ((pwm_end-pwm_start)/100)*fabs(myregulation->myspeed->wheel_command[0]);
+ myregulation->myspeed->wheel_command[1]=pwm_start + ((pwm_end-pwm_start)/100)*fabs(myregulation->myspeed->wheel_command[1]);
+}
\ No newline at end of file
diff --git a/dieg b/dieg
index c02261cfd097d0b230b424589193306663786e51..b1da6c6672168dc07bf3981f4eabc455831cfd94 100755
Binary files a/dieg and b/dieg differ
diff --git a/dieg.cpp b/dieg.cpp
index d4e04725161c1e65759ad6b3df7d3e2aac4d7507..0cd0750e5090c14fed9025320c00912b85532cf5 100644
--- a/dieg.cpp
+++ b/dieg.cpp
@@ -57,8 +57,8 @@ int main(int argc, char const *argv[])
wiringPiSPIDataRW(1, buffer, size_buffer);
- pwmWrite(PWM_PIN_RIGHT, 600);
- pwmWrite(PWM_PIN_LEFT, 570);
+ // pwmWrite(PWM_PIN_RIGHT, 600);
+ // pwmWrite(PWM_PIN_LEFT, 570);
int vit = 0;
float speed=0;
@@ -67,9 +67,12 @@ int main(int argc, char const *argv[])
int toDecimal = 0;
int nbre_tics;
- FILE *f = fopen("speed600.csv", "w");
- fprintf(f, "Time [s]\tSpeed [m/s]\n");
- clock_t start = clock();
+ // FILE *f = fopen("speed600.csv", "w");
+ // fprintf(f, "Time [s]\tSpeed [m/s]\n");
+ // clock_t start = clock();
+
+ int i = 0;
+ int PWM = 562;
while (1)
{
@@ -78,12 +81,8 @@ int main(int argc, char const *argv[])
buffer[1] = 0x00;
buffer[2] = 0x00;
buffer[3] = 0x01;
- // int result = wiringPiSPIDataRW(1,buffer, size_buffer);
- //printf("%x %x %x %x\r", buffer[0],buffer[1],buffer[2],buffer[3]);
- // count=(buffer[0]*pow(16, 4))+(buffer[1]*pow(16, 2))+(buffer[2]*pow(16, 0));
- // speed=(count-count_d);//(60/(2*3.1415))*(2*3.1415/960)*
- // printf("%lf\r", count);
- // fflush(stdout);
+
+ sleep(1);
wiringPiSPIDataRW(1, buffer, size_buffer);
@@ -91,14 +90,19 @@ int main(int argc, char const *argv[])
nbre_tics = (signed char) (buffer[3] | (buffer[2] << 8) | (buffer[1] << 16) | (buffer[0] << 24));
speed = nbre_tics * TOSPEED;
-
+
+ printf("PWM = %i \n", PWM);
printf("%.3f [m/s]\n", speed);
+
+ pwmWrite(PWM_PIN_RIGHT, PWM);
+ pwmWrite(PWM_PIN_LEFT, PWM);
+
- fprintf(f, "%.6f\t%.6f\n",((double) (clock()-start)) / CLOCKS_PER_SEC, speed);
+ // fprintf(f, "%.6f\t%.6f\n",((double) (clock()-start)) / CLOCKS_PER_SEC, speed);
}
end:
- fclose(f);
+ // fclose(f);
pwmWrite(PWM_PIN_RIGHT, 0);
pwmWrite(PWM_PIN_LEFT, 0);
diff --git a/encoder.c b/encoder.c
new file mode 100644
index 0000000000000000000000000000000000000000..13980bbd8eb51c2067a09614f005889e79a3676d
--- /dev/null
+++ b/encoder.c
@@ -0,0 +1,54 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <iostream>
+#include <string.h>
+#include <math.h>
+#include <wiringPi.h>
+#include <wiringPiSPI.h>
+#include <conio.h>
+#include "main.h"
+
+using namespace std;
+const float TOSPEED = 2*M_PI * 2.95e-2 / (1920. * 0.01); // 2*PI*R / (TICS_1_TURN*delta t)
+const int size_buffer = 4;
+unsigned char buffer [size_buffer];
+
+void encoder(regulation *myregulation){
+ int fd;
+ fd = wiringPiSPISetup(1, 1000000);
+
+ buffer[0] = 0x00;
+ buffer[1] = 0x00;
+ buffer[2] = 0x00;
+ buffer[3] = 0x00;
+ //buffer[4] = 0x00;
+
+ wiringPiSPIDataRW(1, buffer, size_buffer);
+
+ sleep(1);
+
+ buffer[0] = 0x00;
+ buffer[1] = 0x00;
+ buffer[2] = 0x00;
+ buffer[3] = 0x01;
+ wiringPiSPIDataRW(1, buffer, size_buffer);
+ int nbre_tics[2];
+ while (1)
+ {
+ buffer[0] = 0x00;
+ buffer[1] = 0x00;
+ buffer[2] = 0x00;
+ buffer[3] = 0x01;
+ //sleep(1);
+ wiringPiSPIDataRW(1, buffer, size_buffer);
+ nbre_tics[0] = (signed char) (buffer[3] | (buffer[2] << 8));
+ nbre_tics[1] = (signed char) (buffer[1] | (buffer[0] << 8));
+ myregulation->myspeed->w_ref[0] = nbre_tics[0] * TOSPEED;
+ myregulation->myspeed->w_ref[1] = nbre_tics[1] * TOSPEED;
+
+ }
+}
+
+
+
\ No newline at end of file
diff --git a/encoder.cpp b/encoder.cpp
deleted file mode 100644
index f93c0c8db05e86760529aec13988f453447c9969..0000000000000000000000000000000000000000
--- a/encoder.cpp
+++ /dev/null
@@ -1,79 +0,0 @@
-#include <stdio.h>
-#include <stdlib.h>
-#include <unistd.h>
-#include <iostream>
-#include <string.h>
-#include <math.h>
-#include <wiringPi.h>
-#include <wiringPiSPI.h>
-#include <conio.h>
-
-using namespace std;
-
-const int BYTE_len=4;
-const int SPI_CHANNEL=1;
-unsigned char rawData[BYTE_len];
-unsigned char rawData_delayed[BYTE_len];
-float count;
-float clock_count;
-float count_delayed;
-float speed;
-int freq=500000;
-int res = 64;
-int i =0;
-int main(int argc, char const *argv[])
-{
-
- rawData_delayed[0]=0x00;
- rawData_delayed[1]=0x00;
- rawData_delayed[2]=0x00;
- rawData_delayed[3]=0x00;
-
- if (wiringPiSetup() == -1) {
- printf("WiringPiSetup failed\n");
- exit(EXIT_FAILURE);
- }
-
- //memset(rawData,0x01,BYTE_len);
- rawData[3]=0x00;
- rawData[2]=0x00;
- rawData[1]=0x00;
- rawData[0]=0x00;
- int fd = wiringPiSPISetup(SPI_CHANNEL, 500000);
-
- //for (int i=0; i<4; i++){
- //printf("%02X \n", rawData[i]);
- //}
- FILE *file = fopen("encoder.txt", "w");
- while(1) {
- int result = wiringPiSPIDataRW(SPI_CHANNEL, rawData, BYTE_len);
- //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));
- 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=(60/(2*3.1415))*(2*3.1415/res)*50000000/(count-count_delayed);
- //printf("\r%lf", speed);
- //fflush(stdout);
- count_delayed=count;
- //printf("\n");
- //sleep(1);
- i+=1;
- if (speed!=INFINITY){
- fprintf(file, "\n%lf,%d",speed, i);}
- if (kbhit()) break;
- }
-
- fclose(file);
- return 0;
-
-}
-
-
-
\ No newline at end of file
diff --git a/initialization.cpp b/initialization.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..119918363a47e58d84185ac4569b3eb54065d7eb
--- /dev/null
+++ b/initialization.cpp
@@ -0,0 +1,38 @@
+#include "main.h"
+
+void initialization(regulation *myregulation){
+
+ //MOTOR
+
+ 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);
+
+ //ENCODER_SPI
+ int size_buffer = 4;
+ int fd;
+ fd = wiringPiSPISetup(1, 1000000);
+ unsigned char buffer [size_buffer];
+
+ buffer[0] = 0x00;
+ buffer[1] = 0x00;
+ buffer[2] = 0x00;
+ buffer[3] = 0x00;
+ //buffer[4] = 0x00;
+
+ wiringPiSPIDataRW(1, buffer, size_buffer);
+
+ sleep(1);
+
+ buffer[0] = 0x00;
+ buffer[1] = 0x00;
+ buffer[2] = 0x00;
+ buffer[3] = 0x01;
+ wiringPiSPIDataRW(1, buffer, size_buffer);
+
+}
diff --git a/lidar b/lidar
deleted file mode 100755
index ea924f6bf2731f93cfe0a0c177158a3659f4cdac..0000000000000000000000000000000000000000
Binary files a/lidar and /dev/null differ
diff --git a/lidar.csv b/lidar.csv
deleted file mode 100644
index feb2c269764cee73cb0537795646e7ea0f840e13..0000000000000000000000000000000000000000
--- a/lidar.csv
+++ /dev/null
@@ -1,1063 +0,0 @@
-theta dist
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diff --git a/lidar_detect.c b/lidar_detect.c
deleted file mode 100644
index e5f0b0652b1ad73613ce6da0bd1341c81abce7e2..0000000000000000000000000000000000000000
--- a/lidar_detect.c
+++ /dev/null
@@ -1,9 +0,0 @@
-
-/*
-//#include "LIDAR.cpp"
-#include "main.c"
-int int main(int argc, const char** argv) {
- return 0;
-}
-
-*/
diff --git a/lidar_detect.cpp b/lidar_detect.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..27492e5ff38a287b2f90fc7f6b5d7577c5843bc3
--- /dev/null
+++ b/lidar_detect.cpp
@@ -0,0 +1,49 @@
+#include "main.h"
+
+double treshold_dist=4000;
+double treshold_dist_compare=3;
+double data_factor;
+double old_angle;
+double old_dist;
+double angle;
+double dist;
+
+double angle_beacon[2]; //premier et dernière valeur du beacon
+double dist_beacon[2];
+int first_data=0; //0 -> chercher première valeur ; 1 -> chercher dernière valeur ; 2 -> vérif si beacon
+
+void lidar_detect(regulation *myregulation){
+ //printf("Lidar process\n");
+
+ for(int i; i<res_lidar; i++){
+ dist=myregulation->mylidardata->dist[i];
+ angle=myregulation->mylidardata->angle[i];
+ if ((old_dist-dist<treshold_dist_compare) & (first_data==0)){
+ angle_beacon[0]=old_angle;
+ dist_beacon[0]=old_dist;
+ first_data=1;
+ }
+ else if ((old_dist-dist>treshold_dist_compare) & (first_data==1)){
+ angle_beacon[1]=old_angle;
+ dist_beacon[1]=old_dist;
+ first_data=2;
+ }
+
+ else if (first_data==2){
+ data_factor=((dist_beacon[0]+dist_beacon[1])/2.)*tan((angle_beacon[1]-angle_beacon[0])/2.);
+ if ((data_factor>form_factor+form_factor*0.2) | (data_factor<form_factor-form_factor*0.2)){
+ first_data=0;
+ }
+ else {
+ myregulation->mybeacon->beacon_data[0]=(dist_beacon[0]+dist_beacon[1])/2.;
+ myregulation->mybeacon->beacon_data[1]=(angle_beacon[0]+angle_beacon[1])/2.;
+ break;
+ }
+ }
+
+ old_angle=angle;
+ old_dist=dist;
+ }
+ }
+
+
diff --git a/main.c b/main.c
deleted file mode 100644
index 528276bab982b5099e3a90104bd0a4f6d58597b5..0000000000000000000000000000000000000000
--- a/main.c
+++ /dev/null
@@ -1,32 +0,0 @@
-/*
-
-# include <stdio.h>
-# include <stdlib.h>
-# include <math.h>
-# include <string.h>
-# include <assert.h>
-
-//# include "lidar_detect.c"
-
-# define res_lidar 1068
-
-typedef struct {
- double *dist_beacon;
- double *angle_beacon;
-} lidarinfo;
-
-int main() {
- lidarinfo *mylidarinfo = malloc(sizeof(lidarinfo));
-
- mylidarinfo->angle_beacon=malloc(sizeof(double)*res_lidar);
- mylidarinfo->dist_beacon=malloc(sizeof(double)*res_lidar);
-
-
- free(mylidarinfo->angle_beacon);
- free(mylidarinfo->dist_beacon);
- free(mylidarinfo);
-
- return 0;
-}
-
-*/
\ No newline at end of file
diff --git a/main.cpp b/main.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..1cf4aa3f519ded838adf25a72399cdb1431cd566
--- /dev/null
+++ b/main.cpp
@@ -0,0 +1,65 @@
+#include "main.h"
+#include <wiringPi.h>
+
+
+int main(void) {
+
+ //%%%%%%%%%MALLOC%%%%%%%%
+ regulation *myregulation = (regulation *) malloc(sizeof(regulation));
+ myregulation->mylidardata = (lidardata *) malloc(sizeof(lidardata));
+ myregulation->mybeacon = (beacon *) malloc(sizeof(beacon));
+ myregulation->myspeed = (speed *) malloc(sizeof(speed));
+
+ myregulation->mylidardata->angle = (double *) malloc(sizeof(double)*res_lidar);
+ myregulation->mylidardata->dist = (double *) malloc(sizeof(double)*res_lidar);
+
+ //%%%%%%%%%INITIALISATION%%%%%%%%
+ for (int i=0; i<2; i++){
+ myregulation->myspeed->w[i]=0;
+ myregulation->myspeed->w_ref[i]=0;
+ myregulation->myspeed->w_robot[i]=0;
+ myregulation->myspeed->wheel_command[i]=0;
+ myregulation->myspeed->wheel_direction[i]=0;
+ myregulation->myspeed->e_int[i]=0;
+ }
+
+ initialization(myregulation);
+
+ //%%%%%%%%%FCT%%%%%%%%
+ //printf("Main process\n");
+
+
+ while (myregulation->mybeacon->beacon_data[0]>10)
+ {
+ //update_lidar(myregulation);
+ lidar_detect(myregulation);
+ encoder(myregulation);
+ high_level(myregulation);
+ speed_control(myregulation);
+ }
+
+
+ pwmWrite(PWM_PIN_LEFT, 0);
+ pwmWrite(PWM_PIN_RIGHT, 0);
+
+ /*
+ myregulation->mybeacon->beacon_data[0]=10;
+ myregulation->mybeacon->beacon_data[1]=2;
+ printf("dist beacon: %lf - angle beacon: %lf\n", myregulation->mybeacon->beacon_data[0], myregulation->mybeacon->beacon_data[1]);
+
+ lidar_detect(myregulation);
+ high_level(myregulation);
+
+ printf("wheel command: %lf - %lf\n", myregulation->myspeed->wheel_command[0], myregulation->myspeed->wheel_command[1]);
+ printf("wheel direction: %d - %d\n", myregulation->myspeed->wheel_direction[0], myregulation->myspeed->wheel_direction[1]);
+ */
+
+ //%%%%%%%%%FREE%%%%%%%%
+ free(myregulation->mylidardata->angle);
+ free(myregulation->mylidardata->dist);
+ free(myregulation->mylidardata);
+ free(myregulation->mybeacon);
+ free(myregulation);
+
+ exit(0);
+}
diff --git a/main.h b/main.h
new file mode 100644
index 0000000000000000000000000000000000000000..83a2335a7f0df295b3b88f9a76bae0b3637c9d19
--- /dev/null
+++ b/main.h
@@ -0,0 +1,59 @@
+# include <stdio.h>
+# include <stdlib.h>
+# include <math.h>
+# include <string.h>
+# include <assert.h>
+#include <wiringPi.h>
+#include <wiringPiSPI.h>
+#include <time.h>
+//#include <conio.h>
+
+
+# define res_lidar 1068
+# define form_factor 5 //diamètre beacon
+#define dist_roue_axe 10 //cm
+#define rayon_roue 2 //cm
+
+#define PWM_PIN_RIGHT 23
+#define M1DIR_RIGHT 21
+#define PWM_PIN_LEFT 26
+#define M2DIR_LEFT 22
+
+typedef struct {
+ double *dist;
+ double *angle;
+} lidardata;
+
+typedef struct {
+ double beacon_data[2];
+} beacon;
+
+typedef struct {
+ double w[2];
+ double w_ref[2];
+ double e_int[2];
+ double wheel_command[2];
+ int wheel_direction[2];
+ double w_robot[2]; //vitesse linéaire et rotation
+} speed;
+
+typedef struct {
+ lidardata *mylidardata;
+ beacon *mybeacon;
+ speed *myspeed;
+} regulation;
+
+int main(void);
+void lidar_detect(regulation *myregulation);
+void low_level(regulation *myregulation);
+void middle_level(regulation *myregulation);
+void high_level(regulation *myregulation);
+void limiter(regulation *myregulation);
+void convert_pwm(regulation *myregulation);
+void initialization(regulation *myregulation);
+int update_lidar(int argc, char const *argv[], regulation *myregulation);
+void speed_control(regulation *myregulation);
+void encoder(regulation *myregulation);
+
+//g++ -o test main.cpp lidar_detect.cpp controller.cpp
+//sudo ./test
\ No newline at end of file
diff --git a/motor.cpp b/motor.c
similarity index 61%
rename from motor.cpp
rename to motor.c
index 0e7fbc89e1443c739f6bc37ebb40c4b1346b408d..5ef523389084042b9f261e612ea8cb5c0a29c707 100644
--- a/motor.cpp
+++ b/motor.c
@@ -6,13 +6,17 @@
#include <wiringPi.h>
+#include "main.h"
+
+/*
const int PWM_PIN_RIGHT = 23;
const int M1DIR_RIGHT = 21;
const int PWM_PIN_LEFT = 26;
const int M2DIR_LEFT = 22;
// PWM pour vitesse minimale
-int wheelSpeed = 550;
+//int wheelSpeed = 550;
+
int main(int argc, char const *argv[])
{
@@ -46,4 +50,23 @@ end:
return 0;
}
+*/
+
+void speed_control(regulation *myregulation){
+
+ 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(M2DIR_LEFT, myregulation->myspeed->wheel_direction[0]);
+ digitalWrite(M1DIR_RIGHT, myregulation->myspeed->wheel_direction[1]);
+ pwmWrite(PWM_PIN_LEFT, myregulation->myspeed->wheel_command[0]);
+ pwmWrite(PWM_PIN_RIGHT, myregulation->myspeed->wheel_command[0]);
+
+}
\ No newline at end of file
diff --git a/speed600.csv b/speed600.csv
index 44e194c61626fdb16bec05f54970765726a45607..da1661d6344baf7318c642b0996d0cbe400c81d1 100644
--- a/speed600.csv
+++ b/speed600.csv
@@ -1,26011 +1,14242 @@
Time [s] Speed [m/s]
-0.000289 0.000000
-0.000495 0.000000
-0.000685 0.000000
-0.000872 0.000000
-0.001057 0.000000
-0.001243 0.000000
-0.001432 0.000000
-0.001622 0.000000
-0.001819 0.000000
-0.002018 0.000000
-0.002272 0.000000
-0.002474 0.000000
-0.002675 0.000000
-0.002871 0.000000
-0.003067 0.000000
-0.003262 0.000000
-0.003457 0.000000
-0.003661 0.000000
-0.003861 0.000000
-0.004057 0.000000
-0.004254 0.000000
-0.004453 0.000000
-0.004649 0.000000
-0.004848 0.000000
-0.005046 0.000000
-0.005246 0.000000
-0.005441 0.000000
-0.005636 0.000000
-0.005836 0.000000
-0.006052 0.000000
-0.006259 0.000000
-0.006457 0.000000
-0.006648 0.000000
-0.006839 0.000000
-0.007034 0.000000
-0.007265 0.000000
-0.007473 0.000000
-0.007665 0.000000
-0.007860 0.000000
-0.008062 0.000000
-0.008251 0.000000
-0.008486 0.000000
-0.008716 0.000000
-0.008909 0.000000
-0.009091 0.000000
-0.009277 0.000000
-0.009461 0.000000
-0.009645 0.000000
-0.009834 0.000000
-0.010019 0.000000
-0.010204 0.000000
-0.010389 0.308923
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