From 08cee36f4a1af5ba44f9bcc2fd11106352025c0a Mon Sep 17 00:00:00 2001
From: Charles JAVERLIAT <charles.javerliat@gmail.com>
Date: Sun, 31 Jan 2021 18:22:56 +0100
Subject: [PATCH] =?UTF-8?q?Int=C3=A9gration=20mat=C3=A9rielle=20(par=20Mar?=
=?UTF-8?q?c=20LGLS)?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
---
.vscode/c_cpp_properties.json | 101 +++++++++++++++++++++------
.vscode/launch.json | 16 +++--
platformio.ini | 5 ++
src/main.cpp | 127 +++++++++++++++++++++++++++++-----
4 files changed, 202 insertions(+), 47 deletions(-)
diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
index ce98e89..6630f93 100644
--- a/.vscode/c_cpp_properties.json
+++ b/.vscode/c_cpp_properties.json
@@ -11,14 +11,40 @@
"/home/charles/Documents/Associatif/Clubelek/Robotique/Coupe de france/module-tirette/include",
"/home/charles/Documents/Associatif/Clubelek/Robotique/Coupe de france/module-tirette/src",
"/home/charles/Documents/Associatif/Clubelek/Robotique/Coupe de france/module-tirette/lib/ros_lib",
- "/home/charles/.platformio/packages/framework-arduino-avr/libraries/SPI/src",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/libraries/SPI/src",
"/home/charles/Documents/Associatif/Clubelek/Robotique/Coupe de france/module-tirette/lib/LiquidCrystal_I2C-1.1.3",
- "/home/charles/.platformio/packages/framework-arduino-avr/libraries/Wire/src",
- "/home/charles/.platformio/packages/framework-arduino-avr/cores/arduino",
- "/home/charles/.platformio/packages/framework-arduino-avr/variants/standard",
- "/home/charles/.platformio/packages/framework-arduino-avr/libraries/EEPROM/src",
- "/home/charles/.platformio/packages/framework-arduino-avr/libraries/HID/src",
- "/home/charles/.platformio/packages/framework-arduino-avr/libraries/SoftwareSerial/src",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/libraries/Wire/src",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/cores/arduino/avr",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/cores/arduino/stm32",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/cores/arduino/stm32/LL",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/cores/arduino/stm32/usb",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/cores/arduino/stm32/OpenAMP",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/cores/arduino/stm32/usb/hid",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/cores/arduino/stm32/usb/cdc",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/system/Drivers/STM32F3xx_HAL_Driver/Inc",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/system/Drivers/STM32F3xx_HAL_Driver/Src",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/system/STM32F3xx",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/system/Middlewares/ST/STM32_USB_Device_Library/Core/Inc",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/system/Middlewares/ST/STM32_USB_Device_Library/Core/Src",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/system/Middlewares/OpenAMP",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/system/Middlewares/OpenAMP/open-amp/lib/include",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/system/Middlewares/OpenAMP/libmetal/lib/include",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/system/Middlewares/OpenAMP/virtual_driver",
+ "/home/charles/.platformio/packages/framework-cmsis/CMSIS/Core/Include",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/system/Drivers/CMSIS/Device/ST/STM32F3xx/Include",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/system/Drivers/CMSIS/Device/ST/STM32F3xx/Source/Templates/gcc",
+ "/home/charles/.platformio/packages/framework-cmsis/CMSIS/DSP/Include",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/cores/arduino",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/variants/NUCLEO_F303K8",
+ "/home/charles/Documents/Associatif/Clubelek/Robotique/Coupe de france/module-tirette/.pio/libdeps/nucleo_f303k8/LiquidCrystal/src",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/libraries/CMSIS_DSP/src",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/libraries/EEPROM/src",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/libraries/IWatchdog/src",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/libraries/Keyboard/src",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/libraries/Mouse/src",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/libraries/Servo/src",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/libraries/SoftwareSerial/src",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/libraries/SrcWrapper/src",
"/home/charles/.platformio/packages/tool-unity",
""
],
@@ -28,32 +54,63 @@
"/home/charles/Documents/Associatif/Clubelek/Robotique/Coupe de france/module-tirette/include",
"/home/charles/Documents/Associatif/Clubelek/Robotique/Coupe de france/module-tirette/src",
"/home/charles/Documents/Associatif/Clubelek/Robotique/Coupe de france/module-tirette/lib/ros_lib",
- "/home/charles/.platformio/packages/framework-arduino-avr/libraries/SPI/src",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/libraries/SPI/src",
"/home/charles/Documents/Associatif/Clubelek/Robotique/Coupe de france/module-tirette/lib/LiquidCrystal_I2C-1.1.3",
- "/home/charles/.platformio/packages/framework-arduino-avr/libraries/Wire/src",
- "/home/charles/.platformio/packages/framework-arduino-avr/cores/arduino",
- "/home/charles/.platformio/packages/framework-arduino-avr/variants/standard",
- "/home/charles/.platformio/packages/framework-arduino-avr/libraries/EEPROM/src",
- "/home/charles/.platformio/packages/framework-arduino-avr/libraries/HID/src",
- "/home/charles/.platformio/packages/framework-arduino-avr/libraries/SoftwareSerial/src",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/libraries/Wire/src",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/cores/arduino/avr",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/cores/arduino/stm32",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/cores/arduino/stm32/LL",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/cores/arduino/stm32/usb",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/cores/arduino/stm32/OpenAMP",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/cores/arduino/stm32/usb/hid",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/cores/arduino/stm32/usb/cdc",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/system/Drivers/STM32F3xx_HAL_Driver/Inc",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/system/Drivers/STM32F3xx_HAL_Driver/Src",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/system/STM32F3xx",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/system/Middlewares/ST/STM32_USB_Device_Library/Core/Inc",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/system/Middlewares/ST/STM32_USB_Device_Library/Core/Src",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/system/Middlewares/OpenAMP",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/system/Middlewares/OpenAMP/open-amp/lib/include",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/system/Middlewares/OpenAMP/libmetal/lib/include",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/system/Middlewares/OpenAMP/virtual_driver",
+ "/home/charles/.platformio/packages/framework-cmsis/CMSIS/Core/Include",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/system/Drivers/CMSIS/Device/ST/STM32F3xx/Include",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/system/Drivers/CMSIS/Device/ST/STM32F3xx/Source/Templates/gcc",
+ "/home/charles/.platformio/packages/framework-cmsis/CMSIS/DSP/Include",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/cores/arduino",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/variants/NUCLEO_F303K8",
+ "/home/charles/Documents/Associatif/Clubelek/Robotique/Coupe de france/module-tirette/.pio/libdeps/nucleo_f303k8/LiquidCrystal/src",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/libraries/CMSIS_DSP/src",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/libraries/EEPROM/src",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/libraries/IWatchdog/src",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/libraries/Keyboard/src",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/libraries/Mouse/src",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/libraries/Servo/src",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/libraries/SoftwareSerial/src",
+ "/home/charles/.platformio/packages/framework-arduinoststm32/libraries/SrcWrapper/src",
"/home/charles/.platformio/packages/tool-unity",
""
]
},
"defines": [
- "PLATFORMIO=50004",
- "ARDUINO_AVR_UNO",
- "F_CPU=16000000L",
- "ARDUINO_ARCH_AVR",
+ "PLATFORMIO=50100",
+ "STM32F303x8",
+ "STM32F3xx",
"ARDUINO=10808",
- "__AVR_ATmega328P__",
+ "ARDUINO_ARCH_STM32",
+ "ARDUINO_NUCLEO_F303K8",
+ "BOARD_NAME=\"NUCLEO_F303K8\"",
+ "HAL_UART_MODULE_ENABLED",
""
],
"cStandard": "c11",
- "cppStandard": "c++11",
- "compilerPath": "/home/charles/.platformio/packages/toolchain-atmelavr/bin/avr-gcc",
+ "cppStandard": "c++14",
+ "compilerPath": "/home/charles/.platformio/packages/toolchain-gccarmnoneeabi/bin/arm-none-eabi-gcc",
"compilerArgs": [
- "-mmcu=atmega328p",
+ "-mfpu=fpv4-sp-d16",
+ "-mfloat-abi=hard",
+ "-mcpu=cortex-m4",
+ "-mthumb",
""
]
}
diff --git a/.vscode/launch.json b/.vscode/launch.json
index b3441db..1af128f 100644
--- a/.vscode/launch.json
+++ b/.vscode/launch.json
@@ -12,12 +12,13 @@
"type": "platformio-debug",
"request": "launch",
"name": "PIO Debug",
- "executable": "/home/charles/Documents/Associatif/Clubelek/Robotique/Coupe de france/module-tirette/.pio/build/arduino_uno/firmware.elf",
- "projectEnvName": "arduino_uno",
- "toolchainBinDir": "/home/charles/.platformio/packages/toolchain-atmelavr/bin",
+ "executable": "/home/charles/Documents/Associatif/Clubelek/Robotique/Coupe de france/module-tirette/.pio/build/nucleo_f303k8/firmware.elf",
+ "projectEnvName": "nucleo_f303k8",
+ "toolchainBinDir": "/home/charles/.platformio/packages/toolchain-gccarmnoneeabi/bin",
+ "svdPath": "/home/charles/.platformio/platforms/ststm32/misc/svd/STM32F30x.svd",
"preLaunchTask": {
"type": "PlatformIO",
- "task": "Pre-Debug (arduino_uno)"
+ "task": "Pre-Debug (nucleo_f303k8)"
},
"internalConsoleOptions": "openOnSessionStart"
},
@@ -25,9 +26,10 @@
"type": "platformio-debug",
"request": "launch",
"name": "PIO Debug (skip Pre-Debug)",
- "executable": "/home/charles/Documents/Associatif/Clubelek/Robotique/Coupe de france/module-tirette/.pio/build/arduino_uno/firmware.elf",
- "projectEnvName": "arduino_uno",
- "toolchainBinDir": "/home/charles/.platformio/packages/toolchain-atmelavr/bin",
+ "executable": "/home/charles/Documents/Associatif/Clubelek/Robotique/Coupe de france/module-tirette/.pio/build/nucleo_f303k8/firmware.elf",
+ "projectEnvName": "nucleo_f303k8",
+ "toolchainBinDir": "/home/charles/.platformio/packages/toolchain-gccarmnoneeabi/bin",
+ "svdPath": "/home/charles/.platformio/platforms/ststm32/misc/svd/STM32F30x.svd",
"internalConsoleOptions": "openOnSessionStart"
}
]
diff --git a/platformio.ini b/platformio.ini
index 9976ad8..5a25535 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -16,6 +16,11 @@ platform = atmelavr
framework = arduino
board = uno
+[env:arduino_nano]
+platform = atmelavr
+framework = arduino
+board = nanoatmega168
+
[env:nucleo_f303k8]
platform = ststm32
framework = arduino
diff --git a/src/main.cpp b/src/main.cpp
index a9e9c5d..1e4bf30 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -4,22 +4,33 @@
#include <std_msgs/Bool.h>
#include <std_msgs/Int32.h>
-#define TEAM_YELLOW 0x0
-#define TEAM_BLUE 0x1
-
-#define PULL_CORD_IN 0x0
-#define PULL_CORD_OUT 0x1
-
+// Pin declaration
+const int pullCordPin = D8;
+const int switchPin = D9;
+const int buttonPin = D10;
// Current team (either TEAM_YELLOW or TEAM_BLUE)
-bool team = TEAM_YELLOW;
-
-// Pull cord status (either PULL_CORD_IN if the pull cord is still in place, or PULL_CORD_OUT if it has been removed)
-bool pullCordStatus = false;
+bool team;
+bool buttonStatus;
// Last received estimated score
int estimatedScore = 0;
+
+
+/**
+ * Tirette (avec gestion du rebond)
+ */
+
+int pullCordState; // the current reading from the input pin
+int lastPullCordState = LOW; // the previous reading from the input pin
+
+unsigned long lastDebounceTime = 0; // the last time the output pin was toggled
+unsigned long debounceDelay = 50; // the debounce time; increase if the output flickers
+
+
+
+
ros::NodeHandle nh;
std_msgs::Bool teamMsg;
@@ -35,11 +46,55 @@ ros::Subscriber<std_msgs::Int32> estimatedScoreSub("estimated_score", &estimated
// LCD screen
LiquidCrystal_I2C lcd(0x27, 16, 2);
-//LiquidCrystal_I2C lcd(0x3F, 16, 2);
+
+
+void refreshScreen() {
+ lcd.clear();
+
+ lcd.setCursor(0, 0);
+ lcd.print("Score=");
+ lcd.setCursor(6, 0);
+ lcd.print(estimatedScore);
+
+ lcd.setCursor(0, 1);
+
+ if (team) {
+ lcd.print("Team=JAUNE");
+ } else {
+ lcd.print("Team=BLEU");
+ }
+
+ lcd.setCursor(12, 1);
+
+ if (pullCordState) {
+ lcd.print("GO");
+ } else {
+ lcd.print("STOP");
+ }
+
+ lcd.setCursor(13, 0);
+
+ if (buttonStatus) {
+ lcd.print("ON");
+ } else {
+ lcd.print("OFF");
+ }
+
+}
void setup()
{
+ pinMode(pullCordPin, INPUT_PULLUP);
+ pinMode(switchPin, INPUT_PULLUP);
+ pinMode(buttonPin, INPUT_PULLUP);
+
lcd.init();
+ lcd.backlight();
+
+ team = digitalRead(switchPin);
+ buttonStatus = digitalRead(buttonPin);
+
+ refreshScreen();
nh.initNode();
nh.advertise(teamStatusPub);
@@ -51,24 +106,60 @@ void setup()
// Appelé quand le score est mis à jour (message de score reçu sur l'Arduino depuis la raspi)
void estimatedScoreCallback(const std_msgs::Int32& estimatedScoreMsg) {
estimatedScore = estimatedScoreMsg.data;
- // TODO Mettre à jour le score sur l'affichage LCD
- // led.
+ refreshScreen();
}
void loop()
{
- //TODO lire les status des boutons etc pour mettre à jour les valeurs
+ // DEBUT PARTIE TIRETTE
+
+ int pullCordReading = digitalRead(pullCordPin);
+
+ // If the switch changed, due to noise or pressing:
+ if (pullCordReading != lastPullCordState) {
+ // reset the debouncing timer
+ lastDebounceTime = millis();
+ }
+
+ if ((millis() - lastDebounceTime) > debounceDelay) {
+ // whatever the reading is at, it's been there for longer than the debounce
+ // delay, so take it as the actual current state:
+
+ // if the button state has changed:
+ if (pullCordReading != pullCordState) {
+ pullCordState = pullCordReading;
+ refreshScreen();
+ }
+ }
+
+ lastPullCordState = pullCordReading;
+
+
+
+ // FIN PARTIE TIRETTE
+
+
+ if(!digitalRead(buttonPin) != buttonStatus) {
+ // Appui bouton
+ buttonStatus = !digitalRead(buttonPin);
+ refreshScreen();
+ }
+
+ if(digitalRead(switchPin) != team) {
+ //Changement d'équipe
+ team = digitalRead(switchPin);
+ refreshScreen();
+ }
+
teamMsg.data = team;
teamStatusPub.publish(&teamMsg);
- pullCordStatusMsg.data = pullCordStatus;
+ pullCordStatusMsg.data = pullCordState;
pullCordStatusPub.publish(&pullCordStatusMsg);
- buttonStatusMsg.data = false;
+ buttonStatusMsg.data = buttonStatus;
buttonStatusPub.publish(&buttonStatusMsg);
nh.spinOnce();
-
- delay(1);
}
\ No newline at end of file
--
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