From 12c609c1da60ed0bf7899ea1311a72e825b8fe77 Mon Sep 17 00:00:00 2001
From: Charles JAVERLIAT <charles.javerliat@gmail.com>
Date: Sat, 27 Feb 2021 19:42:03 +0100
Subject: [PATCH] Add sending interval + compact LCD code
---
.gitignore | 1 +
.vscode/c_cpp_properties.json | 18 +++---
.vscode/launch.json | 6 +-
platformio.ini | 12 +---
src/main.cpp | 101 +++++++++++++++++-----------------
5 files changed, 62 insertions(+), 76 deletions(-)
diff --git a/.gitignore b/.gitignore
index 03f4a3c..3b8da3a 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1 +1,2 @@
.pio
+.vscode
\ No newline at end of file
diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
index 6630f93..e0cbe23 100644
--- a/.vscode/c_cpp_properties.json
+++ b/.vscode/c_cpp_properties.json
@@ -8,11 +8,11 @@
{
"name": "PlatformIO",
"includePath": [
- "/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/Documents/Associatif/Clubelek/Robotique/Coupe de france/Programmation/control-panel/include",
+ "/home/charles/Documents/Associatif/Clubelek/Robotique/Coupe de france/Programmation/control-panel/src",
+ "/home/charles/Documents/Associatif/Clubelek/Robotique/Coupe de france/Programmation/control-panel/lib/ros_lib",
"/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/Documents/Associatif/Clubelek/Robotique/Coupe de france/Programmation/control-panel/lib/LiquidCrystal_I2C-1.1.3",
"/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",
@@ -36,7 +36,6 @@
"/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",
@@ -51,11 +50,11 @@
"browse": {
"limitSymbolsToIncludedHeaders": true,
"path": [
- "/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/Documents/Associatif/Clubelek/Robotique/Coupe de france/Programmation/control-panel/include",
+ "/home/charles/Documents/Associatif/Clubelek/Robotique/Coupe de france/Programmation/control-panel/src",
+ "/home/charles/Documents/Associatif/Clubelek/Robotique/Coupe de france/Programmation/control-panel/lib/ros_lib",
"/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/Documents/Associatif/Clubelek/Robotique/Coupe de france/Programmation/control-panel/lib/LiquidCrystal_I2C-1.1.3",
"/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",
@@ -79,7 +78,6 @@
"/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",
diff --git a/.vscode/launch.json b/.vscode/launch.json
index 1af128f..562b363 100644
--- a/.vscode/launch.json
+++ b/.vscode/launch.json
@@ -12,13 +12,13 @@
"type": "platformio-debug",
"request": "launch",
"name": "PIO Debug",
- "executable": "/home/charles/Documents/Associatif/Clubelek/Robotique/Coupe de france/module-tirette/.pio/build/nucleo_f303k8/firmware.elf",
+ "executable": "/home/charles/Documents/Associatif/Clubelek/Robotique/Coupe de france/Programmation/control-panel/.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 (nucleo_f303k8)"
+ "task": "Pre-Debug"
},
"internalConsoleOptions": "openOnSessionStart"
},
@@ -26,7 +26,7 @@
"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/nucleo_f303k8/firmware.elf",
+ "executable": "/home/charles/Documents/Associatif/Clubelek/Robotique/Coupe de france/Programmation/control-panel/.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",
diff --git a/platformio.ini b/platformio.ini
index 5a25535..4016204 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -9,17 +9,7 @@
; https://docs.platformio.org/page/projectconf.html
[platformio]
-default_envs = arduino_uno
-
-[env:arduino_uno]
-platform = atmelavr
-framework = arduino
-board = uno
-
-[env:arduino_nano]
-platform = atmelavr
-framework = arduino
-board = nanoatmega168
+default_envs = nucleo_f303k8
[env:nucleo_f303k8]
platform = ststm32
diff --git a/src/main.cpp b/src/main.cpp
index 1e4bf30..d859614 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -16,20 +16,18 @@ 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
-
+int pullCordState; // the current reading from the input pin
+int lastPullCordStatus = 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
+unsigned long lastMessageTime = 0;
+unsigned int const MSG_SENDING_INTERVAL = 200;
ros::NodeHandle nh;
@@ -41,14 +39,14 @@ ros::Publisher teamStatusPub("team", &teamMsg);
ros::Publisher buttonStatusPub("button_status", &buttonStatusMsg);
ros::Publisher pullCordStatusPub("pull_cord_status", &pullCordStatusMsg);
-void estimatedScoreCallback(const std_msgs::Int32& estimatedScore);
+void estimatedScoreCallback(const std_msgs::Int32 &estimatedScore);
ros::Subscriber<std_msgs::Int32> estimatedScoreSub("estimated_score", &estimatedScoreCallback);
// LCD screen
LiquidCrystal_I2C lcd(0x27, 16, 2);
-
-void refreshScreen() {
+void refreshScreen()
+{
lcd.clear();
lcd.setCursor(0, 0);
@@ -57,29 +55,11 @@ void refreshScreen() {
lcd.print(estimatedScore);
lcd.setCursor(0, 1);
-
- if (team) {
- lcd.print("Team=JAUNE");
- } else {
- lcd.print("Team=BLEU");
- }
-
+ lcd.print("Team=" + team ? "JAUNE" : "BLEU");
lcd.setCursor(12, 1);
-
- if (pullCordState) {
- lcd.print("GO");
- } else {
- lcd.print("STOP");
- }
-
+ lcd.print(pullCordState ? "GO" : "STOP");
lcd.setCursor(13, 0);
-
- if (buttonStatus) {
- lcd.print("ON");
- } else {
- lcd.print("OFF");
- }
-
+ lcd.print(buttonStatus ? "ON" : "OFF");
}
void setup()
@@ -94,17 +74,28 @@ void setup()
team = digitalRead(switchPin);
buttonStatus = digitalRead(buttonPin);
- refreshScreen();
-
nh.initNode();
nh.advertise(teamStatusPub);
nh.advertise(buttonStatusPub);
nh.advertise(pullCordStatusPub);
nh.subscribe(estimatedScoreSub);
+
+ lcd.clear();
+ lcd.setCursor(0, 0);
+ lcd.print("Waiting ROS...");
+
+ while (!nh.connected())
+ {
+ nh.spinOnce();
+ delay(MSG_SENDING_INTERVAL);
+ }
+
+ refreshScreen();
}
// 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) {
+void estimatedScoreCallback(const std_msgs::Int32 &estimatedScoreMsg)
+{
estimatedScore = estimatedScoreMsg.data;
refreshScreen();
}
@@ -117,49 +108,55 @@ void loop()
int pullCordReading = digitalRead(pullCordPin);
// If the switch changed, due to noise or pressing:
- if (pullCordReading != lastPullCordState) {
+ if (pullCordReading != lastPullCordStatus)
+ {
// reset the debouncing timer
lastDebounceTime = millis();
}
- if ((millis() - lastDebounceTime) > debounceDelay) {
+ 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) {
+ if (pullCordReading != pullCordState)
+ {
pullCordState = pullCordReading;
refreshScreen();
}
}
- lastPullCordState = pullCordReading;
-
-
+ lastPullCordStatus = pullCordReading;
// FIN PARTIE TIRETTE
-
- if(!digitalRead(buttonPin) != buttonStatus) {
+ if (!digitalRead(buttonPin) != buttonStatus)
+ {
// Appui bouton
buttonStatus = !digitalRead(buttonPin);
refreshScreen();
}
- if(digitalRead(switchPin) != team) {
+ if (digitalRead(switchPin) != team)
+ {
//Changement d'équipe
team = digitalRead(switchPin);
refreshScreen();
}
-
- teamMsg.data = team;
- teamStatusPub.publish(&teamMsg);
- pullCordStatusMsg.data = pullCordState;
- pullCordStatusPub.publish(&pullCordStatusMsg);
+ if (millis() - lastMessageTime >= MSG_SENDING_INTERVAL)
+ {
+ teamMsg.data = team;
+ teamStatusPub.publish(&teamMsg);
+
+ pullCordStatusMsg.data = pullCordState;
+ pullCordStatusPub.publish(&pullCordStatusMsg);
- buttonStatusMsg.data = buttonStatus;
- buttonStatusPub.publish(&buttonStatusMsg);
+ buttonStatusMsg.data = buttonStatus;
+ buttonStatusPub.publish(&buttonStatusMsg);
- nh.spinOnce();
+ lastMessageTime = millis();
+ nh.spinOnce();
+ }
}
\ No newline at end of file
--
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