refactor(server): ♻️ move global const to config header and use #define instead of memory const
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93922dc387
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5bf06a4e94
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@ -1,20 +1,8 @@
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//Définition des ports pour controler les moteurs
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//Moteur gauche :
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#define IN1a 27
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#define IN2a 14
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#define IN3a 12
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#define IN4a 13
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//Moteur droit :
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#define IN1b 5
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#define IN2b 18
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#define IN3b 19
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#define IN4b 21
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//Temps d'attente entre deux impulsions :
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int delayTime = 3;
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#include "config.h"
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// Code éxécuté au démarrage (paramétrage) :
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void setup() {
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void setup()
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{
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// On indique que les ports de controle des moteurs sont des sorties (output)
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pinMode(IN1a, OUTPUT);
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pinMode(IN2a, OUTPUT);
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@ -26,38 +14,40 @@ void setup() {
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pinMode(IN3b, OUTPUT);
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pinMode(IN4b, OUTPUT);
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Serial.begin(115200); // Démarrage d'une communication Série avec l'ordinateur s'il est connecté
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}
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// Code éxécuté en boucle jusqu'à l'extinction du robot
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void loop() {
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void loop()
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{
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// Exemple de commande :
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for (int i=0; i<50; i++){
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for (int i = 0; i < 50; i++)
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{
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forward();
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}
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int rotation_steps = convertRotToSteps(46);
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for (int i=0; i<rotation_steps; i++){
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for (int i = 0; i < rotation_steps; i++)
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{
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left();
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}
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}
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// Fonction pour convertir une longueur en cm vers un nombre de pas moteur.
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int convertLengthToSteps(float length){
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int convertLengthToSteps(float length)
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{
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float result = length * 512 / (4 * 3.1415);
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return int(result);
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}
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// fonction pour convertir une rotation en degrés vers un nombre de pas moteur
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int convertRotToSteps(int rotation){
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int convertRotToSteps(int rotation)
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{
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int result = convertLengthToSteps(rotation * 3.1415 / 180 * 7.8);
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return result;
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}
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void forward(){
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void forward()
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{
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digitalWrite(IN4a, HIGH);
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digitalWrite(IN3a, LOW);
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digitalWrite(IN2a, LOW);
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@ -66,7 +56,7 @@ void forward(){
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digitalWrite(IN3b, LOW);
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digitalWrite(IN2b, LOW);
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digitalWrite(IN1b, HIGH);
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delay(delayTime);
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delay(DELAY_TIME);
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digitalWrite(IN4a, LOW);
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digitalWrite(IN3a, HIGH);
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digitalWrite(IN2a, LOW);
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@ -75,7 +65,7 @@ void forward(){
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digitalWrite(IN3b, LOW);
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digitalWrite(IN2b, HIGH);
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digitalWrite(IN1b, LOW);
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delay(delayTime);
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delay(DELAY_TIME);
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digitalWrite(IN4a, LOW);
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digitalWrite(IN3a, LOW);
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digitalWrite(IN2a, HIGH);
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@ -84,7 +74,7 @@ void forward(){
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digitalWrite(IN3b, HIGH);
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digitalWrite(IN2b, LOW);
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digitalWrite(IN1b, LOW);
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delay(delayTime);
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delay(DELAY_TIME);
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digitalWrite(IN4a, LOW);
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digitalWrite(IN3a, LOW);
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digitalWrite(IN2a, LOW);
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@ -93,10 +83,11 @@ void forward(){
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digitalWrite(IN3b, LOW);
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digitalWrite(IN2b, LOW);
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digitalWrite(IN1b, LOW);
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delay(delayTime);
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delay(DELAY_TIME);
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}
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void backward(){
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void backward()
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{
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digitalWrite(IN4a, LOW);
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digitalWrite(IN3a, LOW);
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digitalWrite(IN2a, LOW);
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@ -105,7 +96,7 @@ void backward(){
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digitalWrite(IN3b, LOW);
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digitalWrite(IN2b, LOW);
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digitalWrite(IN1b, LOW);
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delay(delayTime);
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delay(DELAY_TIME);
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digitalWrite(IN4a, LOW);
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digitalWrite(IN3a, LOW);
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digitalWrite(IN2a, HIGH);
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@ -114,7 +105,7 @@ void backward(){
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digitalWrite(IN3b, HIGH);
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digitalWrite(IN2b, LOW);
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digitalWrite(IN1b, LOW);
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delay(delayTime);
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delay(DELAY_TIME);
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digitalWrite(IN4a, LOW);
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digitalWrite(IN3a, HIGH);
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digitalWrite(IN2a, LOW);
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@ -123,7 +114,7 @@ void backward(){
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digitalWrite(IN3b, LOW);
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digitalWrite(IN2b, HIGH);
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digitalWrite(IN1b, LOW);
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delay(delayTime);
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delay(DELAY_TIME);
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digitalWrite(IN4a, HIGH);
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digitalWrite(IN3a, LOW);
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digitalWrite(IN2a, LOW);
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@ -132,10 +123,11 @@ void backward(){
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digitalWrite(IN3b, LOW);
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digitalWrite(IN2b, LOW);
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digitalWrite(IN1b, HIGH);
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delay(delayTime);
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delay(DELAY_TIME);
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}
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void right(){
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void right()
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{
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digitalWrite(IN4a, HIGH);
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digitalWrite(IN3a, LOW);
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digitalWrite(IN2a, LOW);
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@ -144,7 +136,7 @@ void right(){
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digitalWrite(IN3b, LOW);
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digitalWrite(IN2b, LOW);
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digitalWrite(IN1b, LOW);
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delay(delayTime);
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delay(DELAY_TIME);
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digitalWrite(IN4a, LOW);
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digitalWrite(IN3a, HIGH);
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digitalWrite(IN2a, LOW);
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@ -153,7 +145,7 @@ void right(){
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digitalWrite(IN3b, HIGH);
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digitalWrite(IN2b, LOW);
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digitalWrite(IN1b, LOW);
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delay(delayTime);
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delay(DELAY_TIME);
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digitalWrite(IN4a, LOW);
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digitalWrite(IN3a, LOW);
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digitalWrite(IN2a, HIGH);
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@ -162,7 +154,7 @@ void right(){
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digitalWrite(IN3b, LOW);
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digitalWrite(IN2b, HIGH);
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digitalWrite(IN1b, LOW);
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delay(delayTime);
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delay(DELAY_TIME);
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digitalWrite(IN4a, LOW);
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digitalWrite(IN3a, LOW);
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digitalWrite(IN2a, LOW);
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@ -171,10 +163,11 @@ void right(){
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digitalWrite(IN3b, LOW);
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digitalWrite(IN2b, LOW);
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digitalWrite(IN1b, HIGH);
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delay(delayTime);
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delay(DELAY_TIME);
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}
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void left(){
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void left()
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{
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digitalWrite(IN4a, LOW);
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digitalWrite(IN3a, LOW);
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digitalWrite(IN2a, LOW);
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@ -183,7 +176,7 @@ void left(){
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digitalWrite(IN3b, LOW);
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digitalWrite(IN2b, LOW);
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digitalWrite(IN1b, HIGH);
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delay(delayTime);
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delay(DELAY_TIME);
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digitalWrite(IN4a, LOW);
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digitalWrite(IN3a, LOW);
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digitalWrite(IN2a, HIGH);
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@ -192,7 +185,7 @@ void left(){
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digitalWrite(IN3b, LOW);
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digitalWrite(IN2b, HIGH);
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digitalWrite(IN1b, LOW);
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delay(delayTime);
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delay(DELAY_TIME);
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digitalWrite(IN4a, LOW);
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digitalWrite(IN3a, HIGH);
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digitalWrite(IN2a, LOW);
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@ -201,7 +194,7 @@ void left(){
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digitalWrite(IN3b, HIGH);
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digitalWrite(IN2b, LOW);
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digitalWrite(IN1b, LOW);
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delay(delayTime);
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delay(DELAY_TIME);
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digitalWrite(IN4a, HIGH);
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digitalWrite(IN3a, LOW);
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digitalWrite(IN2a, LOW);
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@ -210,11 +203,11 @@ void left(){
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digitalWrite(IN3b, LOW);
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digitalWrite(IN2b, LOW);
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digitalWrite(IN1b, LOW);
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delay(delayTime);
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delay(DELAY_TIME);
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}
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void stopMotors(void) {
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void stopMotors(void)
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{
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digitalWrite(IN4a, LOW);
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digitalWrite(IN3a, LOW);
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digitalWrite(IN2a, LOW);
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@ -225,4 +218,3 @@ void stopMotors(void) {
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digitalWrite(IN2b, LOW);
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digitalWrite(IN1b, LOW);
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}
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@ -2,28 +2,7 @@
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#include <AsyncTCP.h>
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#include <ESPAsyncWebServer.h>
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#include <WiFi.h>
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// Définition des ports pour contrôler les moteurs
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// Moteur gauche :
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#define IN1a 27
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#define IN2a 14
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#define IN3a 12
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#define IN4a 13
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// Moteur droit :
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#define IN1b 5
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#define IN2b 18
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#define IN3b 19
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#define IN4b 21
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// Paramètres de connexion wifi :
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// const char *ssid = "ESP32";
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// const char *password = "test12345";
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// For simulator only
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const char *ssid = "Wokwi-GUEST";
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const char *password = "";
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// Temps d'attente entre deux impulsions :
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int delayTime = 3;
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#include "config.h"
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// Variables de commande :
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struct command_t
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@ -174,7 +153,7 @@ void connectWiFi()
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{
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// For simulator only
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WiFi.mode(WIFI_STA);
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WiFi.begin(ssid, password);
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WiFi.begin(WIFI_SSID, WIFI_PASSWORD);
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if (WiFi.waitForConnectResult() != WL_CONNECTED)
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{
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Serial.printf("WiFi Failed!\n");
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@ -186,7 +165,7 @@ void connectWiFi()
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Serial.println(WiFi.localIP());
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// WiFi.mode(WIFI_AP);
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// WiFi.softAP(ssid, password);
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// WiFi.softAP(WIFI_SSID, WIFI_PASSWORD);
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// Serial.print("[+] AP Created with IP Gateway ");
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// Serial.println(WiFi.softAPIP());
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// Serial.println("");
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@ -227,49 +206,49 @@ void writeMotor(uint8_t left, uint8_t right)
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void forward()
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{
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writeMotor(0b1000, 0b0001);
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delay(delayTime);
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delay(DELAY_TIME);
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writeMotor(0b0100, 0b0010);
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delay(delayTime);
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delay(DELAY_TIME);
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writeMotor(0b0010, 0b0100);
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delay(delayTime);
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delay(DELAY_TIME);
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writeMotor(0b0001, 0b1000);
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delay(delayTime);
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delay(DELAY_TIME);
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}
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void backward()
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{
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writeMotor(0b0001, 0b1000);
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delay(delayTime);
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delay(DELAY_TIME);
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writeMotor(0b0010, 0b0100);
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delay(delayTime);
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delay(DELAY_TIME);
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writeMotor(0b0100, 0b0010);
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delay(delayTime);
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delay(DELAY_TIME);
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writeMotor(0b1000, 0b0001);
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delay(delayTime);
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delay(DELAY_TIME);
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}
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void right()
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{
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writeMotor(0b1000, 0b1000);
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delay(delayTime);
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delay(DELAY_TIME);
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writeMotor(0b0100, 0b0100);
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delay(delayTime);
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delay(DELAY_TIME);
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writeMotor(0b0010, 0b0010);
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delay(delayTime);
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delay(DELAY_TIME);
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writeMotor(0b0001, 0b0001);
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delay(delayTime);
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delay(DELAY_TIME);
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}
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void left()
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{
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writeMotor(0b0001, 0b0001);
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delay(delayTime);
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delay(DELAY_TIME);
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writeMotor(0b0010, 0b0010);
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delay(delayTime);
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delay(DELAY_TIME);
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writeMotor(0b0100, 0b0100);
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delay(delayTime);
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delay(DELAY_TIME);
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writeMotor(0b1000, 0b1000);
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delay(delayTime);
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delay(DELAY_TIME);
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}
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void stopMotors(void)
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25
server/src/config.h
Normal file
25
server/src/config.h
Normal file
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@ -0,0 +1,25 @@
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/************************************
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Fichier de configuration du robot
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************************************/
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// Définition des ports pour contrôler les moteurs
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// Moteur gauche :
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#define IN1a 27
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#define IN2a 14
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#define IN3a 12
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#define IN4a 13
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// Moteur droit :
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#define IN1b 5
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#define IN2b 18
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#define IN3b 19
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#define IN4b 21
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// Paramètres de connexion wifi :
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// #define WIFI_SSID "ESP32"
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// #define WIFI_PASSWORD "test12345"
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// For simulator only
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#define WIFI_SSID "Wokwi-GUEST"
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#define WIFI_PASSWORD ""
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// Temps d'attente entre deux impulsions :
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#define DELAY_TIME 3
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