| 1 | // %flair:license{
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| 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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| 4 | // %flair:license}
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| 5 | // created: 2013/04/29
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| 6 | // filename: BlCtrlV2_x4_speed.cpp
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| 7 | //
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| 8 | // author: Guillaume Sanahuja
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| 9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 10 | //
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| 11 | // version: $Id: $
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| 12 | //
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| 13 | // purpose: objet integrant les moteurs i2c, controle en vitesse
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| 14 | //
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| 15 | //
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| 16 | /*********************************************************************/
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| 17 |
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| 18 | #include "BlCtrlV2_x4_speed.h"
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| 19 | #include "I2cPort.h"
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| 20 | #include <TabWidget.h>
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| 21 | #include <Tab.h>
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| 22 | #include <GroupBox.h>
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| 23 | #include <SpinBox.h>
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| 24 | #include <DoubleSpinBox.h>
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| 25 | #include <ComboBox.h>
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| 26 | #include <PushButton.h>
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| 27 | #include <cvmatrix.h>
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| 28 | #include <Mutex.h>
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| 29 | #include <FrameworkManager.h>
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| 30 | #include <DataPlot1D.h>
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| 31 | #include <math.h>
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| 32 | #include <string.h>
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| 33 |
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| 34 | #define TAU_US 1000
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| 35 |
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| 36 | using std::string;
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| 37 | using namespace flair::core;
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| 38 | using namespace flair::gui;
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| 39 |
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| 40 | namespace flair
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| 41 | {
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| 42 | namespace actuator
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| 43 | {
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| 44 | BlCtrlV2_x4_speed::BlCtrlV2_x4_speed(FrameworkManager* parent,string name,I2cPort* i2cport,uint8_t base_address,uint8_t priority) : Thread(parent,name,priority),IODevice(parent,name)
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| 45 | {
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| 46 | this->i2cport=i2cport;
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| 47 | slave_address=base_address;
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| 48 | tested_motor=-1;
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| 49 | enabled=false;
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| 50 | int_av_g=0;
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| 51 | int_av_d=0;
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| 52 | int_ar_g=0;
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| 53 | int_ar_d=0;
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| 54 |
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| 55 | //flight time
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| 56 | FILE *file;
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| 57 | file=fopen("/etc/flight_time","r");
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| 58 | if (file == NULL)
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| 59 | {
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| 60 | Printf("fichier d'info de vol vide\n");
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| 61 | time_sec=0;
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| 62 | }
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| 63 | else
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| 64 | {
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| 65 | char ligne[32];
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| 66 | fgets(ligne, 32, file);
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| 67 | time_sec=atoi(ligne);
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| 68 | Printf("temps de vol total: %is = %imin = %ih\n",time_sec,time_sec/60,time_sec/3600);
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| 69 | fclose(file);
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| 70 | }
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| 71 |
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| 72 | //station sol
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| 73 | main_tab=new Tab(parent->GetTabWidget(),name);
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| 74 | tab=new TabWidget(main_tab->NewRow(),name);
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| 75 | Tab *sensor_tab=new Tab(tab,"Reglages");
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| 76 | reglages_groupbox=new GroupBox(sensor_tab->NewRow(),name);
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| 77 | poles=new SpinBox(reglages_groupbox->NewRow(),"nb poles",0,255,1);
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| 78 | kp=new DoubleSpinBox(reglages_groupbox->LastRowLastCol(),"kp",0.,255,0.001,4);
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| 79 | ki=new DoubleSpinBox(reglages_groupbox->LastRowLastCol(),"ki",0.,255,0.001,4);
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| 80 | min=new SpinBox(reglages_groupbox->NewRow(),"min pwm",0.,2048,1);
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| 81 | max=new SpinBox(reglages_groupbox->LastRowLastCol(),"max pwm",0.,2048,1);
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| 82 | test=new SpinBox(reglages_groupbox->LastRowLastCol(),"test value",0.,2048,1);
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| 83 | start_value=new SpinBox(reglages_groupbox->NewRow(),"valeur demarrage",0,10000,10);
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| 84 | trim=new DoubleSpinBox(reglages_groupbox->LastRowLastCol(),"pas decollage",0,1000,.1);
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| 85 |
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| 86 | av_g=new ComboBox(reglages_groupbox->NewRow(),"avant gauche");
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| 87 | av_g->AddItem("1");
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| 88 | av_g->AddItem("2");
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| 89 | av_g->AddItem("3");
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| 90 | av_g->AddItem("4");
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| 91 | button_avg=new PushButton(reglages_groupbox->LastRowLastCol(),"test avg");
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| 92 |
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| 93 | av_d=new ComboBox(reglages_groupbox->LastRowLastCol(),"avant droite:");
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| 94 | av_d->AddItem("1");
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| 95 | av_d->AddItem("2");
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| 96 | av_d->AddItem("3");
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| 97 | av_d->AddItem("4");
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| 98 | button_avd=new PushButton(reglages_groupbox->LastRowLastCol(),"test avd");
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| 99 |
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| 100 | ar_g=new ComboBox(reglages_groupbox->NewRow(),"arriere gauche:");
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| 101 | ar_g->AddItem("1");
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| 102 | ar_g->AddItem("2");
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| 103 | ar_g->AddItem("3");
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| 104 | ar_g->AddItem("4");
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| 105 | button_arg=new PushButton(reglages_groupbox->LastRowLastCol(),"test arg");
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| 106 |
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| 107 | ar_d=new ComboBox(reglages_groupbox->LastRowLastCol(),"arriere droite:");
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| 108 | ar_d->AddItem("1");
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| 109 | ar_d->AddItem("2");
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| 110 | ar_d->AddItem("3");
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| 111 | ar_d->AddItem("4");
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| 112 | button_ard=new PushButton(reglages_groupbox->LastRowLastCol(),"test ard");
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| 113 |
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| 114 | pas=new ComboBox(reglages_groupbox->NewRow(),"pas helice avant gauche:");
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| 115 | pas->AddItem("normal");
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| 116 | pas->AddItem("inverse");
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| 117 |
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| 118 | input=new cvmatrix((IODevice*)this,8,1,floatType);
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| 119 |
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| 120 | cvmatrix_descriptor* desc=new cvmatrix_descriptor(4,2);
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| 121 | desc->SetElementName(0,0,"avant gauche");
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| 122 | desc->SetElementName(1,0,"arriere droite");
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| 123 | desc->SetElementName(2,0,"avant droite");
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| 124 | desc->SetElementName(3,0,"arriere gauche");
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| 125 |
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| 126 | desc->SetElementName(0,1,"cons avant gauche");
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| 127 | desc->SetElementName(1,1,"cons arriere droite");
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| 128 | desc->SetElementName(2,1,"cons avant droite");
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| 129 | desc->SetElementName(3,1,"cons arriere gauche");
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| 130 | output=new cvmatrix((IODevice*)this,desc,floatType);
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| 131 |
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| 132 |
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| 133 |
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| 134 | /*
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| 135 |
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| 136 | //le 3ieme lu est la tension batteire
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| 137 | if(i2c_mutex!=NULL) i2c_mutex->GetMutex();
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| 138 | uint16_t pwm_moteur;
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| 139 | pwm_moteur=0;
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| 140 | ssize_t read;
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| 141 | uint8_t rx[8];
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| 142 | SetSlave(slave_address);
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| 143 |
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| 144 | for(int j=0;j<10;j++)
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| 145 | {
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| 146 |
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| 147 |
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| 148 | WriteValue(pwm_moteur);
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| 149 |
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| 150 |
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| 151 | read = rt_dev_read(i2c_fd, rx, sizeof(rx));
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| 152 |
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| 153 | if(read<0)
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| 154 | {
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| 155 | rt_printf("BlCtrlV2_x4_speed::BlCtrlV2_x4_speed: %s, erreur rt_dev_read (%s)\n",IODevice::ObjectName().c_str(),strerror(-read));
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| 156 | }
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| 157 | else if (read != sizeof(rx))
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| 158 | {
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| 159 | rt_printf("BlCtrlV2_x4_speed::BlCtrlV2_x4_speed: %s, erreur rt_dev_read %i/2\n",IODevice::ObjectName().c_str(),read);
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| 160 |
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| 161 | }
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| 162 | for(int i=0;i<sizeof(rx);i++) printf("%i ",rx[i]);
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| 163 |
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| 164 | printf("\n");
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| 165 |
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| 166 | }
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| 167 |
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| 168 | if(i2c_mutex!=NULL) i2c_mutex->ReleaseMutex();*/
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| 169 | }
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| 170 |
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| 171 | BlCtrlV2_x4_speed::~BlCtrlV2_x4_speed(void)
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| 172 | {
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| 173 | SafeStop();
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| 174 | Join();
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| 175 | delete main_tab;
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| 176 | }
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| 177 |
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| 178 | void BlCtrlV2_x4_speed::UseDefaultPlot(void)
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| 179 | {
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| 180 | Tab *plot_tab=new Tab(tab,"Mesures");
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| 181 | DataPlot1D *av_g_plot=new DataPlot1D(plot_tab->NewRow(),"avg",0,10000);
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| 182 | av_g_plot->AddCurve(output->Element(0,0));
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| 183 | av_g_plot->AddCurve(output->Element(0,1),DataPlot::Blue);
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| 184 | DataPlot1D *av_d_plot=new DataPlot1D(plot_tab->LastRowLastCol(),"avd",0,10000);
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| 185 | av_d_plot->AddCurve(output->Element(2,0));
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| 186 | av_d_plot->AddCurve(output->Element(2,1),DataPlot::Blue);
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| 187 | DataPlot1D *ar_g_plot=new DataPlot1D(plot_tab->NewRow(),"arg",0,10000);
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| 188 | ar_g_plot->AddCurve(output->Element(3,0));
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| 189 | ar_g_plot->AddCurve(output->Element(3,1),DataPlot::Blue);
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| 190 | DataPlot1D *ar_d_plot=new DataPlot1D(plot_tab->LastRowLastCol(),"ard",0,10000);
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| 191 | ar_d_plot->AddCurve(output->Element(1,0));
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| 192 | ar_d_plot->AddCurve(output->Element(1,1),DataPlot::Blue);
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| 193 | }
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| 194 |
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| 195 | float BlCtrlV2_x4_speed::TrimValue(void)
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| 196 | {
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| 197 | return (float)trim->Value();
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| 198 | }
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| 199 |
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| 200 | int BlCtrlV2_x4_speed::StartValue(void)
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| 201 | {
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| 202 | return start_value->Value();
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| 203 | }
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| 204 |
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| 205 | void BlCtrlV2_x4_speed::Run(void)
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| 206 | {
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| 207 | WarnUponSwitches(true);
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| 208 |
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| 209 | SetPeriodUS(TAU_US);
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| 210 |
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| 211 | while(!ToBeStopped())
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| 212 | {
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| 213 | WaitPeriod();
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| 214 |
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| 215 | Update();
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| 216 | }
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| 217 |
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| 218 | WarnUponSwitches(false);
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| 219 | }
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| 220 |
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| 221 | void BlCtrlV2_x4_speed::Update(void)
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| 222 | {
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| 223 | float u_roll,u_pitch,u_yaw,u_gaz;
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| 224 | float trim_roll,trim_pitch,trim_yaw;
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| 225 | float pwm[4];
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| 226 | uint16_t pwm_moteur[4];
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| 227 |
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| 228 |
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| 229 | //on prend une fois pour toute le mutex et on fait des accès directs
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| 230 | input->GetMutex();
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| 231 |
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| 232 | u_roll=input->ValueNoMutex(0,0);
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| 233 | u_pitch=input->ValueNoMutex(1,0);
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| 234 | u_yaw=input->ValueNoMutex(2,0);
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| 235 | u_gaz=input->ValueNoMutex(3,0)+input->ValueNoMutex(7,0)*input->ValueNoMutex(7,0);//ugaz+trim*trim
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| 236 | trim_roll=input->ValueNoMutex(4,0);
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| 237 | trim_pitch=input->ValueNoMutex(5,0);
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| 238 | trim_yaw=input->ValueNoMutex(6,0);
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| 239 |
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| 240 | input->ReleaseMutex();
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| 241 |
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| 242 | if(pas->CurrentIndex()==1)
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| 243 | {
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| 244 | trim_yaw=-trim_yaw;
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| 245 | u_yaw=-u_yaw;
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| 246 | }
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| 247 |
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| 248 | //rt_printf("%f %f %f %f\n",u_roll,u_pitch,u_yaw,u_gaz);
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| 249 | //if(u_gaz!=0) rt_printf("gaz: %f\n",u_gaz);
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| 250 |
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| 251 | //avant gauche
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| 252 | if(u_gaz+u_pitch+u_roll+u_yaw>0)
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| 253 | {
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| 254 | pwm[0]=trim_pitch+trim_roll+trim_yaw+sqrtf(u_gaz+u_pitch+u_roll+u_yaw);
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| 255 | }else
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| 256 | {
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| 257 | pwm[0]=trim_pitch+trim_roll+trim_yaw;
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| 258 | }
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| 259 |
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| 260 | //arriere gauche
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| 261 | if(u_gaz-u_pitch+u_roll-u_yaw>0)
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| 262 | {
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| 263 | pwm[3]=-trim_pitch+trim_roll-trim_yaw+sqrtf(u_gaz-u_pitch+u_roll-u_yaw);
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| 264 | }else
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| 265 | {
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| 266 | pwm[3]=-trim_pitch+trim_roll-trim_yaw;
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| 267 | }
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| 268 |
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| 269 | //arriere droit
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| 270 | if(u_gaz-u_pitch-u_roll+u_yaw>0)
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| 271 | {
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| 272 | pwm[1]=-trim_pitch-trim_roll+trim_yaw+sqrtf(u_gaz-u_pitch-u_roll+u_yaw);
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| 273 | }else
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| 274 | {
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| 275 | pwm[1]=-trim_pitch-trim_roll+trim_yaw;
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| 276 | }
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| 277 |
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| 278 | //avant droit
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| 279 | if(u_gaz+u_pitch-u_roll-u_yaw>0)
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| 280 | {
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| 281 | pwm[2]=trim_pitch-trim_roll-trim_yaw+sqrtf(u_gaz+u_pitch-u_roll-u_yaw);
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| 282 | }else
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| 283 | {
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| 284 | pwm[2]=trim_pitch-trim_roll-trim_yaw;
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| 285 | }
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| 286 |
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| 287 |
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| 288 | int_av_g+=ki->Value()*(pwm[0]-speed_av_g);
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| 289 | pwm[0]=kp->Value()*(pwm[0]-speed_av_g)+int_av_g;
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| 290 |
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| 291 | int_ar_g+=ki->Value()*(pwm[3]-speed_ar_g);
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| 292 | pwm[3]=kp->Value()*(pwm[3]-speed_ar_g)+int_ar_g;
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| 293 |
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| 294 | int_ar_d+=ki->Value()*(pwm[1]-speed_ar_d);
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| 295 | pwm[1]=kp->Value()*(pwm[1]-speed_ar_d)+int_ar_d;
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| 296 |
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| 297 | int_av_d+=ki->Value()*(pwm[2]-speed_av_d);
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| 298 | pwm[2]=kp->Value()*(pwm[2]-speed_av_d)+int_av_d;
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| 299 |
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| 300 | //rt_printf("%f\n",pwm[0]);
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| 301 | for(int i=0;i<4;i++) pwm_moteur[i]=SatPWM(pwm[i],min->Value(),max->Value());
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| 302 |
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| 303 | if(button_avg->Clicked()==true)
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| 304 | {
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| 305 | tested_motor=0;
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| 306 | StartTest();
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| 307 | }
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| 308 | if(button_avd->Clicked()==true)
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| 309 | {
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| 310 | tested_motor=2;
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| 311 | StartTest();
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| 312 | }
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| 313 | if(button_arg->Clicked()==true)
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| 314 | {
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| 315 | tested_motor=3;
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| 316 | StartTest();
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| 317 | }
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| 318 | if(button_ard->Clicked()==true)
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| 319 | {
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| 320 | tested_motor=1;
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| 321 | StartTest();
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| 322 | }
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| 323 |
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| 324 | if(tested_motor!=-1)
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| 325 | {
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| 326 | for(int i=0;i<4;i++)
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| 327 | {
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| 328 | pwm_moteur[i]=0;
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| 329 | }
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| 330 | pwm_moteur[tested_motor]=(uint16_t)test->Value();
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| 331 |
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| 332 | if(GetTime()>(start_time+2*1000000000)) StopTest();
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| 333 | }
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| 334 |
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| 335 |
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| 336 | i2cport->GetMutex();
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| 337 |
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| 338 | if(enabled==true)
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| 339 | {
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| 340 | i2cport->SetSlave(slave_address+av_g->CurrentIndex());
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| 341 | WriteValue(pwm_moteur[0]);
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| 342 |
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| 343 | i2cport->SetSlave(slave_address+av_d->CurrentIndex());
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| 344 | WriteValue(pwm_moteur[2]);
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| 345 |
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| 346 | i2cport->SetSlave(slave_address+ar_g->CurrentIndex());
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| 347 | WriteValue(pwm_moteur[3]);
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| 348 |
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| 349 | i2cport->SetSlave(slave_address+ar_d->CurrentIndex());
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| 350 | WriteValue(pwm_moteur[1]);
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| 351 |
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| 352 | }
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| 353 | else
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| 354 | {
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| 355 | for(int i=0;i<4;i++)
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| 356 | {
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| 357 | i2cport->SetSlave(slave_address+i);
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| 358 | WriteValue(0);
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| 359 | }
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| 360 | int_av_g=0;
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| 361 | int_av_d=0;
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| 362 | int_ar_g=0;
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| 363 | int_ar_d=0;
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| 364 | }
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| 365 |
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| 366 | i2cport->SetSlave(slave_address+av_g->CurrentIndex());
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| 367 | speed_av_g=GetSpeed();
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| 368 |
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| 369 | i2cport->SetSlave(slave_address+av_d->CurrentIndex());
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| 370 | speed_av_d=GetSpeed();
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| 371 |
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| 372 | i2cport->SetSlave(slave_address+ar_g->CurrentIndex());
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| 373 | speed_ar_g=GetSpeed();
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| 374 |
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| 375 | i2cport->SetSlave(slave_address+ar_d->CurrentIndex());
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| 376 | speed_ar_d=GetSpeed();
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| 377 |
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| 378 | i2cport->ReleaseMutex();
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| 379 |
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| 380 |
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| 381 | //on prend une fois pour toute le mutex et on fait des accès directs
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| 382 | output->GetMutex();
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| 383 | output->SetValueNoMutex(0,0,speed_av_g);
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| 384 | output->SetValueNoMutex(1,0,speed_ar_d);
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| 385 | output->SetValueNoMutex(2,0,speed_av_d);
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| 386 | output->SetValueNoMutex(3,0,speed_ar_g);
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| 387 | // rt_printf("%i %i %i %i\n",pwm_moteur[0],pwm_moteur[1],pwm_moteur[2],pwm_moteur[3]);
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| 388 | output->ReleaseMutex();
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| 389 |
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| 390 | output->SetDataTime(GetTime());
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| 391 | ProcessUpdate(output);
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| 392 |
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| 393 | }
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| 394 |
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| 395 | void BlCtrlV2_x4_speed::StartTest(void)
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| 396 | {
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| 397 | start_time=GetTime();
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| 398 | SetEnabled(true);
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| 399 | }
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| 400 |
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| 401 | void BlCtrlV2_x4_speed::StopTest(void)
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| 402 | {
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| 403 | SetEnabled(false);
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| 404 | tested_motor=-1;
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| 405 | }
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| 406 |
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| 407 | uint16_t BlCtrlV2_x4_speed::SatPWM(float vel_cons,uint16_t min,uint16_t max)
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| 408 | {
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| 409 | uint16_t sat_value=(uint16_t)vel_cons;
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| 410 |
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| 411 | if(vel_cons>((float)sat_value+0.5)) sat_value++;
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| 412 |
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| 413 | if(vel_cons<(float)min) sat_value=min;
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| 414 | if(vel_cons>(float)max) sat_value=max;
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| 415 |
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| 416 | return sat_value;
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| 417 | }
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| 418 |
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| 419 | void BlCtrlV2_x4_speed::LockUserInterface(void)
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| 420 | {
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| 421 | reglages_groupbox->setEnabled(false);
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| 422 | }
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| 423 |
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| 424 | void BlCtrlV2_x4_speed::UnlockUserInterface(void)
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| 425 | {
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| 426 | reglages_groupbox->setEnabled(true);
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| 427 | }
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| 428 |
|
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| 429 | void BlCtrlV2_x4_speed::SetEnabled(bool status)
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| 430 | {
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| 431 | enabled=status;
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| 432 | if(enabled==true)
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| 433 | {
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| 434 | LockUserInterface();
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| 435 |
|
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| 436 | flight_start_time = GetTime();
|
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| 437 | }
|
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| 438 | else
|
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| 439 | {
|
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| 440 | UnlockUserInterface();
|
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| 441 |
|
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| 442 | Time now= GetTime();
|
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| 443 | int t_sec;
|
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| 444 | FILE *file;
|
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| 445 | char ligne[32];
|
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| 446 |
|
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| 447 | t_sec=(now - flight_start_time)/1000000000;
|
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| 448 | time_sec+=t_sec;
|
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| 449 |
|
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| 450 | Printf("temps de vol: %is = %imin\n",t_sec,t_sec/60);
|
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| 451 | Printf("temps de vol total: %is = %imin = %ih\n",time_sec,time_sec/60,time_sec/3600);
|
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| 452 |
|
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| 453 | file=fopen("/etc/flight_time","w");
|
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| 454 | if (file == NULL)
|
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| 455 | {
|
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| 456 | Thread::Err("Erreur a l'ouverture du fichier d'info vol\n");
|
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| 457 | }
|
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| 458 | else
|
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| 459 | {
|
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| 460 | sprintf(ligne,"%i",time_sec);
|
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| 461 | fputs(ligne,file);
|
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| 462 | fclose(file);
|
---|
| 463 | }
|
---|
| 464 | }
|
---|
| 465 | }
|
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| 466 |
|
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| 467 | void BlCtrlV2_x4_speed::SetUroll(float value)
|
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| 468 | {
|
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| 469 | input->SetValue(0,0,value);
|
---|
| 470 | }
|
---|
| 471 |
|
---|
| 472 | void BlCtrlV2_x4_speed::SetUpitch(float value)
|
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| 473 | {
|
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| 474 | input->SetValue(1,0,value);
|
---|
| 475 | }
|
---|
| 476 |
|
---|
| 477 | void BlCtrlV2_x4_speed::SetUyaw(float value)
|
---|
| 478 | {
|
---|
| 479 | input->SetValue(2,0,value);
|
---|
| 480 | }
|
---|
| 481 |
|
---|
| 482 | void BlCtrlV2_x4_speed::SetUgaz(float value)
|
---|
| 483 | {
|
---|
| 484 | input->SetValue(3,0,value);
|
---|
| 485 | }
|
---|
| 486 |
|
---|
| 487 | void BlCtrlV2_x4_speed::SetRollTrim(float value)
|
---|
| 488 | {
|
---|
| 489 | input->SetValue(4,0,value);
|
---|
| 490 | }
|
---|
| 491 |
|
---|
| 492 | void BlCtrlV2_x4_speed::SetPitchTrim(float value)
|
---|
| 493 | {
|
---|
| 494 | input->SetValue(5,0,value);
|
---|
| 495 | }
|
---|
| 496 |
|
---|
| 497 | void BlCtrlV2_x4_speed::SetYawTrim(float value)
|
---|
| 498 | {
|
---|
| 499 | input->SetValue(6,0,value);
|
---|
| 500 | }
|
---|
| 501 |
|
---|
| 502 | void BlCtrlV2_x4_speed::SetGazTrim(float value)
|
---|
| 503 | {
|
---|
| 504 | input->SetValue(7,0,value);
|
---|
| 505 | }
|
---|
| 506 |
|
---|
| 507 | void BlCtrlV2_x4_speed::WriteValue(uint16_t value)
|
---|
| 508 | {
|
---|
| 509 | unsigned char tx[2];
|
---|
| 510 | ssize_t written;
|
---|
| 511 |
|
---|
| 512 | tx[0]=(unsigned char)(value>>3);//msb
|
---|
| 513 | tx[1]=16+8+(value&0x07);//16+8 pour recuperer la vitesse
|
---|
| 514 | written = i2cport->Write(tx, 2);
|
---|
| 515 | if(written<0)
|
---|
| 516 | {
|
---|
| 517 | Thread::Err("erreur rt_dev_write (%s)\n",strerror(-written));
|
---|
| 518 | }
|
---|
| 519 | else if (written != 2)
|
---|
| 520 | {
|
---|
| 521 | Thread::Err("erreur rt_dev_write %i/2\n",written);
|
---|
| 522 | }
|
---|
| 523 | }
|
---|
| 524 |
|
---|
| 525 | float BlCtrlV2_x4_speed::GetSpeed(void)
|
---|
| 526 | {
|
---|
| 527 | ssize_t read;
|
---|
| 528 | uint8_t value;
|
---|
| 529 | read = i2cport->Read(&value, 1);
|
---|
| 530 |
|
---|
| 531 | if(read<0)
|
---|
| 532 | {
|
---|
| 533 | Thread::Err("erreur rt_dev_read (%s)\n",strerror(-read));
|
---|
| 534 | }
|
---|
| 535 | else if (read != 1)
|
---|
| 536 | {
|
---|
| 537 | Thread::Err("erreur rt_dev_read %i/2\n",read);
|
---|
| 538 |
|
---|
| 539 | }
|
---|
| 540 |
|
---|
| 541 | return value*780./poles->Value();
|
---|
| 542 | }
|
---|
| 543 |
|
---|
| 544 | } // end namespace actuator
|
---|
| 545 | } // end namespace framewor
|
---|