Epitech/T-IOT-901_convoyor
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gestion initialisation

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This commit is contained in:
Clement 2023-11-23 12:05:01 +01:00
parent 38415c2da5
commit 0a43f65ce2
1 changed files with 19 additions and 13 deletions
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32
src/main.cpp
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@ -29,18 +29,26 @@ Module_GRBL _GRBL = Module_GRBL(STEPMOTOR_I2C_ADDR);
* @param mode mode de fonctionnement (defaut = distance) absolute * @param mode mode de fonctionnement (defaut = distance) absolute
*/ */
void init(int speed, double pas, int accel ,String mode = "distance"){ void init(int speed, double pas, int accel ,String mode = "distance"){
char s[1024];
_GRBL.Init(&Wire); _GRBL.Init(&Wire);
_GRBL.setMode(mode); _GRBL.setMode(mode);
Serial.print("3");
char* s = ""; sprintf(s,"$0=%f", pas); // step/mm
Serial.print("4");
printf(s,"$0=%d", pas); // step/mm
Serial.print("5");
_GRBL.sendGcode(s); _GRBL.sendGcode(s);
printf(s,"$4=%f", speed); // speed Serial.println(s);
sprintf(s,"$4=%d", speed); // speed
_GRBL.sendGcode(s); _GRBL.sendGcode(s);
printf(s,"$8=%d", pas); // acceleration, mm/sec^2 Serial.println(s);
sprintf(s,"$8=%d", accel); // acceleration, mm/sec^2
_GRBL.sendGcode(s); _GRBL.sendGcode(s);
Serial.println(s);
sprintf(s,"$3=%d", 500); // puse/µsec
_GRBL.sendGcode(s);
Serial.println(s);
} }
void setup() { void setup() {
@ -62,8 +70,8 @@ void setup() {
} }
void mouveForward(int mm = 5){ void mouveForward(int mm = 5){
char* s = ""; char s[1024];
printf(s, "G1 X%d", mm); sprintf(s, "G1 X%d", mm);
_GRBL.sendGcode(s); _GRBL.sendGcode(s);
} }
@ -71,13 +79,11 @@ void loop() {
if (M5.BtnA.wasPressed()) if (M5.BtnA.wasPressed())
{ {
Serial.print(_GRBL.readStatus()); Serial.print(_GRBL.readStatus());
_GRBL.setMotor(5, 5, 5, 200); mouveForward(50);
_GRBL.setMotor(0, 0, 0, 200);
} }
if (M5.BtnB.wasPressed()) { if (M5.BtnB.wasPressed()) {
_GRBL.sendGcode("G1 X5Y5Z5"); mouveForward(50);
_GRBL.sendGcode("G1 X0Y0Z0");
} }
if (M5.BtnC.wasReleased()) { if (M5.BtnC.wasReleased()) {