Epitech/T-IOT-901_convoyor
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add timer for stepper

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This commit is contained in:
Clement 2024-02-02 14:39:50 +01:00
parent 7b975bd9a9
commit 9c11f62019
3 changed files with 7 additions and 2 deletions
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1
config.ini
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@ -23,6 +23,7 @@ build_flags =
;-D STEPER_PAS=755.906 ; = 65mm ;-D STEPER_PAS=755.906 ; = 65mm
-D STEPER_PAS=58 ; = 5mm -D STEPER_PAS=58 ; = 5mm
-D STEPER_SPEED=2700 ;1000 ; 2500 -D STEPER_SPEED=2700 ;1000 ; 2500
-D GRBL_UPDATE=165 ;update time in ms
;;;;;;;;;;;;;;;;;;;;;; ;;;;;;;;;;;;;;;;;;;;;;
;;; App config ;;; ;;; App config ;;;
;;;;;;;;;;;;;;;;;;;;;; ;;;;;;;;;;;;;;;;;;;;;;

1
include/Program.h
View File

@ -28,6 +28,7 @@ private:
NfcReader *nfcReader; NfcReader *nfcReader;
GRBL *grbl; GRBL *grbl;
BigNfcReader* outputReader; BigNfcReader* outputReader;
int grblUpdateTime;
}; };
#endif #endif

7
src/Program.cpp
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@ -82,6 +82,7 @@ Program::Program() {
this->grbl = new GRBL(STEPMOTOR_I2C_ADDR); this->grbl = new GRBL(STEPMOTOR_I2C_ADDR);
this->outputReader = new BigNfcReader(); this->outputReader = new BigNfcReader();
this->outputReader->init(); this->outputReader->init();
this->grblUpdateTime = 0;
Wire.begin(21, 22); Wire.begin(21, 22);
grbl->init(STEPER_SPEED, STEPER_PAS, STEPER_ACC); grbl->init(STEPER_SPEED, STEPER_PAS, STEPER_ACC);
struct WifiConfig wifi_c = {WIFI_SSID, WIFI_PASSWORD}; struct WifiConfig wifi_c = {WIFI_SSID, WIFI_PASSWORD};
@ -100,7 +101,7 @@ void Program::loop() {
} }
this->servo->refresh(); this->servo->refresh();
this->outputReader->refresh(); this->outputReader->refresh();
Serial.println(this->outputReader->getNbTags()); // Serial.println(this->outputReader->getNbTags());
if(this->outputReader->getNbTags() >= 2){ if(this->outputReader->getNbTags() >= 2){
lcdScreen->set_nfc_message("To mutch colis number detected"); lcdScreen->set_nfc_message("To mutch colis number detected");
@ -162,8 +163,10 @@ void Program::loop() {
} }
this->grbl->mouveForward(CONVOYER_LEN); this->grbl->mouveForward(CONVOYER_LEN);
} else { } else {
if(this->grbl->isIddle()){ if(this->grbl->isIddle() || (maintenant - this->grblUpdateTime >= GRBL_UPDATE)){
this->grblUpdateTime = maintenant;
this->grbl->mouveForward(5); this->grbl->mouveForward(5);
Serial.print("pouet");
} }
} }
} }