Rebase develop

.vscode/settings.json

@@ -0,0 +1,5 @@
+{
+    "files.associations": {
+        "new": "cpp"
+    }
+}

config.ini

@@ -27,9 +27,8 @@ build_flags =
 
     ; nfc addr
     -D NFC_ADDR=0x28
-
+    ;;;  Servo config  ;;;
     ;;;;;;;;;;;;;;;;;;;;;;
-    ;;; BigNfc  config ;;;
-    ;;;;;;;;;;;;;;;;;;;;;;
-    -D BIG_NFC_RX=5
-    -D BIG_NFC_TX=17
+    -D RIGHT_POS=18
+    -D MIDDLE_POS=32
+    -D LEFT_POS=52

include/Program.h

@@ -4,6 +4,7 @@
 #include "Arduino.h"
 #include "DolibarrClient.h"
 #include <M5Stack.h>
+#include "ServoMotorComponent.h"
 
 class Program {
 public:
@@ -18,6 +19,7 @@ public:
     void loop();
 private:
     DolibarrClient *client;
+    ServoMotorComponent *servo;
 };
 
 #endif

lib/BigNFC/include/BigNFC.h

@@ -1,63 +0,0 @@
-#ifndef BIG_NFC_H
-#define BIG_NFC_H
-
-#include <Arduino.h>
-#include <vector>
-#include "TrameList.h"
-
-class BigNFC{
-public:
-    BigNFC(int pinRX, int pinTX, int baud = 115200);
-
-    /**
-     * @brief initialise le lecteur NFC
-     *
-     * @return true le lecteur NFC est initialisé
-     * @return false le lecteur NFC n'est pas initialisé (erreur)
-     */
-    bool init();
-
-    /**
-     * @brief rafraichit les données du lecteur NFC
-     *
-     */
-    void refresh();
-
-    /**
-     * @brief affiche la dernière trame lue
-     *
-     */
-    void printTrame();
-
-    /**
-     * @brief retourne le nombre de tags lus
-     *
-     * @return int nombre de tags lus
-     */
-    int getNbTags();
-
-private:
-
-    /**
-     * @brief convertit un nombre en hexadécimal (a 2 chiffres)
-     *
-     * @param number nombre à convertir
-     * @return String nombre converti
-     */
-    String digitify(int number);
-
-    /**
-     * @brief variable pair/impair pour le type de trame
-     *
-     */
-    bool pair;
-
-    /**
-     * @brief dernière trame lue
-     *
-     */
-    std::vector<byte>* trame;
-
-};
-
-#endif

lib/BigNFC/include/TrameList.h

@@ -1,29 +0,0 @@
-#ifndef TRAM_LIST_H
-#define TRAM_LIST_H
-
-#include <Arduino.h>
-#include <vector>
-
-const std::vector<byte> SEARCH_TRAM_0 = {0x05, 0x07, 0x01, 0x01, 0x01, 0x00, 0xEB, 0x5F};
-
-const std::vector<byte> INIT_TRAM_0 = {0xFA, 0x05, 0x01, 0xC0, 0x5A, 0xDF};
-const std::vector<byte> INIT_TRAM_1 = {0xFA, 0x08, 0x01, 0x00, 0x01, 0x01, 0x01, 0xE1, 0x70};
-const std::vector<byte> INIT_TRAM_2 = {0xFA, 0x08, 0x01, 0x40, 0x01, 0x02, 0x01, 0x3E, 0x4C};
-const std::vector<byte> INIT_TRAM_3 = {0xFA, 0x08, 0x01, 0x00, 0x01, 0x03, 0x01, 0x51, 0x43};
-const std::vector<byte> INIT_TRAM_4 = {0xFA, 0x08, 0x01, 0x40, 0x01, 0x04, 0x01, 0xEE, 0x18};
-const std::vector<byte> INIT_TRAM_5 = {0xFA, 0x08, 0x01, 0x00, 0x01, 0x05, 0x01, 0x81, 0x17};
-const std::vector<byte> INIT_TRAM_6 = {0xFA, 0x08, 0x01, 0x40, 0x01, 0x06, 0x01, 0x5E, 0x2B};
-const std::vector<byte> INIT_TRAM_7 = {0xFA, 0x08, 0x01, 0x00, 0x01, 0x07, 0x01, 0x31, 0x24};
-
-const std::vector<byte> REP_TRAM_0 = {0xFA, 0x05, 0x01, 0xE0, 0x58, 0xFE};
-const std::vector<byte> REP_TRAM_1 = {0xFA, 0x17, 0x01, 0x00, 0x01, 0x00, 0x00, 0x01, 0x01, 0x04, 0x00, 0x00, 0x03, 0x01, 0x64, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x95, 0x8A};
-const std::vector<byte> REP_TRAM_2 = {0xFA, 0x17, 0x01, 0x40, 0x01, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0xFF, 0x00, 0x10, 0x07, 0x13, 0x01, 0x0E, 0x08, 0x09, 0x0B, 0x00, 0x2D, 0x98};
-const std::vector<byte> REP_TRAM_3 = {0xFA, 0x17, 0x01, 0x00, 0x01, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xE8, 0x03, 0x00, 0x00, 0x00, 0x00, 0x43, 0x83, 0x00, 0x00, 0x00, 0x9A, 0xBF};
-const std::vector<byte> REP_TRAM_4 = {0xFA, 0x17, 0x01, 0x40, 0x01, 0x00, 0x00, 0x01, 0x04, 0x01, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xD7, 0x15};
-const std::vector<byte> REP_TRAM_5 = {0xFA, 0x17, 0x01, 0x00, 0x01, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x03, 0x0A, 0x03, 0x0A, 0x00, 0xF6, 0xCD};
-const std::vector<byte> REP_TRAM_6 = {0xFA, 0x17, 0x01, 0x40, 0x01, 0x00, 0x00, 0x01, 0x01, 0x00, 0x03, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0xD4, 0x03};
-const std::vector<byte> REP_TRAM_7 = {0xFA, 0x17, 0x01, 0x00, 0x01, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x52, 0xF6};
-
-const std::vector<byte> READ_TRAM_0 = {0xFA, 0x24, 0x01, 0x00, 0x31, 0x02, 0x07, 0x0E, 0x00, 0x00, 0x04, 0x00, 0x00, 0x0D, 0x00, 0x00, 0x06, 0x00, 0x03, 0x00, 0xFF, 0x00, 0x03, 0x00, 0x02, 0x00, 0x00, 0x02, 0x00, 0x00, 0x01, 0x00, 0x02, 0x00, 0x00, 0x5D, 0x74};
-const std::vector<byte> READ_TRAM_1 = {0xFA, 0x24, 0x01, 0x40, 0x31, 0x02, 0x07, 0x0E, 0x00, 0x00, 0x04, 0x00, 0x00, 0x0D, 0x00, 0x00, 0x06, 0x00, 0x03, 0x00, 0xFF, 0x00, 0x03, 0x00, 0x02, 0x00, 0x00, 0x02, 0x00, 0x00, 0x01, 0x00, 0x02, 0x00, 0x00, 0x10, 0x45};
-#endif

lib/BigNFC/src/BigNFC.cpp

@@ -1,73 +0,0 @@
-#include "../include/BigNFC.h"
-
-
-BigNFC::BigNFC(int pinRX, int pinTX, int baud){
-    Serial2.begin(baud, SERIAL_8N1, pinRX, pinTX);//TODO: mettre le port série en paramètre
-    this->pair = true;
-    this->trame = new std::vector<byte>();
-}
-
-bool BigNFC::init(){
-    const std::vector<std::vector<byte>> INIT_TRAMES = {INIT_TRAM_0, INIT_TRAM_1, INIT_TRAM_2, INIT_TRAM_3, INIT_TRAM_4, INIT_TRAM_5, INIT_TRAM_6, INIT_TRAM_7};
-    const std::vector<std::vector<byte>> REP_TRAMES = {REP_TRAM_0, REP_TRAM_1, REP_TRAM_2, REP_TRAM_3, REP_TRAM_4, REP_TRAM_5, REP_TRAM_6, REP_TRAM_7};
-    int repnb = 0;
-    for(std::vector<byte> i: INIT_TRAMES){
-        for(byte j: i){
-            Serial2.write(j);
-        }
-        while (Serial2.available() == 0);
-        while (Serial2.available() > 0){
-            for(byte j: REP_TRAMES[repnb]){
-                if(Serial2.read() != j){
-                    Serial.println("NFC reader init failed");
-                    return false;
-                }
-            }
-        }
-        repnb++;
-    }
-    return true;
-}
-
-void BigNFC::refresh(){
-    this->trame->clear();
-    std::vector<byte> trame = READ_TRAM_0;
-    if (this->pair){
-        trame = READ_TRAM_1;
-    }
-    this->pair = !this->pair;
-
-    for(byte i: trame){
-        Serial2.write(i);
-    }
-    while (Serial2.available() == 0);
-    while (Serial2.available() > 0){
-        this->trame->push_back(Serial2.read());
-    }
-}
-
-String BigNFC::digitify(int number){
-    String sortie = "";
-
-    if(number <= 0xF){
-        sortie += '0';
-        sortie += String(number,HEX);
-    }else{
-        sortie += String(number,HEX);
-    }
-
-    return sortie;
-}
-
-
-void BigNFC::printTrame(){
-    for(byte i: *this->trame){
-        Serial.print(this->digitify(i));
-        Serial.print(" ");
-    }
-    Serial.println();
-}
-
-int BigNFC::getNbTags(){
-    return this->trame->at(8);
-}

lib/ServoMotorComponent/src/ServoMotorComponent.cpp

@@ -0,0 +1,59 @@
+#include "ServoMotorComponent.h"
+
+
+/////////////////////////////////////////////////////////////////////////////////////
+// Functions for setting up the ServoMotor
+/////////////////////////////////////////////////////////////////////////////////////
+
+/**
+ * Constructor.
+ * Prepares the ServoMotor.
+ */
+ServoMotorComponent::ServoMotorComponent(int PIN,  unsigned long updatePeriod, float step) {
+    this->PIN = PIN;
+    this->myservo.attach(PIN);
+    this->desiredposition = Position::MIDDLE;
+    this->currentPosition = MIDDLE_POS;
+    this->lastUpTime = millis();
+    this->updatePeriod = updatePeriod;
+    this->step = step;
+    this->myservo.write(this->PIN, this->currentPosition);
+}
+
+/**
+ * Set the desired position
+ * @desiredPosition: Give desired position
+ */
+void ServoMotorComponent::setDesiredPosition(Position desiredPosition) {
+    switch (desiredPosition) {
+        case Position::LEFT:
+            this->desiredposition = LEFT_POS;
+            break;
+        case Position::MIDDLE:
+            this->desiredposition = MIDDLE_POS;
+            break;
+        case Position::RIGHT:
+            this->desiredposition = RIGHT_POS;
+            break;
+        default:
+            break;
+    }
+}
+
+
+/**
+ * Write a new servoMotor position when it's necessary
+ */
+void ServoMotorComponent::refresh() {
+    if (this->desiredposition == this->currentPosition 
+    ||  millis() - this->lastUpTime <= this->updatePeriod) return;
+
+    if (this->currentPosition > this->desiredposition) {
+        this->currentPosition -= this->step;
+    }
+    if (this->currentPosition < this->desiredposition) {
+        this->currentPosition += this->step;
+    }
+    this->lastUpTime = millis();
+    this->myservo.write(this->PIN, this->currentPosition);
+}

lib/ServoMotorComponent/src/ServoMotorComponent.h

@@ -0,0 +1,33 @@
+#ifndef SERVOMOTOT_COMPONENT_H
+#define SERVOMOTOT_COMPONENT_H
+
+#include <Servo.h>
+
+enum Position {
+    LEFT,
+    MIDDLE,
+    RIGHT
+};
+
+class ServoMotorComponent
+{
+public:
+    ServoMotorComponent(int PIN, unsigned long updatePeriod, float step = 1);
+    void setDesiredPosition(Position desiredPosition);
+    void refresh();
+
+private:
+    int PIN;
+    float currentPosition;
+    float desiredposition;
+    Servo myservo;
+    unsigned long lastUpTime;
+    unsigned long updatePeriod;
+    float step;
+};
+
+
+
+
+
+#endif //SERVOMOTOT_COMPONENT_H

platformio.ini

@@ -55,6 +55,7 @@ lib_deps =
     m5stack/M5Stack@^0.4.5 ; M5 Lib
     m5stack/M5GFX@^0.1.9 ; M5 Lib pour le LCD
     m5stack/Module_GRBL_13.2@^0.0.3 ; M5 Lib pour Stepper (GRBL)
+    dlloydev/ESP32 ESP32S2 AnalogWrite ; Lib pour le Servo Motor
 ;    example:
 ;    erropix/ESP32 AnalogWrite@0.2
 

src/Program.cpp

@@ -1,6 +1,7 @@
 #include "Program.h"
 #include "Arduino.h"
 #include "DolibarrClient.h"
+#include "ServoMotorComponent.h"
 
 int initialize_wifi(WifiConfig wifi) {
     WiFiClass::mode(WIFI_STA); //Optional
@@ -17,13 +18,16 @@ int initialize_wifi(WifiConfig wifi) {
 
 Program::Program() {
     Serial.begin(MONITOR_SPEED);
-    struct WifiConfig wifi_c = {WIFI_SSID, WIFI_PASSWORD};
-    struct DolibarrConfig dolibarr = {DOLIBARR_URL, DOLIBARR_API_TOKEN};
-    initialize_wifi(wifi_c);
-    this->client = new DolibarrClient(dolibarr);
+    this->servo = new ServoMotorComponent(2, 1, 0.1);
+    //struct WifiConfig wifi_c = {WIFI_SSID, WIFI_PASSWORD};
+    //struct DolibarrConfig dolibarr = {DOLIBARR_URL, DOLIBARR_API_TOKEN};
+    //initialize_wifi(wifi_c);
+    //this->client = new DolibarrClient(dolibarr);
 }
 
 void Program::loop() {
+    this->servo->refresh();
+    this->servo->setDesiredPosition(Position::LEFT);
 }