config.ini

@@ -22,8 +22,7 @@ build_flags =
     -D STEPER_ACC=200
     ;-D STEPER_PAS=755.906 ; = 65mm
     -D STEPER_PAS=58 ; = 5mm
-    -D STEPER_SPEED=2700 ;1000 ; 2500
+    -D STEPER_SPEED=1000 ; 12000
-    -D GRBL_UPDATE=165 ;update time in ms
     ;;;;;;;;;;;;;;;;;;;;;;
     ;;;   App config   ;;;
     ;;;;;;;;;;;;;;;;;;;;;;
@@ -34,10 +33,7 @@ build_flags =
     ;;;;;;;;;;;;;;;;;;;;;;
     ;;;  Servo config  ;;;
     ;;;;;;;;;;;;;;;;;;;;;;
-    -D RIGHT_POS=14 ;18
+    -D RIGHT_POS=18
-    -D MIDDLE_POS=30 ;32
+    -D MIDDLE_POS=32
     -D LEFT_POS=52
-
+    -D CONVOYER_LEN=100
-
-
-    -D CONVOYER_LEN=80 ;mm

include/Program.h

@@ -1,12 +1,12 @@
 #ifndef PROGRAM_H
 #define PROGRAM_H
 
+#include "Arduino.h"
 #include "DolibarrClient.h"
 #include <M5Stack.h>
 #include "ServoMotorComponent.h"
 #include "NfcReader.h"
 #include "GRBL.h"
-#include "BigNfcReader.h"
 
 class Program {
 public:
@@ -27,8 +27,6 @@ private:
     ServoMotorComponent *servo;
     NfcReader *nfcReader;
     GRBL *grbl;
-    BigNfcReader* outputReader;
-    int grblUpdateTime;
 };
 
 #endif

lib/GRBL/include/GRBL.h

@@ -8,7 +8,6 @@ class iGRBL{
 public:
     virtual void init(int speed, double pas, int accel, String mode = "distance") = 0;
     virtual void mouveForward(int mm) = 0;
-    virtual bool isIddle() = 0;
 };
 
 class GRBL : public iGRBL{
@@ -16,7 +15,6 @@ public:
     GRBL(int grblAddr);
     void init(int speed, double pas, int accel, String mode = "distance") override;
     void mouveForward(int mm = 5) override;
-    bool isIddle() override;
 private:
     Module_GRBL* grbl;
 };

lib/GRBL/src/GRBL.cpp

@@ -32,13 +32,3 @@ void GRBL::mouveForward(int mm){
     sprintf(s, "G1 X%d", mm);
     this->grbl->sendGcode(s);
 }
-
-bool GRBL::isIddle(){
-    bool sortie = false;
-
-    if(this->grbl->readStatus().indexOf("IDLE") != -1){
-        sortie = true;
-    }
-
-    return sortie;
-}

lib/M5LCD/src/M5LCD.h

@@ -60,7 +60,6 @@ public:
     void set_product_label(std::string str);
     void set_product_id(std::string str);
     void set_servo_message(std::string str);
-    int _current_page;
 private:
     void update_page() const;
     void show_debug() const;
@@ -69,6 +68,7 @@ private:
     void update_pagination() const;
     void update_dashboard() const;
 
+    int _current_page;
     int _debug_loc_y;
     std::vector<LogMessage> _logs;
     ComponentsStatus _components_status;

lib/NFC/src/NfcReader.cpp

@@ -11,7 +11,7 @@ String NfcReader::ReadNfc()
     this->uid.clear();
     if (!this->mfrc522->PICC_IsNewCardPresent() ||
         !this->mfrc522->PICC_ReadCardSerial()) {
-        return "0";
+        return ("0");
     }
     for (unsigned int i = 0; i < this->mfrc522->uid.size; i++) {
         if (this->mfrc522->uid.uidByte[i] < 0xF) {

lib/NFC/src/NfcReader.h

@@ -1,5 +1,5 @@
-#ifndef NFCREADER_H
+#ifndef NFCREADER_HPP_
-#define NFCREADER_H
+#define NFCREADER_HPP_
 
 #include <M5Stack.h>
 #include "MFRC522_I2C.h"
@@ -19,4 +19,4 @@ class NfcReader {
         String uid;
 };
 
-#endif /* !NFCREADER_H */
+#endif /* !NFCREADER_HPP_ */

lib/NfcReader/include/BigNfcReader.h

@@ -1,67 +0,0 @@
-#ifndef BIG_NFC_READER_H
-#define BIG_NFC_READER_H
-
-#include <Arduino.h>
-#include <vector>
-
-#include "TrameList.h"
-
-class BigNfcReader{
-public:
-    BigNfcReader();
-
-    /**
-     * @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/NfcReader/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/NfcReader/src/BigNfcReader.cpp

@@ -1,75 +0,0 @@
-#include "../include/BigNfcReader.h"
-
-
-BigNfcReader::BigNfcReader(){
-    Serial2.begin(115200, SERIAL_8N1, 16, 17);//TODO: mettre le port série en paramètre
-    this->pair = true;
-    this->trame = new std::vector<byte>();
-}
-
-
-bool BigNfcReader::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 BigNfcReader::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 BigNfcReader::digitify(int number){
-    String sortie = "";
-
-    if(number <= 0xF){
-        sortie += '0';
-        sortie += String(number,HEX);
-    }else{
-        sortie += String(number,HEX);
-    }
-
-    return sortie;
-}
-
-
-void BigNfcReader::printTrame(){
-    for(byte i: *this->trame){
-        Serial.print(this->digitify(i));
-        Serial.print(" ");
-    }
-    Serial.println();
-}
-
-int BigNfcReader::getNbTags(){
-    return this->trame->at(8);
-}

src/Program.cpp

@@ -78,12 +78,7 @@ Program::Program() {
     lcdScreen->add_log("Initialize M5LCD component....");
     this->nfcReader = new NfcReader(NFC_ADDR);
     this->servo = new ServoMotorComponent(2, 1, 1);
-    this->servo->setDesiredPosition(Position::MIDDLE);
     this->grbl = new GRBL(STEPMOTOR_I2C_ADDR);
-    this->outputReader = new BigNfcReader();
-    this->outputReader->init();
-    this->grblUpdateTime = 0;
-    lcdScreen->set_grbl_status(COMPONENT_OK);
     Wire.begin(21, 22);
     grbl->init(STEPER_SPEED, STEPER_PAS, STEPER_ACC);
     struct WifiConfig wifi_c = {WIFI_SSID, WIFI_PASSWORD};
@@ -101,13 +96,6 @@ void Program::loop() {
         derniereExecution = maintenant;
     }
     this->servo->refresh();
-    this->outputReader->refresh();
-    // Serial.println(this->outputReader->getNbTags());
-
-    if(this->outputReader->getNbTags() >= 2){
-        lcdScreen->set_nfc_message("To mutch colis number detected");
-        lcdScreen->set_grbl_status(COMPONENT_KO);
-    }
 
     String nfcId = this->nfcReader->ReadNfc();
     //si qqc
@@ -164,12 +152,9 @@ void Program::loop() {
         }
         this->grbl->mouveForward(CONVOYER_LEN);
     } else {
-        if((this->grbl->isIddle() || (maintenant - this->grblUpdateTime >= GRBL_UPDATE)) && lcdScreen->get_components().grbl == COMPONENT_OK){
+        //si rien
-            this->grblUpdateTime = maintenant;
+        //je check si le stepper est en iddle
-            this->grbl->mouveForward(5);
+        //this->grbl->mouveForward(5);
-        }
-    }
-    if(M5.BtnC.wasReleased() != 0 && lcdScreen->_current_page == DASHBOARD_SCREEN){
-        lcdScreen->set_grbl_status(COMPONENT_OK);
     }
+
 }