config.ini

@@ -36,4 +36,4 @@ build_flags =
     -D RIGHT_POS=18
     -D MIDDLE_POS=32
     -D LEFT_POS=52
-    -D CONVOYER_LEN=100
+    -D CONVOYER_LEN=150 ;mm

include/Program.h

@@ -1,7 +1,6 @@
 #ifndef PROGRAM_H
 #define PROGRAM_H
 
-#include "Arduino.h"
 #include "DolibarrClient.h"
 #include <M5Stack.h>
 #include "ServoMotorComponent.h"

lib/GRBL/include/GRBL.h

@@ -8,6 +8,7 @@ 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{
@@ -15,6 +16,7 @@ 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

@@ -32,3 +32,13 @@ 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/NFC/src/NfcReader.cpp

@@ -11,14 +11,14 @@ 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) {
             this->uid += '0';
             this->uid += String(this->mfrc522->uid.uidByte[i], HEX);
         } else {
-            this->uid += String(this->mfrc522->uid.uidByte[i], HEX); 
+            this->uid += String(this->mfrc522->uid.uidByte[i], HEX);
         }
     }
     return (this->uid);

lib/NFC/src/NfcReader.h

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

src/Program.cpp

@@ -152,9 +152,8 @@ void Program::loop() {
         }
         this->grbl->mouveForward(CONVOYER_LEN);
     } else {
-        //si rien
+        if(this->grbl->isIddle()){
-        //je check si le stepper est en iddle
+            this->grbl->mouveForward(5);
-        //this->grbl->mouveForward(5);
+        }
     }
-
 }