diff --git a/labyrinthe/6-jumeaux/6 - Développement jumeau numérique.odp b/labyrinthe/6-jumeaux/6 - Développement jumeau numérique.odp index 764cba4..fe3097a 100644 Binary files a/labyrinthe/6-jumeaux/6 - Développement jumeau numérique.odp and b/labyrinthe/6-jumeaux/6 - Développement jumeau numérique.odp differ diff --git a/labyrinthe/6-jumeaux/6-labyrinthe-arduino/6-labyrinthe-arduino.ino b/labyrinthe/6-jumeaux/6-labyrinthe-arduino/6-labyrinthe-arduino.ino index 23f2b31..5d5d29d 100644 --- a/labyrinthe/6-jumeaux/6-labyrinthe-arduino/6-labyrinthe-arduino.ino +++ b/labyrinthe/6-jumeaux/6-labyrinthe-arduino/6-labyrinthe-arduino.ino @@ -1,6 +1,7 @@ +#include "Servo.h" #include "Wire.h" -#include "Grove_LED_Matrix_Driver_HT16K33.h" #include "MPU6050.h" +#include /****************************************************************************** * 6-labyrinthe-arduino.ino @@ -10,11 +11,43 @@ * @authors: Philippe Roy * @copyright: Copyright (C) 2023 Philippe Roy * @license: GNU GPL - * ******************************************************************************/ /****************************************************************************** - * IMU - I2C + * Précautions : + * - Régler l'alimentation à 6V DC - 3 A maxi + * - Brochage pupitre : joystick -> A0, bouton -> D2, voyant -> D3 + * - Brochage capteur : IMU en I2C + * - Brochage actionneurs : axes (x,y) -> D5/D6 (x,y) + * - Mettre les servomoteurs à 45° soit 1000 µs + ******************************************************************************/ + +/****************************************************************************** +* Servomoteurs +* Alimentation par servoteur : 6V DC à 1.5 A +******************************************************************************/ + +Servo servo_x; // Servomoteur axe x +Servo servo_y; // Servomoteur axe y +const int servo_x_pin = 5; // Servomoteur axe x sur broche D5 +const int servo_y_pin = 6; // Servomoteur axe y sur broche D6 +int angle_x_ms; // Angle en µs : 500 -> 0° ; 1500->90° et 2500-> 180° +int angle_y_ms; // Angle en µs : 500 -> 0° ; 1500->90° et 2500-> 180° +const float servo_pas_maxi = 20; // Pas angulaire (µs) maxi (pas de calcul en int) +const int servo_pas_auto = 5; // Pas angulaire (µs) pour le mode auto-horizontalité +int servo_pas = 0; // Pas angulaire (µs) du mouvement en cours (pas propotionel au joystick) + +/****************************************************************************** +* Pupitre : joystick + 1 bouton + 1 voyant +******************************************************************************/ + +const int bt_pin = 2; // Bouton du mode d'auto-horizontalité sur la broche D2 +const int led_pin = 3; // Led du mode d'auto-horizontalité sur la broche D3 +const int jstk_x_pin = A1; // Joystick axe x sur la broche A1 +const int jstk_y_pin = A0; // Joystick axe y sur la broche A0 + +/****************************************************************************** + * Capteur IMU - I2C ******************************************************************************/ MPU6050 accelgyro; @@ -31,18 +64,9 @@ String roll_txt; String pitch_txt; String serial_msg_int_txt; -/****************************************************************************** - * Led Matrix - I2C - ******************************************************************************/ - -Matrix_8x8 matrix; - -/****************************************************************************** - * Communication serie - ******************************************************************************/ - -String serial_msg = ""; // Message -bool serial_msg_complet = false; // Flag de message complet +bool auto_horizontal = false; // Flag du mode de la mise à l'auto-horizontalité +bool auto_horizontal_mvt = false; // Flag du mouvement de l'auto-horizontalité +const int auto_horizontal_sensibilite = 1; // Angle maxi pour l'auto-horizontalité /****************************************************************************** * Initialisation @@ -50,20 +74,28 @@ bool serial_msg_complet = false; // Flag de message complet void setup() { - // Liaison série - Serial.begin(115200); + // Liaison série + Serial.begin(115200); - // IMU - Wire.begin(); - accelgyro.initialize(); + // Servomoteurs + servo_x.attach(servo_x_pin); // Brochage + servo_y.attach(servo_y_pin); // Brochage + angle_x_ms = 1000; // 500 -> 0°, 1500 -> 90° et 2500-> 180° + angle_y_ms = 1000; // 500 -> 0°, 1500 -> 90° et 2500-> 180° + servo_x.writeMicroseconds(angle_x_ms); // 1000 -> 45° */ + servo_y.writeMicroseconds(angle_y_ms); // 1000 -> 45° */ - // Led Matrix - matrix.init(); - matrix.setBrightness(0); - matrix.setBlinkRate(BLINK_OFF); - matrix.clear(); - matrix.display(); - } + // Pupitre + pinMode(bt_pin, INPUT); + pinMode(jstk_x_pin, INPUT); + pinMode(jstk_y_pin, INPUT); + pinMode(led_pin, OUTPUT); + + // IMU + Wire.begin(); + accelgyro.initialize(); + Serial.println(); +} /****************************************************************************** * Boucle principale @@ -94,52 +126,127 @@ void loop() { Serial.print(","); Serial.print(pitch_txt); Serial.println(); - + /***** - * Led Matrix : UPBGE -> Arduino + * Mouvement manuel : Axe x *****/ - - if (serial_msg_complet) { - matrix.clear(); - int xy= serial_msg.toInt(); // Message par chiffre : XY - // Position de la bille en x et y - if (xy<90) { - int x= xy/10; - int y= xy-(x*10); - matrix.writePixel(x, y, true); + // en C : sur x de 237 à 784 (centre à 510) et sur y de 249 à 773 (centre à 511) + // en Python de 0,25 à 0,75 avec une zone morte entre 0,48 et 0,52 (soit 491 et 532 pour une base sur 1024) + + if ((analogRead(jstk_x_pin) <491) or (analogRead(jstk_x_pin) >532)) + { + + // Désactivation de l'horizontalité automatique + if (auto_horizontal) + { + auto_horizontal = false; + digitalWrite(led_pin, LOW); } + + // Mouvement x - + if (analogRead(jstk_x_pin) <491) + { + servo_pas = (servo_pas_maxi/(511-249))*(511-analogRead(jstk_x_pin)); + angle_x_ms=angle_x_ms-servo_pas; + } + + // Mouvement x + + if (analogRead(jstk_x_pin) >532) + { + servo_pas = (servo_pas_maxi/(773-511))*(analogRead(jstk_x_pin)-511); + angle_x_ms=angle_x_ms+servo_pas; + } + + // Fin de course logiciel + if (angle_x_ms<600) + angle_x_ms=600; + if (angle_x_ms>1600) + angle_x_ms=1600; + + // Moteur x + servo_x.writeMicroseconds(angle_x_ms); + } + + /***** + * Mouvement manuel : Axe y + *****/ + + // en C : sur x de 249 à 773 (centre à 511) et sur y de 237 à 784 (centre à 510) + // en Python de 0,25 à 0,75 avec une zone morte entre 0,48 et 0,52 (soit 491 et 532 pour une base sur 1024) + + if ((analogRead(jstk_y_pin) <491) or (analogRead(jstk_y_pin) >532)) + { + // Désactivation de l'horizontalité automatique + if (auto_horizontal) + { + auto_horizontal = false; + digitalWrite(led_pin, LOW); + } + + // Mouvement y - + if (analogRead(jstk_y_pin) <491) + { + servo_pas = (servo_pas_maxi/(511-237))*(511-analogRead(jstk_y_pin)); + angle_y_ms=angle_y_ms-servo_pas; + } + + // Mouvement y + + if (analogRead(jstk_y_pin) >532) + { + servo_pas = (servo_pas_maxi/(784-511))*(analogRead(jstk_y_pin)-511); + angle_y_ms=angle_y_ms+servo_pas; + } + + // Fin de course logiciel + if (angle_y_ms<600) + angle_y_ms=600; + if (angle_y_ms>1600) + angle_y_ms=1600; + + // Moteur y + servo_y.writeMicroseconds(angle_y_ms); + } + + /***** + * Mise à l'horizontale automatique + *****/ + + if (digitalRead(bt_pin) == HIGH) + auto_horizontal = true; + + if (auto_horizontal) + { + digitalWrite(led_pin, HIGH); // Led + auto_horizontal_mvt = false; - // Chute - if (xy==91) { - matrix.writeOnePicture(0x81423c0000666600); - matrix.display(); - delay(1000); - Serial.println("start"); // Relance le jeu - } + // Mouvement + if ((roll_deg < -1) or (roll_deg > 1) or (pitch_deg < -1) or (pitch_deg > 1)) + auto_horizontal_mvt = true; + if (roll_deg < -1) + angle_y_ms=angle_y_ms-servo_pas_auto; + if (roll_deg > 1) + angle_y_ms=angle_y_ms+servo_pas_auto; + if (pitch_deg < -1) + angle_x_ms=angle_x_ms+servo_pas_auto; + if (pitch_deg > 1) + angle_x_ms=angle_x_ms-servo_pas_auto; - // Victoire - if (xy==92) matrix.writeOnePicture(0x003c428100666600); + // Fin de course logiciel + if (angle_x_ms<600) + angle_x_ms=600; + if (angle_x_ms>1600) + angle_x_ms=1600; + if (angle_y_ms<600) + angle_y_ms=600; + if (angle_y_ms>1600) + angle_y_ms=1600; - // Affichage - matrix.display(); - serial_msg = ""; - serial_msg_complet = false; - } -} - - -/****************************************************************************** - * Évènement provoqué par UPBGE (via la liaison série) - ******************************************************************************/ - -void serialEvent() { - while (Serial.available()) { - char inChar = (char)Serial.read(); - serial_msg += inChar; - if (inChar == '\n') { - serial_msg_complet = true; + // Moteurs x et y + if (auto_horizontal_mvt) + { + servo_x.writeMicroseconds(angle_x_ms); + servo_y.writeMicroseconds(angle_y_ms); } } } - diff --git a/labyrinthe/6-jumeaux/6-labyrinthe-arduino/Grove_LED_Matrix_Driver_HT16K33.cpp b/labyrinthe/6-jumeaux/6-labyrinthe-arduino/Grove_LED_Matrix_Driver_HT16K33.cpp deleted file mode 100644 index d9b612c..0000000 --- a/labyrinthe/6-jumeaux/6-labyrinthe-arduino/Grove_LED_Matrix_Driver_HT16K33.cpp +++ /dev/null @@ -1,336 +0,0 @@ -/* - Grove_LED_Matrix_Driver_HT16K33.cpp - A library for Grove - Grove - LED Matrix Driver(HT16K33 with 8x8 LED Matrix) - - Copyright (c) 2018 seeed technology inc. - Website : www.seeed.cc - Author : Jerry Yip - Create Time: 2018-06 - Version : 0.1 - Change Log : - - The MIT License (MIT) - - Permission is hereby granted, free of charge, to any person obtaining a copy - of this software and associated documentation files (the "Software"), to deal - in the Software without restriction, including without limitation the rights - to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - copies of the Software, and to permit persons to whom the Software is - furnished to do so, subject to the following conditions: - - The above copyright notice and this permission notice shall be included in - all copies or substantial portions of the Software. - - THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - THE SOFTWARE. -*/ - -#include "Grove_LED_Matrix_Driver_HT16K33.h" -#include "Seeed_Font.h" - - -HT16K33::HT16K33() { -} - -void HT16K33::init(uint8_t addr) { - _addr = addr; - // turn on oscillator - I2Cdev::writeBytes(_addr, 0x21, 0, (uint8_t*)NULL); -} - -void HT16K33::setBrightness(uint8_t brightness) { - I2Cdev::writeBytes(_addr, (0xE0 | brightness), 0, (uint8_t*)NULL); -} - - -void HT16K33::setBlinkRate(blink_type_t blink_type) { - I2Cdev::writeBytes(_addr, (0x80 | 0x01 | (blink_type << 1)), 0, (uint8_t*)NULL); -} - -Matrix_8x8::Matrix_8x8() { - _orientation = DISPLAY_ROTATE_0; - _offset_x = 0; - _offset_y = 0; - _cursor_start = 0; - _cursor_end = 0; - _cursor_steps = 1; - _ms = 100; -} - -void Matrix_8x8::setDisplayOffset(int8_t x, int8_t y) { - if ((x < -8) || (x > 8)) { - return; - } - if ((y < -8) || (y > 8)) { - return; - } - _offset_x = x; - _offset_y = y; -} - -void Matrix_8x8::setDisplayOrientation(uint8_t orientation) { - _orientation = (orientation_type_t)orientation; -} - -// _cursor_end - _cursor_start >= 1 -void Matrix_8x8::display() { - // get data from _big_buffer[] and write to HT16K33 - uint8_t line; - - if (_cursor_start > _cursor_end) { - uint16_t t; - t = _cursor_start; - _cursor_start = _cursor_end; - _cursor_end = t; - } - - for (int32_t i = _cursor_start; i <= _cursor_end; i = i + _cursor_steps) { - for (uint8_t j = 0; j < 8; j++) { - // test - line = _big_buffer[(MAX_BIG_BUFFER_SIZE - 8 - i) + j]; - for (uint8_t k = 0; k < 8; k++) { - if (line & 0x01) { - // set 1 - _buffer[2 * j] |= (1 << k); - } else { - // set 0 - _buffer[2 * j] &= ~(1 << k); - } - line = line >> 1; - } - } - // offset - if (_offset_y > 0) { - for (uint8_t i = 0; i < 8; i++) { - _buffer[2 * i] = (_buffer[2 * i] >> _offset_y); - } - } else if (_offset_y < 0) { - for (uint8_t i = 0; i < 8; i++) { - _buffer[2 * i] = (_buffer[2 * i] << (-_offset_y)); - } - } - if (_offset_x > 0) { - for (int8_t i = (7 - _offset_x); i >= 0; i--) { - _buffer[2 * (i + _offset_x)] = _buffer[2 * i]; - } - for (uint8_t i = 0; i < _offset_x; i++) { - _buffer[2 * i] = 0; - } - } else if (_offset_x < 0) { - for (uint8_t i = (-_offset_x); i < 8; i++) { - _buffer[2 * (i + _offset_x)] = _buffer[2 * i]; - } - - for (uint8_t i = (8 + _offset_x); i < 8; i++) { - _buffer[2 * i] = 0; - } - } - - - I2Cdev::writeBytes(_addr, 0x00, 16, _buffer); - delay(_ms); - } -} - -void Matrix_8x8::clear() { - memset(_big_buffer, 0, MAX_BIG_BUFFER_SIZE); -} - -void Matrix_8x8::writePixel(uint8_t x, uint16_t y, bool set_on) { - if (x > 7) { - x = 7; - } - if (y > (MAX_BIG_BUFFER_SIZE - 1)) { - y = MAX_BIG_BUFFER_SIZE - 1; - } - - uint8_t y_mod8 = y % 8; - // first do spin - switch (_orientation) { - case DISPLAY_ROTATE_0: { - uint8_t t; - t = x; - x = y_mod8; - y_mod8 = t; - x = 7 - x; - } - break; - - // case DISPLAY_ROTATE_90: - // break; - - case DISPLAY_ROTATE_180: { - uint8_t t; - t = x; - x = y_mod8; - y_mod8 = t; - y_mod8 = 7 - y_mod8; - } - break; - - case DISPLAY_ROTATE_270: - y_mod8 = 7 - y_mod8; - x = 7 - x; - break; - } - - if (set_on) { - _big_buffer[((MAX_BIG_BUFFER_SIZE / 8 - 1) - (y / 8)) * 8 + y_mod8] |= (1 << x); - } else { - _big_buffer[((MAX_BIG_BUFFER_SIZE / 8 - 1) - (y / 8)) * 8 + y_mod8] &= ~(1 << x); - } - -} - -void Matrix_8x8::writeBar(uint8_t bar) { - if (bar > 32) { - bar = 32; - } - Matrix_8x8::writeOnePicture(BARS[bar]); -} -void Matrix_8x8::writeIcon(uint8_t num) { - if (num > 28) { - num = 28; - } - Matrix_8x8::writeOnePicture(ICONS[num]); -} - -void Matrix_8x8::writeNumber(int32_t number, uint16_t ms_per_digit) { - Matrix_8x8::writeString(String(number), ms_per_digit, ACTION_SCROLLING); -} -void Matrix_8x8::writeString(String s, uint16_t ms_per_letter, action_type_t mode) { - uint8_t pic_number = s.length(); - if (pic_number > (MAX_BIG_BUFFER_SIZE / 8)) { - pic_number = MAX_BIG_BUFFER_SIZE / 8; - } - if (pic_number == 0) { - return; - } - - - const char* p_string = s.c_str(); - _cursor_start = 0; - if (mode == ACTION_SCROLLING) { - _cursor_steps = 1; - - if (pic_number == 1) { - _cursor_end = 0; - _ms = ms_per_letter; - } else { - _cursor_end = pic_number * 8; - _ms = ms_per_letter / 8; - } - } else { - if (pic_number == 1) { - _cursor_end = 0; - } else { - _cursor_end = pic_number * 8 - 1; - } - _cursor_steps = 8; - _ms = ms_per_letter; - } - - uint64_t frame; - uint8_t line; - - memset(_big_buffer, 0, MAX_BIG_BUFFER_SIZE); - - for (uint8_t m = 0; m < pic_number; m++) { - frame = ASCII[p_string[m] - 32]; - for (uint8_t i = 0; i < 8; i++) { - line = (uint8_t)(frame & 0xff); - for (uint8_t j = 7; j != 255; j--) { - if (line & 0x01) { - Matrix_8x8::writePixel(j, i + m * 8); - } - line = line >> 1; - } - frame = frame >> 8; - } - } -} - -void Matrix_8x8::writeOnePicture(const uint8_t *pic) { - Matrix_8x8::writePictures(pic, 1, 0, ACTION_SHIFT); -} - -// uint64_t pic -void Matrix_8x8::writeOnePicture(uint64_t pic) { - Matrix_8x8::writePictures((uint64_t*)&pic, 1, 0, ACTION_SHIFT); -} - -void Matrix_8x8::writePictures(const uint8_t *pic, uint8_t pic_number, uint16_t ms_per_pic, action_type_t mode) { - if (pic_number > (MAX_BIG_BUFFER_SIZE / 8)) { - pic_number = MAX_BIG_BUFFER_SIZE / 8; - } - if (pic_number == 0) { - return; - } - _cursor_start = 0; - if (mode == ACTION_SCROLLING) { - _cursor_steps = 1; - _ms = ms_per_pic / 8; - _cursor_end = pic_number * 8; - } else { - _cursor_end = pic_number * 8 - 1; - _cursor_steps = 8; - _ms = ms_per_pic; - } - - uint8_t line; - - memset(_big_buffer, 0, MAX_BIG_BUFFER_SIZE); - - for (uint8_t i = 0; i < (8 * pic_number); i++) { - line = pic[i]; - for (uint8_t j = 0; j < 8; j++) { - if (line & 0x01) { - Matrix_8x8::writePixel(j, i); - } - line = line >> 1; - } - } -} - -void Matrix_8x8::writePictures(const uint64_t *pic, uint8_t pic_number, uint16_t ms_per_pic, action_type_t mode) { - if (pic_number > (MAX_BIG_BUFFER_SIZE / 8)) { - pic_number = MAX_BIG_BUFFER_SIZE / 8; - } - if (pic_number == 0) { - return; - } - _cursor_start = 0; - if (mode == ACTION_SCROLLING) { - _cursor_steps = 1; - _ms = ms_per_pic / 8; - _cursor_end = pic_number * 8; - } else { - _cursor_end = pic_number * 8 - 1; - _cursor_steps = 8; - _ms = ms_per_pic; - } - - uint64_t frame; - uint8_t line; - - memset(_big_buffer, 0, MAX_BIG_BUFFER_SIZE); - - for (uint8_t m = 0; m < pic_number; m++) { - frame = pic[m]; - for (uint8_t i = 0; i < 8; i++) { - line = (uint8_t)(frame & 0xff); - for (uint8_t j = 7; j != 255; j--) { - if (line & 0x01) { - Matrix_8x8::writePixel(j, i + m * 8); - } - line = line >> 1; - } - frame = frame >> 8; - } - } -} \ No newline at end of file diff --git a/labyrinthe/6-jumeaux/6-labyrinthe-arduino/Grove_LED_Matrix_Driver_HT16K33.h b/labyrinthe/6-jumeaux/6-labyrinthe-arduino/Grove_LED_Matrix_Driver_HT16K33.h deleted file mode 100644 index 67d050e..0000000 --- a/labyrinthe/6-jumeaux/6-labyrinthe-arduino/Grove_LED_Matrix_Driver_HT16K33.h +++ /dev/null @@ -1,278 +0,0 @@ -/* - Grove_LED_Matrix_Driver_HT16K33.h - A library for Grove - LED Matrix Driver(HT16K33 with 8x8 LED Matrix) - - Copyright (c) 2018 seeed technology inc. - Website : www.seeed.cc - Author : Jerry Yip - Create Time: 2018-06 - Version : 0.1 - Change Log : - - The MIT License (MIT) - - Permission is hereby granted, free of charge, to any person obtaining a copy - of this software and associated documentation files (the "Software"), to deal - in the Software without restriction, including without limitation the rights - to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - copies of the Software, and to permit persons to whom the Software is - furnished to do so, subject to the following conditions: - - The above copyright notice and this permission notice shall be included in - all copies or substantial portions of the Software. - - THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - THE SOFTWARE. -*/ - -#ifndef __GROVE_LED_MATRIX_DRIVER_HT16K33__ -#define __GROVE_LED_MATRIX_DRIVER_HT16K33__ - -#include "I2Cdev.h" - - - -#define HT16K33_DEFAULT_I2C_ADDR 0x70 -// 8*48 means this buffer can store 48 pictures, if you -// need more space, please make sure MAX_BIG_BUFFER_SIZE -// is a multiple of 8. -#define MAX_BIG_BUFFER_SIZE (8*20) - - -enum orientation_type_t { - DISPLAY_ROTATE_0 = 0, - DISPLAY_ROTATE_90, - DISPLAY_ROTATE_180, - DISPLAY_ROTATE_270, -}; - -enum action_type_t { - ACTION_SCROLLING = 0, - ACTION_SHIFT, -}; - -enum blink_type_t { - BLINK_OFF = 0, - BLINK_2HZ, - BLINK_1HZ, -}; - -class HT16K33 { - public: - HT16K33(); - void init(uint8_t addr = HT16K33_DEFAULT_I2C_ADDR); - - /************************************************************* - Description - Setting the blink rate of matrix - Parameter - blink_type: BLINK_OFF, BLINK_2HZ, BLINK_1HZ - Return - Null. - *************************************************************/ - void setBlinkRate(blink_type_t blink_type); - - /************************************************************* - Description - Setting the brightness of matrix - Parameter - brightness: 0-15 - Return - Null. - *************************************************************/ - void setBrightness(uint8_t brightness); - - virtual void display(); - virtual void clear(); - - protected: - uint8_t _addr; -}; - - -class Matrix_8x8 : public HT16K33 { - - public: - Matrix_8x8(); - - /************************************************************* - Description - Setting the display offset of x-axis and y-axis. - This function will activate after call display(). - Parameter - x: The display offset value of horizontal x-axis, range from -8 to 8. - y: The display offset value of horizontal y-axis, range from -8 to 8. - Return - Null. - *************************************************************/ - void setDisplayOffset(int8_t x, int8_t y); - - /************************************************************* - Description - Setting the display orientation. - This function will activate after call writeXXX(). - Parameter - orientation: DISPLAY_ROTATE_0, DISPLAY_ROTATE_90, DISPLAY_ROTATE_180, - DISPLAY_ROTATE_270, which means the display will rotate 0°, 90°,180° or 270°. - Return - Null. - *************************************************************/ - void setDisplayOrientation(uint8_t orientation); - - /************************************************************* - Description - Display the pixels stored in display buffer on 8x8 matrix. - This function should be called after writeXXX(). And this - function will block until all the data is shown. For example, - if I call writeString("hello", 1000, ACTION_SCROLLING) and - display(), then the program will block for 5 seconds(5*1000ms) - before it goes to the next sentense. - Parameter - Null. - Return - Null. - *************************************************************/ - void display(); - - /************************************************************* - Description - Clear the display buffer. - This function will display nothing on 8x8 Matrix after call display(). - Parameter - Null. - Return - Null. - *************************************************************/ - void clear(); - - /************************************************************* - Description - Set a pixel ON(default) or OFF in display buffer. - Call display() to show display buffer. - Parameter - x: the x-axis position of the pixel - y: the y-axis position of the pixel - set_on: Set the pixel ON(default) or OFF. - Return - Null. - *************************************************************/ - void writePixel(uint8_t x, uint16_t y, bool set_on = true); - - /************************************************************* - Description - Write a bar in display buffer. - Call display() to show display buffer. - Parameter - bar: 0 - 32. 0 is blank and 32 is full. - Return - Null. - *************************************************************/ - void writeBar(uint8_t bar); - - /************************************************************* - Description - Write a icon in display buffer. - Call display() to show display buffer. - Parameter - num: 0 - 28. - 0 full screen 1 arrow_up 2 arrow_down 3 arrow_right - 4 arrow_left 5 triangle_up 6 triangle_down 7 triangle_right - 8 triangel_left 9 smile_face_1 10 smile_face_2 11 hearts - 12 diamonds 13 clubs 14 spades 15 circle1 - 16 circle2 17 circle3 18 circle4 19 man - 20 woman 21 musical_note_1 22 musical_note_2 23 snow - 24 up_down 25 double_! 26 left_right 27 house - 28 glasses - Return - Null. - *************************************************************/ - void writeIcon(uint8_t num); - - /************************************************************* - Description - Write a number(from -2147483648 to 2147483647) in display buffer. - Call display() to show display buffer. - Parameter - number: Set the number you want to display on LED matrix. Number(except 0-9) - will scroll horizontally, the shorter you set the ms_per_digit, - the faster it scrolls. The number range from -2147483648 to 2147483647, if - you want to display larger number, please use writeString(). - ms_per_digit: Set the display time(ms) of per digit. - Return - Null. - *************************************************************/ - void writeNumber(int32_t number, uint16_t ms_per_digit); - - /************************************************************* - Description - Write a String in display buffer. - Call display() to show display buffer. - Parameter - s: A string. The string size should be less than (MAX_BIG_BUFFER_SIZE/8), - the excess part will be ignored. - ms_per_letter: Set the display time(ms) of per letter. - mode: ACTION_SCROLLING: If the size of string is more than 1, scroll the string on the matrix; - ACTION_SHIFT: If the size of string is more than 1, display the letter 1 by 1 on the matrix; - Return - Null. - *************************************************************/ - void writeString(String s, uint16_t ms_per_letter, action_type_t mode); - - /************************************************************* - Description - Write a picture in display buffer. - Call display() to show display buffer. - Parameter - pic: A pointer of a uint8_t picture array. - Return - Null. - *************************************************************/ - void writeOnePicture(const uint8_t *pic); - - /************************************************************* - Description - Write a picture in display buffer. - Call display() to show display buffer. - Parameter - pic: A uint64_t type 8x8 matrix picture, you can make it at - https://xantorohara.github.io/led-matrix-editor/# - Return - Null. - *************************************************************/ - void writeOnePicture(const uint64_t pic); - - /************************************************************* - Description - Write many pictures in display buffer. - Call display() to show display buffer. - Parameter - pic: A pointer - pic_number: The number of pictures, should be less than (MAX_BIG_BUFFER_SIZE/8), - the excess part will be ignored. - ms_per_pic: Set the display time(ms) of per picture. - mode: ACTION_SCROLLING: Scroll the pictures on the matrix; - ACTION_SHIFT: Display the pictures 1 by 1 on the matrix; - - Return - Null. - *************************************************************/ - void writePictures(const uint8_t *pic, uint8_t pic_number, uint16_t ms_per_pic, action_type_t mode); - void writePictures(const uint64_t *pic, uint8_t pic_number, uint16_t ms_per_pic, action_type_t mode); - - private: - // Low1 High1 Low2 High2 ... Low8 High8 - uint8_t _buffer[16]; - uint8_t _big_buffer[MAX_BIG_BUFFER_SIZE]; - uint16_t _cursor_start, _cursor_end, _cursor_steps; - uint16_t _ms; - orientation_type_t _orientation; - int8_t _offset_x, _offset_y; - -}; - -#endif //__GROVE_LED_MATRIX_DRIVER_HT16K33__ \ No newline at end of file diff --git a/labyrinthe/6-jumeaux/6-labyrinthe-arduino/Seeed_Font.h b/labyrinthe/6-jumeaux/6-labyrinthe-arduino/Seeed_Font.h deleted file mode 100644 index 437be02..0000000 --- a/labyrinthe/6-jumeaux/6-labyrinthe-arduino/Seeed_Font.h +++ /dev/null @@ -1,198 +0,0 @@ -/* - Seeed_Font.h - A font library for Grove - Grove - LED Matrix Driver(HT16K33 with 8x8 LED Matrix) - - Copyright (c) 2018 seeed technology inc. - Website : www.seeed.cc - Author : Jerry Yip - Create Time: 2018-06 - Version : 0.1 - Change Log : - - The MIT License (MIT) - - Permission is hereby granted, free of charge, to any person obtaining a copy - of this software and associated documentation files (the "Software"), to deal - in the Software without restriction, including without limitation the rights - to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - copies of the Software, and to permit persons to whom the Software is - furnished to do so, subject to the following conditions: - - The above copyright notice and this permission notice shall be included in - all copies or substantial portions of the Software. - - THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - THE SOFTWARE. -*/ - -// start at ascii 32(dec), for example, '0' = ASCII[48-32] -const uint64_t ASCII[] = { - 0x0000000000000000, // space - 0x180018183c3c1800, // ! - 0x00000000286c6c00, // " - 0x6c6cfe6cfe6c6c00, // # - 0x103c403804781000, // $ - 0x60660c1830660600, // % - 0xfc66a6143c663c00, // & - 0x0000000c18181800, // ' - 0x6030181818306000, // ( - 0x060c1818180c0600, // ) - 0x006c38fe386c0000, // * - 0x0010107c10100000, // + - 0x060c0c0c00000000, // , - 0x0000003c00000000, // - - 0x0606000000000000, // . - 0x00060c1830600000, // / - 0x1c2222222222221c, // 0 - 0x1c08080808080c08, // 1 - 0x3e0408102020221c, // 2 - 0x1c2220201820221c, // 3 - 0x20203e2224283020, // 4 - 0x1c2220201e02023e, // 5 - 0x1c2222221e02221c, // 6 - 0x040404081020203e, // 7 - 0x1c2222221c22221c, // 8 - 0x1c22203c2222221c, // 9 - 0x0018180018180000, // : - 0x0c18180018180000, // ; - 0x6030180c18306000, // < - 0x00003c003c000000, // = - 0x060c1830180c0600, // > - 0x1800183860663c00, // ? - 0x003c421a3a221c00, // @ - 0x0033333f33331e0c, // A - 0x003f66663e66663f, // B - 0x003c66030303663c, // C - 0x001f36666666361f, // D - 0x007f46161e16467f, // E - 0x000f06161e16467f, // F - 0x007c66730303663c, // G - 0x003333333f333333, // H - 0x001e0c0c0c0c0c1e, // I - 0x001e333330303078, // J - 0x006766361e366667, // K - 0x007f66460606060f, // L - 0x0063636b7f7f7763, // M - 0x006363737b6f6763, // N - 0x001c36636363361c, // O - 0x000f06063e66663f, // P - 0x00381e3b3333331e, // Q - 0x006766363e66663f, // R - 0x001e33380e07331e, // S - 0x001e0c0c0c0c2d3f, // T - 0x003f333333333333, // U - 0x000c1e3333333333, // V - 0x0063777f6b636363, // W - 0x0063361c1c366363, // X - 0x001e0c0c1e333333, // Y - 0x007f664c1831637f, // Z - 0x7818181818187800, // [ - 0x006030180c060000, // '\' - 0x1e18181818181e00, // ] - 0x0000008244281000, // ^ - 0x7e00000000000000, // _ - 0x0000000060303000, // ` - 0x006e333e301e0000, // a - 0x003b66663e060607, // b - 0x001e3303331e0000, // c - 0x006e33333e303038, // d - 0x001e033f331e0000, // e - 0x000f06060f06361c, // f - 0x1f303e33336e0000, // g - 0x006766666e360607, // h - 0x001e0c0c0c0e000c, // i - 0x1e33333030300030, // j - 0x0067361e36660607, // k - 0x001e0c0c0c0c0c0e, // l - 0x00636b7f7f330000, // m - 0x00333333331f0000, // n - 0x001e3333331e0000, // o - 0x0f063e66663b0000, // p - 0x78303e33336e0000, // q - 0x000f06666e3b0000, // r - 0x001f301e033e0000, // s - 0x00182c0c0c3e0c08, // t - 0x006e333333330000, // u - 0x000c1e3333330000, // v - 0x00367f7f6b630000, // w - 0x0063361c36630000, // x - 0x1f303e3333330000, // y - 0x003f260c193f0000, // z - 0x7018180c18187000, // { - 0x0008080808080800, // | - 0x0e18183018180e00, // } - 0x000000365c000000 // ~ -}; - -const uint64_t ICONS[] = { - 0xffffffffffffffff, // 0 full screen - 0x383838fe7c381000, // 1 arrow_up - 0x10387cfe38383800, // 2 arrow_down - 0x10307efe7e301000, // 3 arrow_right - 0x1018fcfefc181000, // 4 arrow_left - 0xfefe7c7c38381000, // 5 triangle_up - 0x1038387c7cfefe00, // 6 triangle_down - 0x061e7efe7e1e0600, // 7 triangle_right - 0xc0f0fcfefcf0c000, // 8 triangel_left - 0x7c92aa82aa827c00, // 9 smile_face_1 - 0x003c420000660000, // 10 smile_face_2 - 0x10387cfefeee4400, // 11 hearts - 0x10387cfe7c381000, // 12 diamonds - 0x381054fe54381000, // 13 clubs - 0x38107cfe7c381000, // 14 spades - 0x00387c7c7c380000, // 15 circle1 - 0xffc7838383c7ffff, // 16 circle2 - 0x0038444444380000, // 17 circle3 - 0xffc7bbbbbbc7ffff, // 18 circle4 - 0x0c12129ca0c0f000, // 19 man - 0x38444438107c1000, // 20 woman - 0x060e0c0808281800, // 21 musical_note_1 - 0x066eecc88898f000, // 22 musical_note_2 - 0x105438ee38541000, // 23 snow - 0x1038541054381000, // 24 up_down - 0x6666006666666600, // 25 double_! - 0x002844fe44280000, // 26 left_right - 0xfe8282c66c381000, // 27 house - 0x002400e7a5bde700 // 28 glasses -}; - -const uint64_t BARS[] = { - 0x0000000000000000, - 0x1800000000000000, - 0x3c00000000000000, - 0x7e00000000000000, - 0xff00000000000000, - 0xff18000000000000, - 0xff3c000000000000, - 0xff7e000000000000, - 0xffff000000000000, - 0xffff180000000000, - 0xffff3c0000000000, - 0xffff7e0000000000, - 0xffffff0000000000, - 0xffffff1800000000, - 0xffffff3c00000000, - 0xffffff7e00000000, - 0xffffffff00000000, - 0xffffffff18000000, - 0xffffffff3c000000, - 0xffffffff7e000000, - 0xffffffffff000000, - 0xffffffffff180000, - 0xffffffffff3c0000, - 0xffffffffff7e0000, - 0xffffffffffff0000, - 0xffffffffffff1800, - 0xffffffffffff3c00, - 0xffffffffffff7e00, - 0xffffffffffffff00, - 0xffffffffffffff18, - 0xffffffffffffff3c, - 0xffffffffffffff7e, - 0xffffffffffffffff -}; diff --git a/labyrinthe/6-jumeaux/6-labyrinthe-arduino/lib/Grove_LED_Matrix_Driver_HT16K33.zip b/labyrinthe/6-jumeaux/6-labyrinthe-arduino/lib/Grove_LED_Matrix_Driver_HT16K33.zip deleted file mode 100644 index 29e3931..0000000 Binary files a/labyrinthe/6-jumeaux/6-labyrinthe-arduino/lib/Grove_LED_Matrix_Driver_HT16K33.zip and /dev/null differ diff --git a/labyrinthe/6-jumeaux/6-labyrinthe-arduino/lib/README.md b/labyrinthe/6-jumeaux/6-labyrinthe-arduino/lib/README.md index 8cd223d..7f63e00 100644 --- a/labyrinthe/6-jumeaux/6-labyrinthe-arduino/lib/README.md +++ b/labyrinthe/6-jumeaux/6-labyrinthe-arduino/lib/README.md @@ -4,10 +4,3 @@ - Wiki : https://wiki.seeedstudio.com/Grove-IMU_9DOF_v2.0/ - Forge : https://github.com/Seeed-Studio/Grove_IMU_9DOF - Licence : MIT - -### Grove_LED_Matrix_Driver_HT16K33 : -- Wiki : https://wiki.seeedstudio.com/Grove-Red_LED_Matrix_w_Driver -- Forge : https://github.com/Seeed-Studio/Grove_LED_Matrix_Driver_HT16K33 -- Outil en ligne pour générer des caractères : https://xantorohara.github.io/led-matrix-editor/# -- Licence : MIT - diff --git a/labyrinthe/6-jumeaux/6-labyrinthe.blend b/labyrinthe/6-jumeaux/6-labyrinthe.blend index 4b5382a..078fc1a 100644 Binary files a/labyrinthe/6-jumeaux/6-labyrinthe.blend and b/labyrinthe/6-jumeaux/6-labyrinthe.blend differ diff --git a/labyrinthe/6-jumeaux/6-labyrinthe.py b/labyrinthe/6-jumeaux/6-labyrinthe.py index 23c5434..4e4ebf7 100644 --- a/labyrinthe/6-jumeaux/6-labyrinthe.py +++ b/labyrinthe/6-jumeaux/6-labyrinthe.py @@ -57,12 +57,12 @@ def capteur(cont): # Lecture de la liaison série : programme Arduino : 4-labyrinthe-imu.ino serial_msg_in = str(serial_comm.readline()) - # Mettre la bille à la position de départ avec une vitesse nulle - if serial_msg_in.find("start")>0: - if obj_bille['victoire'] or obj_bille['chute']: - depart() + # # Mettre la bille à la position de départ avec une vitesse nulle + # if serial_msg_in.find("start")>0: + # if obj_bille['victoire'] or obj_bille['chute']: + # depart() - # Roll et Pitch + # Roll et Pitch : copier la position du plateau réel if serial_msg_in.find(",")>0: txt = serial_msg_in.split(',',2) x_txt = txt[0][2:] @@ -98,35 +98,35 @@ def cycle(cont): obj = cont.owner # obj est l'objet associé au contrôleur donc 'Bille' obj['z']=obj.worldPosition.z # la propriété z est mis à jour avec la position globale en z de la bille - # Écriture de la position de la bille sur la liaison série - if obj['victoire']==False and obj['chute']==False: - # obj['x'] = obj.worldPosition.x # de -3.5 à 3.5 - # obj['y'] = obj.worldPosition.y # de 3.5 à -3.5 - obj['Lx']=-1*round(obj.worldPosition.x-3.5) # de 7 à 0 - if obj['Lx']<0: obj['Lx']=0 - if obj['Lx']>7: obj['Lx']=7 - obj['Ly']=-1*round(obj.worldPosition.y-3.5) # de 0 à 7 - if obj['Ly']<0: obj['Ly']=0 - if obj['Ly']>7: obj['Ly']=7 - serial_msg_out = str(obj['Lx'])+str(obj['Ly'])+"\n" - serial_comm.write(serial_msg_out.encode()) + # # Écriture de la position de la bille sur la liaison série + # if obj['victoire']==False and obj['chute']==False: + # # obj['x'] = obj.worldPosition.x # de -3.5 à 3.5 + # # obj['y'] = obj.worldPosition.y # de 3.5 à -3.5 + # obj['Lx']=-1*round(obj.worldPosition.x-3.5) # de 7 à 0 + # if obj['Lx']<0: obj['Lx']=0 + # if obj['Lx']>7: obj['Lx']=7 + # obj['Ly']=-1*round(obj.worldPosition.y-3.5) # de 0 à 7 + # if obj['Ly']<0: obj['Ly']=0 + # if obj['Ly']>7: obj['Ly']=7 + # serial_msg_out = str(obj['Lx'])+str(obj['Ly'])+"\n" + # serial_comm.write(serial_msg_out.encode()) - # Si l'altitude de bille < -10 et pas de victoire -> chute - if obj['z'] < -10 and obj['victoire'] == False : + # # Si l'altitude de bille < -10 et pas de victoire -> chute + # if obj['z'] < -10 and obj['victoire'] == False : - # Afficher image de chute sur la matrice de leds - serial_msg_out = "91\n" - serial_comm.write(serial_msg_out.encode()) - obj['chute'] = True + # # Afficher image de chute sur la matrice de leds + # serial_msg_out = "91\n" + # serial_comm.write(serial_msg_out.encode()) + # obj['chute'] = True # Départ de la bille def depart(): obj_bille = scene.objects['Bille'] obj_plateau = scene.objects['Plateau'] - # Replacement du plateau (tous les angles à 0 en plusieurs fois) - while obj_plateau.worldOrientation.to_euler().x != 0 and obj_plateau.worldOrientation.to_euler().y !=0 and obj_plateau.worldOrientation.to_euler().z !=0 : - obj_plateau.applyRotation((-obj_plateau.worldOrientation.to_euler().x, -obj_plateau.worldOrientation.to_euler().y, -obj_plateau.worldOrientation.to_euler().z), False) + # # Replacement du plateau (tous les angles à 0 en plusieurs fois) + # while obj_plateau.worldOrientation.to_euler().x != 0 and obj_plateau.worldOrientation.to_euler().y !=0 and obj_plateau.worldOrientation.to_euler().z !=0 : + # obj_plateau.applyRotation((-obj_plateau.worldOrientation.to_euler().x, -obj_plateau.worldOrientation.to_euler().y, -obj_plateau.worldOrientation.to_euler().z), False) # Mettre la bille à la position de départ avec une vitesse nulle obj_bille.worldLinearVelocity=(0, 0, 0) @@ -140,10 +140,10 @@ def depart(): # Victoire (collision de la bille avec l'arrivée) def victoire(cont): - # Afficher image de victoire sur la matrice de leds - serial_msg_out = "92\n" - serial_comm.write(serial_msg_out.encode()) - scene.objects['Bille']['victoire']=True + # # Afficher image de victoire sur la matrice de leds + # serial_msg_out = "92\n" + # serial_comm.write(serial_msg_out.encode()) + # scene.objects['Bille']['victoire']=True # Animation du Panneau victoire scene.objects['Panneau victoire'].setVisible(True,True) # Afficher le panneau de la victoire diff --git a/labyrinthe/6-jumeaux/impression3d/attache-cables.stl b/labyrinthe/6-jumeaux/impression3d/attache-cables.stl new file mode 100755 index 0000000..b172164 --- /dev/null +++ b/labyrinthe/6-jumeaux/impression3d/attache-cables.stl @@ -0,0 +1,34302 @@ +solid attache-cables + facet normal 9.961946e-01 -8.715653e-02 0.000000e+00 + outer loop + vertex 3.900001e+00 5.000000e+00 1.040000e+01 + vertex 3.900001e+00 5.000000e+00 9.000000e+00 + vertex 3.916712e+00 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a/labyrinthe/6-jumeaux/impression3d/serre_cable.stl and /dev/null differ diff --git a/labyrinthe/6-jumeaux/test/manette-test/manette-test.ino b/labyrinthe/6-jumeaux/test/manette-test/manette-test.ino index 9b637aa..1992ed7 100644 --- a/labyrinthe/6-jumeaux/test/manette-test/manette-test.ino +++ b/labyrinthe/6-jumeaux/test/manette-test/manette-test.ino @@ -121,18 +121,6 @@ void loop() { pitch_deg = pitch*57.3; pitch_txt = String(pitch_deg); - /***** - * Affiche les angles de roulie et de tangage - *****/ - - /* if (auto_horizontal) */ - /* { */ - /* Serial.print(roll_txt); */ - /* Serial.print(","); */ - /* Serial.print(pitch_txt); */ - /* Serial.println(); */ - /* } */ - /***** * Mouvement manuel : Axe x *****/ @@ -263,7 +251,7 @@ void loop() { digitalWrite(led_pin, HIGH); // Led auto_horizontal_mvt = false; - // Mouvemeent + // Mouvement if ((roll_deg < -1) or (roll_deg > 1) or (pitch_deg < -1) or (pitch_deg > 1)) auto_horizontal_mvt = true; if (roll_deg < -1)