22-08-24 VE

latest code used during Best2024

main/bsp.c

@@ -197,6 +197,7 @@ void boardInit(void)
 
 void setMotor(uint32_t speedA, bool directionA,uint32_t speedB, bool directionB)
 {
+    /*
     if(QUISUISJE==BATEAU){
         if(speedA<SEUIL_MOTEUR){
             gpio_set_level(M1A,0);
@@ -225,6 +226,7 @@ void setMotor(uint32_t speedA, bool directionA,uint32_t speedB, bool directionB)
         }
     }
     else{
+        */
         if(directionA){
         ledc_set_duty(ledc_channel[0].speed_mode, ledc_channel[0].channel, speedA);
         ledc_update_duty(ledc_channel[0].speed_mode, ledc_channel[0].channel);
@@ -250,14 +252,15 @@ void setMotor(uint32_t speedA, bool directionA,uint32_t speedB, bool directionB)
         ledc_set_duty(ledc_channel[3].speed_mode, ledc_channel[3].channel, speedB);
         ledc_update_duty(ledc_channel[3].speed_mode, ledc_channel[3].channel);
         }
-    }
+    //}
 }
 
 void initMotor(void)
 {
     int ch;
 
-    if(QUISUISJE==VOITURE){    /*
+//    if(QUISUISJE==VOITURE){    
+    /*
      * Prepare and set configuration of timers
      * that will be used by LED Controller
      */
@@ -300,7 +303,7 @@ void initMotor(void)
     for (ch = 0; ch < LEDC_TEST_CH_NUM; ch++) {
         ledc_channel_config(&ledc_channel[ch]);
     }
-}
+/*}
 else{
 gpio_reset_pin(M1A);
 gpio_set_direction(M1A, GPIO_MODE_OUTPUT);
@@ -311,6 +314,7 @@ gpio_set_direction(M2A, GPIO_MODE_OUTPUT);
 gpio_reset_pin(M2B);
 gpio_set_direction(M2B, GPIO_MODE_OUTPUT);
 }
+//*/
 	setMotor(0,true,0,true);
 
 }
@@ -377,7 +381,7 @@ void getThrRaw(int *value){
 void getBatt(int *value){
     int rawValue;
 	getBattRaw( &rawValue);
-    *value=(int)(rawValue*3.5);//scale TBD
+    *value=(int)(rawValue*4);//scale TBD
 }
 // Normalized value between -100 and +100
 void getDir(int *value){

main/bsp.h

@@ -119,6 +119,8 @@ extern  uint8_t led_strip_pixels[EXAMPLE_LED_NUMBERS * 3];
 #define TRANSMIT_PERIOD_INTERVAL 100 // 100 millisecondes entre les trames
 #define SIZE_TOPIC 25 // longueur des noms des topic
 
+//#define BATEAU_MODE_TOR
+
 #define TOPIC_TIMER_BATEAU "/B/timer"
 
 

main/loop.c

@@ -122,10 +122,10 @@ void loop_bateau(void ){
                     dir=dirReceived;
                     thr=gazReceived;
                     dataReceived=0;
-                    M1=(-thr+dir)*5;
+                    M1=(2*thr-2*dir)*5;
                     if(M1>MOTOR_MAX_VALUE)M1=MOTOR_MAX_VALUE;
                     if(M1<-MOTOR_MAX_VALUE)M1=-MOTOR_MAX_VALUE;
-                    M2=-(-thr-dir)*5;
+                    M2=-(2*thr+2*dir)*5;
                     if(M2>MOTOR_MAX_VALUE)M2=MOTOR_MAX_VALUE;
                     if(M2<-MOTOR_MAX_VALUE)M2=-MOTOR_MAX_VALUE;
                     if(M1>0){
@@ -150,7 +150,7 @@ void loop_bateau(void ){
                 }
                 else{
                     if(timer++>10){// timeout de 1 seconde
-                    esp_wifi_set_ps(WIFI_PS_MIN_MODEM);//minimise la conso, augmente la latence
+// VE DEBUG                    esp_wifi_set_ps(WIFI_PS_MIN_MODEM);//minimise la conso, augmente la latence
                     state_bateau=BATEAU_SLEEP;
                     setMotor(0,dirM1,0,dirM2);
                     vTaskDelay(TRANSMIT_PERIOD_INTERVAL / portTICK_PERIOD_MS);
@@ -198,7 +198,7 @@ void loop_radio_bateau(void ){
                     vTaskDelay(TRANSMIT_PERIOD_INTERVAL / portTICK_PERIOD_MS);
                 }
                 else{
-                    esp_wifi_set_ps(WIFI_PS_MIN_MODEM);
+ // VE DEBUG                   esp_wifi_set_ps(WIFI_PS_MIN_MODEM);
                     state_radio_bateau=RADIO_BATEAU_SLEEP;
                     getBatt(&batt);
                     sprintf(battStr,"%04d",batt);
@@ -238,7 +238,7 @@ void loop_starter_bateau(void){
                     timer--;
                 }
                 else{
-                    //esp_wifi_set_ps(WIFI_PS_NONE);
+                    esp_wifi_set_ps(WIFI_PS_NONE);
                     data='0';
                     msg_id = esp_mqtt_client_publish(clientMqtt, topicGo, &data, 0, 1, 1);
                     state_radio_bateau=RADIO_BATEAU_SLEEP;
@@ -286,10 +286,10 @@ void loop_voiture(void ){
                     dir=dirReceived;
                     thr=gazReceived;
                     dataReceived=0;
-                    M1=(-thr+dir)*5;
+                    M1=(thr+dir)*5;
                     if(M1>MOTOR_MAX_VALUE)M1=MOTOR_MAX_VALUE;
                     if(M1<-MOTOR_MAX_VALUE)M1=-MOTOR_MAX_VALUE;
-                    M2=-(-thr-dir)*5;
+                    M2=-(thr-dir)*5;
                     if(M2>MOTOR_MAX_VALUE)M2=MOTOR_MAX_VALUE;
                     if(M2<-MOTOR_MAX_VALUE)M2=-MOTOR_MAX_VALUE;
                     if(M1>0){