2026-10-07 : Dev
Séance : Contrat-d’étude · Durée : 1 h 30
Différence software vs firmware :
software : haut niveau, fonctionne sur un OS. firmware : software de bas niveau, fonctionne de façon permanente ou semi-permanente sur un microcontroleur, controle les fonctions core du dit.
Fait :
J’ai mis en place une config modulable pour le robot principale. Afin que tout les actionneurs puisse être tranférer sans probleme
Fichier : project/firmware/Firmware_Robot_Principale/src/config.h
flowchart LR
ESP[ESP32-S3<br/>config.h] --> STP[6x TMC2209<br/>STEP / DIR]
ESP --> PWR[EN 5VP<br/>servos]
ESP --> I2C[I2C<br/>3x PCF8574]
ESP --> TFT[Écran TFT<br/>SPI]
ESP --> IN[Tirette, bouton,<br/>3 switchs]
ESP --> LID[LiDAR LD06<br/>UART + PWM]
// Configuration file for the robot firmware
// Pin names come from the KiCad schematic "carte principale" (ESP32-S3-DevKitC, U4).
// All pins are placeholders (-1) until assigned; the schematic GPIO is given in the comments.
#pragma once
// Serial debug output
#define DEBUG_SERIAL true
// match duration
#define MATCH_DURATION 100 // in seconds
// ---------------------------------------------------------------------------
// Stepper drivers (TMC2209 U5..U10, 24V), driven with FastAccelStepper
// Pins are meant for engine.stepperConnectToPin(STEP_x_PIN) and
// stepper->setDirectionPin(DIR_x_PIN). The TMC2209 ~EN pins are not wired to the ESP32.
// ---------------------------------------------------------------------------
#define STEPPER_COUNT 6
#define STEP_1_PIN -1 // schematic: GPIO14
#define DIR_1_PIN -1 // schematic: GPIO17
#define STEP_2_PIN -1 // schematic: GPIO18
#define DIR_2_PIN -1 // schematic: GPIO21
#define STEP_3_PIN -1 // schematic: GPIO35
#define DIR_3_PIN -1 // schematic: GPIO36
#define STEP_4_PIN -1 // schematic: GPIO37
#define DIR_4_PIN -1 // schematic: GPIO38
#define STEP_5_PIN -1 // schematic: GPIO15
#define DIR_5_PIN -1 // schematic: GPIO16
#define STEP_6_PIN -1 // schematic: GPIO47
#define DIR_6_PIN -1 // schematic: GPIO48
// Motion parameters (placeholders)
#define STEPPER_STEPS_PER_REV -1 // full steps per motor revolution
#define STEPPER_MICROSTEPS -1 // set by the TMC2209 MS1/MS2 configuration
#define STEPPER_MAX_SPEED_HZ -1 // for setSpeedInHz(), in steps/s
#define STEPPER_ACCELERATION -1 // for setAcceleration(), in steps/s^2
// ---------------------------------------------------------------------------
// Power
// ---------------------------------------------------------------------------
#define EN_5VP_PIN -1 // enable of the 5VP (servo) converter, schematic: GPIO3
// ---------------------------------------------------------------------------
// I2C bus (3x PCF8574T I/O expanders ICM6..ICM8, J2 connector)
// ---------------------------------------------------------------------------
#define I2C_SDA_PIN -1 // schematic: GPIO9
#define I2C_SCL_PIN -1 // schematic: GPIO8
// PCF8574 addresses (set by the A0..A2 jumpers)
#define PCF_ICM6_ADDR -1
#define PCF_ICM7_ADDR -1
#define PCF_ICM8_ADDR -1
// ---------------------------------------------------------------------------
// TFT screen (J1, SPI, no reset line on the schematic)
// ---------------------------------------------------------------------------
#define TFT_MISO_PIN -1 // "sdo", schematic: GPIO7
#define TFT_MOSI_PIN -1 // "sdi", schematic: GPIO11
#define TFT_SCK_PIN -1 // "sck", schematic: GPIO10
#define TFT_DC_PIN -1 // "dc", schematic: GPIO12
#define TFT_CS_PIN -1 // "cs", schematic: GPIO13
// ---------------------------------------------------------------------------
// Inputs
// ---------------------------------------------------------------------------
#define TIRETTE_PIN -1 // starting cord, "tir", schematic: GPIO2
#define BUTTON_PIN -1 // push button, "bu", schematic: GPIO4
#define SWITCH_1_PIN -1 // "sw1", schematic: GPIO5
#define SWITCH_2_PIN -1 // "sw2", schematic: GPIO6
#define SWITCH_3_PIN -1 // "sw3", schematic: GPIO1
// ---------------------------------------------------------------------------
// LIDAR (J5, LD06 library in src/ld06.h)
// The LD06 is wired on the ESP32 UART0 pins (GPIO43/44), shared with the USB-UART bridge.
// Constructor: LD06(HardwareSerial &serial, LD06_PWM_PIN); init() calls serial.begin(230400) itself.
// ---------------------------------------------------------------------------
#define LD06_PWM_PIN -1 // motor PWM, "pwm", schematic: GPIO39 (255 = no PWM pin for the library)
#define LD06_RX_PIN -1 // ESP32 RX <- LD06 TX, schematic: GPIO44 (U0RXD)
#define LD06_TX_PIN -1 // ESP32 TX -> LD06 RX, schematic: GPIO43 (U0TXD)
#define LD06_UART_NUM -1 // HardwareSerial number to use for the LIDAR
#define LD06_BAUDRATE 230400 // fixed by the LD06 and by LD06::init()
// Filtering (see setDistanceRange / setAngleRange / setIntensityThreshold)
#define LD06_MIN_DISTANCE -1 // in mm
#define LD06_MAX_DISTANCE -1 // in mm
#define LD06_MIN_ANGLE -1 // in degrees
#define LD06_MAX_ANGLE -1 // in degrees
#define LD06_INTENSITY_THRESHOLD -1 // 0-255
#define LD06_UPSIDE_DOWN false
// Lidar position relative to the robot center (see setOffsetPosition)
#define LD06_OFFSET_X -1 // in mm
#define LD06_OFFSET_Y -1 // in mm
#define LD06_OFFSET_ANGLE -1 // in degrees
Arrivant I1 mercredi soir
- CARTIER Colin I1
- DEKER Leo I1
- ANDRADE Henrique I1
- ASSI Nassimi I1
- LECERF Thomas I1
- FONTENIER Eliott B1
- JOSEPH-MERISIER Handy B1
- ROELENS Gabriel I3 PARA FISE
PENSE BÊTE
KALEMAN SENSOR FUSION sick