various improvements

.theia/launch.json

@@ -3,6 +3,16 @@
   // Hover to view descriptions of existing attributes.
   "version": "0.2.0",
   "configurations": [
-  
+    {
+      "cwd": "${workspaceFolder}",
+      "executable": "./bin/executable.elf",
+      "name": "Debug with JLink",
+      "request": "launch",
+      "type": "cortex-debug",
+      "device": "",
+      "runToEntryPoint": "main",
+      "showDevDebugOutput": "none",
+      "servertype": "jlink"
+    }
   ]
 }

piconaut-caaar.ino

@@ -1,29 +1,43 @@
-#include <Adafruit_NeoPixel.h>
+#include <NeoPixelConnect.h>
+#define MAXIMUM_NUM_NEOPIXELS 7
 #include <RP2040_PWM.h>
 
 const int numPins = 3;
 const int pwmPins[] = {A1, A2, A3};
 const float minDutyCycle[numPins] = {5.98, 6.03, 6.03};
 const float maxDutyCycle[numPins] = {12.08, 12.02, 11.94};
-const float deadzone = 0.1;
+const float deadzone = 0.50;
 volatile float mappedDutyCycles[numPins] = {0.0, 0.0, 0.0};
 
+enum devMode{
+  automatic = 0,
+  safe = 1,
+  manual = 2
+};
+
+volatile devMode mode = safe;
+
 // WS2812B LEDs
-const int numLEDs = 6;
-const int ledPin = 10;
-Adafruit_NeoPixel strip(numLEDs, ledPin, NEO_GRB + NEO_KHZ800);
+const int numLEDs = 7;
+const int ledPin = 15;
+NeoPixelConnect p(ledPin, numLEDs, pio1, 0);
 
 // Servo
-const int servoPins[] = {11, 12};
+const int servoPins[] = {10, 6};
 const int numServos = 2;
 const int servoFreq = 60;
 RP2040_PWM* servo1;
 RP2040_PWM* servo2;
+float servo1Perc = 0.0;
+float servo2Perc = 0.0;
+//system
 
 float mapFloat(float x, float in_min, float in_max, float out_min, float out_max) {
   return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
 }
 
+void runDirectMode();
+
 void setup() {
   Serial.begin(9600);
   delay(5000);
@@ -33,16 +47,37 @@ void setup() {
   }
 
   // Set up WS2812B LEDs
-  strip.begin();
-  strip.show();
-  setLEDDefaultColors();
+  //strip.begin();
+  //strip.show();
+  //setLEDDefaultColors();
 
   // Set up servo PWM
   for (int i = 0; i < numServos; i++) {
     pinMode(servoPins[i], OUTPUT);
   }
-    servo1 = new RP2040_PWM(servoPins[0], servoFreq, 0);
-    servo2 = new RP2040_PWM(servoPins[1], servoFreq, 0);
+  servo1 = new RP2040_PWM(servoPins[0], servoFreq, 0);
+  servo2 = new RP2040_PWM(servoPins[1], servoFreq, 0);
+
+  servo1->setPWM();
+  servo2->setPWM();
+}
+
+void runLEDs(){
+  switch((int)mode){
+    case 0:
+      p.neoPixelFill(0, 0, 255, true);
+    break;
+    case 1:
+      p.neoPixelFill(255, 0, 0, true);
+    break;
+    case 2:
+      setLEDDefaultColors();
+    break;  
+    default:
+      p.neoPixelFill(0, 255, 0, true);
+      Serial.println(mode);
+    break;  
+  }
 }
 
 void loop() {
@@ -54,7 +89,9 @@ void loop() {
 
     // Map the duty cycle value to the range of -1.0 to 1.0
     mappedDutyCycles[i] = mapFloat(dutyCycle, minDutyCycle[i], maxDutyCycle[i], -1.0, 1.0);
-
+    Serial.print(i);
+    Serial.print(" ");
+    Serial.println(period);
     // Apply deadzone
     if (mappedDutyCycles[i] > -deadzone && mappedDutyCycles[i] < deadzone) {
       mappedDutyCycles[i] = 0.0;
@@ -70,35 +107,53 @@ void setup1() {
 }
 
 void loop1() {
+  modeCheck();
+  runLEDs();
+  switch(mode){
+    case automatic://do nothing, values prodivded by host computer
+    break;
+    case safe: //stop car
+      servo1Perc = 0.0f;
+      servo2Perc = 0.0f;      
+    break;
+    case manual:
+      servo1Perc = ((mappedDutyCycles[1] + 1.0) * 3);
+      servo2Perc = ((mappedDutyCycles[2] + 1.0) * 3);
+      //Serial.println(servo1Perc);
+      //Serial.println(servo1Perc);
+    break;
+  }
+  updateServos();
   handleSerialCommands();  
   // Print the pin name and the mapped duty cycle in a format suitable for the Serial Plotter
-  for (int i = 0; i < numPins; i++) {
-    Serial.print("Pin ");
+  /*for (int i = 0; i < numPins; i++) {
     Serial.print(pwmPins[i]);
-    Serial.print(": ");
+    Serial.print(":");
     Serial.print(mappedDutyCycles[i]);
 
     if (i < numPins - 1) {
-      Serial.print(", ");
+      Serial.print(",");
     } else {
       Serial.println();
     }
-  }
+  }*/
 
   delay(1); // Wait for 1ms before the next transmission
 }
 
 void setLEDDefaultColors() {
-  for (int i = 0; i < 4; i++) {
-    strip.setPixelColor(i, strip.Color(255, 255, 255));
+  for (int i = 0; i < 2; i++) {
+    //strip.setPixelColor(i, strip.Color(255, 0, 0));
+    p.neoPixelSetValue(i, 255,0,0, true);
   }
-  for (int i = 4; i < 6; i++) {
-    strip.setPixelColor(i, strip.Color(255, 0, 0));
+  for (int i = 2; i < 6; i++) {
+    //strip.setPixelColor(i, strip.Color(255, 255, 255));
+     p.neoPixelSetValue(i, 255,255,255, true);
   }
-  strip.show();
+  //strip.show();
 }
 
-void cycleLEDColors() {
+void cycleLEDColors() {/*
   static uint32_t color = strip.Color(255, 0, 0);
   static uint8_t colorState = 0;
 
@@ -115,7 +170,8 @@ void cycleLEDColors() {
     } else {
       color = strip.Color(255, 0, 0);
     }
-  }
+  }*/
+  p.neoPixelFill(255, 0, 0, true);  
 }
 
 void handleSerialCommands() {
@@ -127,16 +183,16 @@ void handleSerialCommands() {
     }
     if (command.startsWith("l")) {
       if (command == "l1") {
-        setLEDDefaultColors();
+        //setLEDDefaultColors();
       } else if (command == "l0") {
-        cycleLEDColors();
+        //cycleLEDColors();
       } else if (command.startsWith("l")) {
         int ledNum;
         int r, g, b;
         if (sscanf(command.c_str(), "l%d %d,%d,%d", &ledNum, &r, &g, &b) == 4) {
           if (ledNum >= 0 && ledNum < numLEDs) {
-            strip.setPixelColor(ledNum, strip.Color(r, g, b));
-            strip.show();
+            //strip.setPixelColor(ledNum, strip.Color(r, g, b));
+            //strip.show();
           }
         }
       }
@@ -152,3 +208,27 @@ void handleSerialCommands() {
     }
   }
 }
+
+void modeCheck(){
+  for (int i = 0; i < 3; i++) {
+      if (mappedDutyCycles[i] < -1.3 || mappedDutyCycles[i] > 1.3) {
+          mode = safe;  //out of bounds/disconnected
+          Serial.println("#OUT_OF_BOUNDS");
+          return;
+      }
+  }
+
+  if(mappedDutyCycles[0] > 0.5){ //interrupteur sur le côté de la télécommande
+    mode = manual;
+  }else if(mappedDutyCycles[0] > -0.25 && mappedDutyCycles[0] < 0.25){
+    mode = automatic;
+  }
+  else if(mappedDutyCycles[0] < -0.5){
+    mode = safe;
+  }
+}
+
+void updateServos(){
+  servo1->setPWM(servoPins[0],60,servo1Perc+5.5f);  //accelerateur
+  servo2->setPWM(servoPins[1],60,servo2Perc);  //dir
+}