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Université
2026-01-14 23:52:06 +01:00
parent 705b357f34
commit 729171bafe
5 changed files with 247 additions and 183 deletions
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155
.devcontainer/nodered/flows.json
View File

@@ -652,7 +652,7 @@
"type": "function",
"z": "86a34ee77bf6db10",
"name": "s0",
"func": "msg.payload = Number(msg.payload.s0) ? \"🟩\" : \"🟥\";\n\nreturn msg;",
"func": "msg.payload = Number(msg.payload.sorties[0]) ? \"🟩\" : \"🟥\";\n\nreturn msg;",
"outputs": 1,
"timeout": 0,
"noerr": 0,
@@ -672,7 +672,7 @@
"type": "function",
"z": "86a34ee77bf6db10",
"name": "s1",
"func": "msg.payload = Number(msg.payload.s1) ? \"🟩\" : \"🟥\";\n\nreturn msg;",
"func": "msg.payload = Number(msg.payload.sorties[1]\n) ? \"🟩\" : \"🟥\";\n\nreturn msg;",
"outputs": 1,
"timeout": 0,
"noerr": 0,
@@ -692,7 +692,7 @@
"type": "function",
"z": "86a34ee77bf6db10",
"name": "s2",
"func": "msg.payload = Number(msg.payload.s2) ? \"🟩\" : \"🟥\";\n\nreturn msg;",
"func": "msg.payload = Number(msg.payload.sorties[2]) ? \"🟩\" : \"🟥\";\n\nreturn msg;",
"outputs": 1,
"timeout": 0,
"noerr": 0,
@@ -832,7 +832,7 @@
"type": "function",
"z": "86a34ee77bf6db10",
"name": "s3",
"func": "msg.payload = Number(msg.payload.s3) ? \"🟩\" : \"🟥\";\n\nreturn msg;",
"func": "msg.payload = Number(msg.payload.sorties[3]) ? \"🟩\" : \"🟥\";\n\nreturn msg;",
"outputs": 1,
"timeout": 0,
"noerr": 0,
@@ -852,7 +852,7 @@
"type": "function",
"z": "86a34ee77bf6db10",
"name": "s4",
"func": "msg.payload = Number(msg.payload.s4) ? \"🟩\" : \"🟥\";\n\nreturn msg;",
"func": "msg.payload = Number(msg.payload.sorties[4]) ? \"🟩\" : \"🟥\";\n\nreturn msg;",
"outputs": 1,
"timeout": 0,
"noerr": 0,
@@ -872,7 +872,7 @@
"type": "function",
"z": "86a34ee77bf6db10",
"name": "s5",
"func": "msg.payload = Number(msg.payload.s5) ? \"🟩\" : \"🟥\";\n\nreturn msg;",
"func": "msg.payload = Number(msg.payload.sorties[5]) ? \"🟩\" : \"🟥\";\n\nreturn msg;",
"outputs": 1,
"timeout": 0,
"noerr": 0,
@@ -892,7 +892,7 @@
"type": "function",
"z": "86a34ee77bf6db10",
"name": "s6",
"func": "msg.payload = Number(msg.payload.s6) ? \"🟩\" : \"🟥\";\n\nreturn msg;",
"func": "msg.payload = Number(msg.payload.sorties[6]) ? \"🟩\" : \"🟥\";\n\nreturn msg;",
"outputs": 1,
"timeout": 0,
"noerr": 0,
@@ -912,7 +912,7 @@
"type": "function",
"z": "86a34ee77bf6db10",
"name": "s7",
"func": "msg.payload = Number(msg.payload.s7) ? \"🟩\" : \"🟥\";\n\nreturn msg;",
"func": "msg.payload = Number(msg.payload.sorties[7]) ? \"🟩\" : \"🟥\";\n\nreturn msg;",
"outputs": 1,
"timeout": 0,
"noerr": 0,
@@ -932,7 +932,7 @@
"type": "function",
"z": "86a34ee77bf6db10",
"name": "reset",
"func": "flow.set(\"i0\", 0);\nflow.set(\"i1\", 0);\nflow.set(\"i2\", 0);\nflow.set(\"i3\", 0);\nflow.set(\"i4\", 0);\nflow.set(\"i5\", 0);\nflow.set(\"i6\", 0);\nflow.set(\"i7\", 0);\n\nglobal.set(\"a0\", 0);\nglobal.set(\"a1\", 0);\nglobal.set(\"a2\", 0);\nglobal.set(\"a3\", 0);\nglobal.set(\"a4\", 0);\nglobal.set(\"a5\", 0);\nglobal.set(\"a6\", 0);\nglobal.set(\"a7\", 0);\n\nglobal.set(\"m0\", 0);\nglobal.set(\"m1\", 0);\nglobal.set(\"m2\", 0);\nglobal.set(\"m3\", 0);\n\nglobal.set(\"p0\", 0);\n\nglobal.set(\"v0\", 0);\n\nglobal.set(\"c0\", 1);\nglobal.set(\"c1\", 1);\nglobal.set(\"c2\", 0);\nglobal.set(\"c3\", 0);\nglobal.set(\"c4\", 0);\nglobal.set(\"c5\", 0);\nglobal.set(\"c6\", 0);\nglobal.set(\"c7\", 0);\n\nglobal.set(\"s8\", 0);\nglobal.set(\"s9\", 0);\n\nglobal.set(\"flag0\", 0);\n\nmsg.payload = false;\n\nreturn msg;",
"func": "flow.set(\"i0\", 0);\nflow.set(\"i1\", 0);\nflow.set(\"i2\", 0);\nflow.set(\"i3\", 0);\nflow.set(\"i4\", 0);\nflow.set(\"i5\", 0);\nflow.set(\"i6\", 0);\nflow.set(\"i7\", 0);\n\nglobal.set(\"a0\", 0);\nglobal.set(\"a1\", 0);\nglobal.set(\"a2\", 0);\nglobal.set(\"a3\", 0);\nglobal.set(\"a4\", 0);\nglobal.set(\"a5\", 0);\nglobal.set(\"a6\", 0);\nglobal.set(\"a7\", 0);\n\nglobal.set(\"m0\", 0);\nglobal.set(\"m1\", 0);\nglobal.set(\"m2\", 0);\nglobal.set(\"m3\", 0);\n\nglobal.set(\"p0\", 0);\n\nglobal.set(\"v0\", 0);\n\nglobal.set(\"c0\", 1);\nglobal.set(\"c1\", 0);\nglobal.set(\"c2\", 1);\nglobal.set(\"c3\", 0);\nglobal.set(\"c4\", 0);\nglobal.set(\"c5\", 0);\nglobal.set(\"c6\", 0);\nglobal.set(\"c7\", 0);\n\nglobal.set(\"s8\", 0);\nglobal.set(\"s9\", 0);\n\nglobal.set(\"flag0\", 0);\n\nmsg.payload = false;\n\nreturn msg;",
"outputs": 1,
"timeout": 0,
"noerr": 0,
@@ -2025,7 +2025,7 @@
"type": "function",
"z": "86a34ee77bf6db10",
"name": "s8 🟢",
"func": "msg.payload = Number(msg.payload.s8) == 1 ? \"<span style='font-weight:400'>🟢</span>\" : \"<span style='font-weight:400'>⚪</span>\";\n\nreturn msg;",
"func": "msg.payload = Number(msg.payload.sorties[8]) == 1 ? \"<span style='font-weight:400'>🟢</span>\" : \"<span style='font-weight:400'>⚪</span>\";\n\nreturn msg;",
"outputs": 1,
"timeout": 0,
"noerr": 0,
@@ -2045,7 +2045,7 @@
"type": "function",
"z": "86a34ee77bf6db10",
"name": "s8 🟠",
"func": "msg.payload = Number(msg.payload.s8) == 2 ? \"<span style='font-weight:400'>🟠</span>\" : \"<span style='font-weight:400'>⚪</span>\";\n\nreturn msg;",
"func": "msg.payload = Number(msg.payload.sorties[8]) == 2 ? \"<span style='font-weight:400'>🟠</span>\" : \"<span style='font-weight:400'>⚪</span>\";\n\nreturn msg;",
"outputs": 1,
"timeout": 0,
"noerr": 0,
@@ -2065,7 +2065,7 @@
"type": "function",
"z": "86a34ee77bf6db10",
"name": "s8 🔴",
"func": "msg.payload = Number(msg.payload.s8) == 3 ? \"<span style='font-weight:400'>🔴</span>\" : \"<span style='font-weight:400'>⚪</span>\";\n\nreturn msg;",
"func": "msg.payload = Number(msg.payload.sorties[8]) == 3 ? \"<span style='font-weight:400'>🔴</span>\" : \"<span style='font-weight:400'>⚪</span>\";\n\nreturn msg;",
"outputs": 1,
"timeout": 0,
"noerr": 0,
@@ -2786,7 +2786,7 @@
"type": "function",
"z": "86a34ee77bf6db10",
"name": "s9 🠙",
"func": "msg.ui_update = msg.payload.s9 < 0 ? { \"color\": \"#000\"} : { \"color\": \"#ddd\"};\n\nif (msg.payload.s9 > 0)\n global.set(\"s9\", 1);\nelse if (msg.payload.s9 < 0)\n global.set(\"s9\", -1);\nelse \n global.set(\"s9\", 0);\n\nreturn msg;",
"func": "msg.ui_update = msg.payload.sorties[9] > 0 ? { \"color\": \"#000\"} : { \"color\": \"#ddd\"};\n\nif (msg.payload.sorties[9] > 0)\n global.set(\"s9\", 1);\nelse if (msg.payload.sorties[9] < 0)\n global.set(\"s9\", -1);\nelse \n global.set(\"s9\", 0);\n\nreturn msg;",
"outputs": 1,
"timeout": 0,
"noerr": 0,
@@ -2806,7 +2806,7 @@
"type": "function",
"z": "86a34ee77bf6db10",
"name": "s9 🠛",
"func": "msg.ui_update = msg.payload.s9 > 0 ? { \"color\": \"#000\"} : { \"color\": \"#ddd\"};\nreturn msg;",
"func": "msg.ui_update = msg.payload.sorties[9] < 0 ? { \"color\": \"#000\"} : { \"color\": \"#ddd\"};\nreturn msg;",
"outputs": 1,
"timeout": 0,
"noerr": 0,
@@ -2850,7 +2850,7 @@
"type": "function",
"z": "86a34ee77bf6db10",
"name": "s10",
"func": "msg.payload = Number(msg.payload.s10);\nreturn msg;",
"func": "msg.payload = Number(msg.payload.sorties[10]);\nreturn msg;",
"outputs": 1,
"timeout": 0,
"noerr": 0,
@@ -2910,7 +2910,7 @@
"type": "function",
"z": "86a34ee77bf6db10",
"name": "reset s",
"func": "msg.payload = {\n \"s0\": 0,\n \"s1\": 0,\n \"s2\": 0,\n \"s3\": 0,\n \"s4\": 0,\n \"s5\": 0,\n \"s6\": 0,\n \"s7\": 0,\n \"s8\": 0,\n \"s9\": 0,\n \"s10\": 0,\n \"s11\": 0,\n \"m0\": 0,\n \"m1\": 0,\n \"m2\": 0,\n \"m3\": 0\n}\n\nreturn msg;",
"func": "msg.payload = {\n sorties: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],\n actionneurs: [0, 0, 0, 0, 0, 0, 0, 0],\n \"m0\": 0,\n \"m1\": 0,\n \"m2\": 0,\n \"m3\": 0\n}\n\nreturn msg;",
"outputs": 1,
"timeout": 0,
"noerr": 0,
@@ -2963,7 +2963,8 @@
"100a58f1b621c53a",
"29d203e016b983f6",
"e41bd818da135c8c",
"e7b6444f18166784"
"e7b6444f18166784",
"c35fc0f16cdcd248"
]
]
},
@@ -3103,7 +3104,7 @@
"type": "function",
"z": "86a34ee77bf6db10",
"name": "a0",
"func": "msg.payload = Number(msg.payload.a0) ? \"🟩\" : \"🟥\";\nreturn msg;",
"func": "msg.payload = Number(msg.payload.actionneurs[0]) ? \"🟩\" : \"🟥\";\nreturn msg;",
"outputs": 1,
"timeout": 0,
"noerr": 0,
@@ -3123,7 +3124,7 @@
"type": "function",
"z": "86a34ee77bf6db10",
"name": "a1",
"func": "msg.payload = Number(msg.payload.a1) ? \"🟩\" : \"🟥\";\nreturn msg;",
"func": "msg.payload = Number(msg.payload.actionneurs[1]) ? \"🟩\" : \"🟥\";\nreturn msg;",
"outputs": 1,
"timeout": 0,
"noerr": 0,
@@ -3143,7 +3144,7 @@
"type": "function",
"z": "86a34ee77bf6db10",
"name": "a2",
"func": "msg.payload = Number(msg.payload.a2) ? \"🟩\" : \"🟥\";\nreturn msg;",
"func": "msg.payload = Number(msg.payload.actionneurs[2]) ? \"🟩\" : \"🟥\";\nreturn msg;",
"outputs": 1,
"timeout": 0,
"noerr": 0,
@@ -3158,12 +3159,56 @@
]
]
},
{
"id": "5f29ee2b49dce0b4",
"type": "ui-text",
"z": "86a34ee77bf6db10",
"group": "02fab8cbf37e2bb7",
"order": 10,
"width": 0,
"height": 0,
"name": "",
"label": "",
"format": "{{msg.payload}}",
"layout": "row-spread",
"style": true,
"font": "",
"fontSize": "28",
"color": "#717171",
"wrapText": false,
"className": "",
"value": "payload",
"valueType": "msg",
"x": 870,
"y": 2060,
"wires": []
},
{
"id": "c35fc0f16cdcd248",
"type": "function",
"z": "86a34ee77bf6db10",
"name": "s11 🏁",
"func": "if (Number(msg.payload.sorties[11]) == 1) {\n msg.payload = \"<span style='font-weight:400'>🏁</span>\";\n}\nelse {\n msg.payload = \"<span style='font-weight:400'></span>\";\n}\n\nreturn msg;",
"outputs": 1,
"timeout": 0,
"noerr": 0,
"initialize": "",
"finalize": "",
"libs": [],
"x": 690,
"y": 2060,
"wires": [
[
"5f29ee2b49dce0b4"
]
]
},
{
"id": "cefd0feeeaf4227c",
"type": "function",
"z": "b5e17af18ea9731a",
"name": "a0",
"func": "global.set(\"a0\", Number(msg.payload.a0));\nmsg.payload = msg.payload.a0;\nreturn msg;",
"func": "msg.payload = msg.payload.actionneurs && msg.payload.actionneurs[0];\nreturn msg;",
"outputs": 1,
"timeout": 0,
"noerr": 0,
@@ -3342,7 +3387,7 @@
"type": "function",
"z": "b5e17af18ea9731a",
"name": "a1",
"func": "global.set(\"a1\", Number(msg.payload.a1));\nmsg.payload = msg.payload.a1;\nreturn msg;",
"func": "msg.payload = msg.payload.actionneurs && msg.payload.actionneurs[1];\nreturn msg;",
"outputs": 1,
"timeout": 0,
"noerr": 0,
@@ -3417,8 +3462,8 @@
"id": "4aa7b6db9b990fa0",
"type": "function",
"z": "b5e17af18ea9731a",
"name": "c2 = 0",
"func": "global.set(\"c2\", 0);\nreturn msg;",
"name": "c3 = 0",
"func": "global.set(\"c3\", 0);\nreturn msg;",
"outputs": 1,
"timeout": 0,
"noerr": 0,
@@ -3435,8 +3480,8 @@
"id": "57189f4df55ec290",
"type": "function",
"z": "b5e17af18ea9731a",
"name": "c1 = 0",
"func": "global.set(\"c1\", 0);\nreturn msg;",
"name": "c2 = 0",
"func": "global.set(\"c2\", 0);\nreturn msg;",
"outputs": 1,
"timeout": 0,
"noerr": 0,
@@ -3478,8 +3523,8 @@
"id": "fb3f9295012fd03e",
"type": "function",
"z": "b5e17af18ea9731a",
"name": "c2 = 1",
"func": "global.set(\"c2\", 1);\nreturn msg;",
"name": "c3 = 1",
"func": "global.set(\"c3\", 1);\nreturn msg;",
"outputs": 1,
"timeout": 0,
"noerr": 0,
@@ -3521,8 +3566,8 @@
"id": "aa06273eb1db7d1a",
"type": "function",
"z": "b5e17af18ea9731a",
"name": "c1 = 1",
"func": "global.set(\"c1\", 1);\nreturn msg;",
"name": "c2 = 1",
"func": "global.set(\"c2\", 1);\nreturn msg;",
"outputs": 1,
"timeout": 0,
"noerr": 0,
@@ -3540,7 +3585,7 @@
"type": "function",
"z": "b5e17af18ea9731a",
"name": "a2",
"func": "global.set(\"a2\", Number(msg.payload.a2));\nmsg.payload = msg.payload.a2;\nreturn msg;",
"func": "msg.payload = msg.payload.actionneurs && msg.payload.actionneurs[2];\nreturn msg;",
"outputs": 1,
"timeout": 0,
"noerr": 0,
@@ -3639,7 +3684,7 @@
"type": "function",
"z": "b5e17af18ea9731a",
"name": "c3 = 1",
"func": "global.set(\"c3\", 1);\nglobal.set(\"c6\", 0);\n\nif (Number(global.get(\"flag0\")) == 1) {\n global.set(\"flag0\", 0);\n global.set(\"c5\", 1);\n}\n\nreturn msg;",
"func": "global.set(\"c5\", 1);\nglobal.set(\"c6\", 0);\n\nreturn msg;",
"outputs": 1,
"timeout": 0,
"noerr": 0,
@@ -3656,8 +3701,8 @@
"id": "70967b168ac9ceb6",
"type": "function",
"z": "b5e17af18ea9731a",
"name": "c3 = 0",
"func": "global.set(\"c3\", 0);\nreturn msg;",
"name": "c5 = 0",
"func": "global.set(\"c5\", 0);\nreturn msg;",
"outputs": 1,
"timeout": 0,
"noerr": 0,
@@ -3675,7 +3720,7 @@
"type": "function",
"z": "b5e17af18ea9731a",
"name": "a3",
"func": "global.set(\"a3\", Number(msg.payload.a3));\nmsg.payload = msg.payload.a3;\nreturn msg;",
"func": "msg.payload = msg.payload.actionneurs && msg.payload.actionneurs[3];\nreturn msg;",
"outputs": 1,
"timeout": 0,
"noerr": 0,
@@ -3738,7 +3783,7 @@
"wires": [
[],
[
"a4029ba85e639676"
"a6d6f34770814538"
]
]
},
@@ -3746,16 +3791,16 @@
"id": "13d74fea2023a497",
"type": "function",
"z": "b5e17af18ea9731a",
"name": "c5 = 0",
"func": "global.set(\"c5\", 0);\nreturn msg;",
"name": "c7 = 0",
"func": "global.set(\"c7\", 0);\nreturn msg;",
"outputs": 1,
"timeout": 0,
"noerr": 0,
"initialize": "",
"finalize": "",
"libs": [],
"x": 1130,
"y": 720,
"x": 1230,
"y": 740,
"wires": [
[]
]
@@ -3966,7 +4011,7 @@
"z": "b5e17af18ea9731a",
"name": "soufflage",
"pauseType": "delay",
"timeout": "500",
"timeout": "1000",
"timeoutUnits": "milliseconds",
"rate": "1",
"nbRateUnits": "1",
@@ -3977,8 +4022,8 @@
"drop": false,
"allowrate": false,
"outputs": 1,
"x": 960,
"y": 720,
"x": 1060,
"y": 740,
"wires": [
[
"13d74fea2023a497"
@@ -3994,7 +4039,7 @@
"397735dd2560f7cf"
],
"x": 215,
"y": 420,
"y": 440,
"wires": [
[
"cefd0feeeaf4227c",
@@ -4070,7 +4115,7 @@
"type": "debug",
"z": "b5e17af18ea9731a",
"name": "a3",
"active": false,
"active": true,
"tosidebar": true,
"console": false,
"tostatus": false,
@@ -4082,6 +4127,26 @@
"y": 600,
"wires": []
},
{
"id": "a6d6f34770814538",
"type": "function",
"z": "b5e17af18ea9731a",
"name": "c7 = 1",
"func": "if (Number(global.get(\"flag0\")) == 1) {\n global.set(\"flag0\", 0);\n global.set(\"c7\", 1);\n}\n\nreturn msg;",
"outputs": 1,
"timeout": 0,
"noerr": 0,
"initialize": "",
"finalize": "",
"libs": [],
"x": 890,
"y": 740,
"wires": [
[
"a4029ba85e639676"
]
]
},
{
"id": "978ded7ba3456f70",
"type": "link in",

56
17.md Normal file
View File

@@ -0,0 +1,56 @@
/*
int etape_suivante = etape;
int etape_suivante2 = etape_2;
if (etape == 0 && b6_frontmontant == 1) {
etape_suivante = 1;
}
if (etape == 1 && b6_frontmontant == 1) {
etape_suivante = 0;
}
if (etape_2 == 0 && b7_frontmontant == 1)
{
etape_suivante2 = 1;
}
if (etape_2 == 1 && b7_frontmontant == 1)
{
etape_suivante2 = 0;
}
etape = etape_suivante;
etape_2 = etape_suivante2;
m0 = etape == 1;
m1 = etape_2 == 1;
*/
if (b6_frontmontant) {
m0 = !m0;
}
if (b7_frontmontant) {
m1 = !m1;
}
if (abs(p0 - v0) < 3) {
m0 = m1 = 0;
} else {
if (p0 < v0)
{
m0 = 1;
m1 = 0;
}
if (p0 > v0)
{
m0 = 0;
m1 = 1;
}
}

51
18.md
View File

@@ -1,58 +1,25 @@
ci = (c0 == 1 && c1 == 1 && c2 == 0 && c3 == 0 && c5 == 0 && c6 == 0);
if (marche_frontmontant == 1 && ci == 1) {
mode_auto = 1;
etape = 1;
}
if (arret_frontdescedant == 1) {
mode_auto = 0;
}
if (etape == 1 && c6 == 1) {
etape = 2;
}
if (etape == 2 && c2 == 1) {
etape = 3;
}
if (etape == 3 && tempo == 0) {
tempo = millis();
}
if (etape == 3 && millis() > tempo + 3000) {
etape = 4;
tempo = 0;
}
if (etape == 4 && c1 == 1) {
etape = 5;
}
if (etape == 5 && c3 == 1) {
etape = 6;
}
if (etape == 6 && c5_frontdescendant == 1) {
etape = 1;
}
s0 = mode_auto == 1;
if (ci && mode_auto == 0) {
s8 = 1;
} else if (ci && mode_auto == 1) {
}
else if (ci && mode_auto == 1) {
s8 = 2;
} else if (mode_auto) {
}
else if (mode_auto)
{
s8 = 3;
} else {
}
else
{
s8 = 0;
}
s10 = etape;
a0 = (etape == 1);
a1 = (etape == 2 || etape == 3);
a2 = (etape == 5);
a3 = (etape == 6);

42
autom.cpp
View File

@@ -111,17 +111,19 @@ public:
if (j.empty())
return;
if (j.contains("marche"))
if (j.contains("marche")) {
marche = j["marche"].get<int>() != 0;
}
if (j.contains("arret"))
if (j.contains("arret")) {
arret = j["arret"].get<int>() != 0;
}
if (j.contains("reset"))
if (j.contains("reset")) {
reset = j["reset"].get<int>() != 0;
}
if (j.contains("b0") && j["b0"].is_number())
{
if (j.contains("b0") && j["b0"].is_number()) {
bouton[0] = b0 = j["b0"].get<int>();
}
if (j.contains("b1") && j["b1"].is_number())
@@ -228,32 +230,22 @@ void mqtt_open(mqtt::async_client *client)
void mqtt_send(mqtt::async_client *client)
{
json obj = {
{"s0", s0},
{"s1", s1},
{"s2", s2},
{"s3", s3},
{"s4", s4},
{"s5", s5},
{"s6", s6},
{"s7", s7},
{"m0", m0},
{"m1", m1},
{"m2", m2},
{"m3", m3},
{"a0", a0},
{"a1", a1},
{"a2", a2},
{"a3", a3},
{"a4", a4},
{"a5", a5},
{"a6", a6},
{"a7", a7},
{"s8", s8},
{"s9", s9},
{"s10", s10},
{"s11", s11},
};
obj["c"] = json::array();
for (int i = 0; i < 8; ++i) {
obj["actionneurs"].push_back(actionneur[i]);
}
obj["sorties"] = json::array();
for (int i = 0; i < 12; ++i) {
obj["sorties"].push_back(sortie[i]);
}
std::string payload = obj.dump();
auto msg = mqtt::make_message("geii/out", payload);
msg->set_qos(1);

124
main.cpp
View File

@@ -13,23 +13,6 @@ int bouton_precedent[8];
int bouton_frontmontant[8];
int bouton_frontdescendant[8];
int b0_precedent = 0;
int b0_frontmontant = 0;
int b1_precedent = 0;
int b1_frontmontant = 0;
int b2_precedent = 0;
int b2_frontmontant = 0;
int b3_precedent = 0;
int b3_frontmontant = 0;
int b4_precedent = 0;
int b4_frontmontant = 0;
int b5_precedent = 0;
int b5_frontmontant = 0;
int b6_precedent = 0;
int b6_frontmontant = 0;
int b7_precedent = 0;
int b7_frontmontant = 0;
int cycle = 0;
long unsigned tempo = 0;
int compteur = 0;
@@ -41,10 +24,8 @@ int mode_manu = 0;
int etape = 0;
int etape_2 = 0;
int c5_frontdescendant = 0;
int c5_precedent = 0;
int c7_frontdescendant = 0;
int c7_precedent = 0;
int main()
{
@@ -63,77 +44,80 @@ int main()
void process() {
// Détection du front montant (état courant supérieur à l'état précédent)
// Détection des fronts
// front montant (état courant supérieur à l'état précédent)
// front descendant (état courant inférieur à l'état précédent)
// ****************************************************************
marche_frontmontant = marche > marche_precedent;
arret_frontdescedant = arret < arret_precedent;
for(int i = 0; i < 8 ; i++) {
bouton_frontmontant[i] = bouton[i] > bouton_precedent[i];
bouton_frontdescendant[i] = bouton[i] < bouton_precedent[i];
}
marche_frontmontant = marche > marche_precedent;
arret_frontdescedant = arret < arret_precedent;
/* ****************************************************************
/*
int etape_suivante = etape;
int etape_suivante2 = etape_2;
**************************************************************** */
c7_frontdescendant = capteur[7] < c7_precedent;
if (etape == 0 && b6_frontmontant == 1) {
etape_suivante = 1;
}
ci = (capteur[0] == 1 && capteur[2] == 1 && capteur[3] == 0 && capteur[5] == 0 && capteur[6] == 0 && capteur[7] == 0);
if (etape == 1 && b6_frontmontant == 1) {
etape_suivante = 0;
}
if (etape_2 == 0 && b7_frontmontant == 1)
if (ci == 1 && marche_frontmontant == 1)
{
etape_suivante2 = 1;
mode_auto = 1;
etape = 1;
}
if (etape_2 == 1 && b7_frontmontant == 1)
if (etape == 1 && capteur[0] == 0 && capteur[6] == 1)
{
etape_suivante2 = 0;
etape = 2;
}
etape = etape_suivante;
etape_2 = etape_suivante2;
m0 = etape == 1;
m1 = etape_2 == 1;
*/
if (b6_frontmontant) {
m0 = !m0;
if (etape == 2 && capteur[3] == 1)
{
etape = 3;
}
if (b7_frontmontant) {
m1 = !m1;
if (etape == 3 && tempo == 0)
{
tempo = millis();
}
if (abs(p0 - v0) < 3) {
m0 = m1 = 0;
} else {
if (p0 < v0)
{
m0 = 1;
m1 = 0;
}
if (p0 > v0)
{
m0 = 0;
m1 = 1;
}
if (etape == 3 && millis() > tempo + 3000)
{
etape = 4;
tempo = 0;
}
// Prêt pour un nouveau tour
if (etape == 4 && capteur[2] == 1)
{
etape = 5;
}
if (etape == 5 && capteur[5] == 1)
{
etape = 6;
}
if (etape == 6 && c7_frontdescendant == 1)
{
etape = 1;
}
sortie[10] = etape;
sortie[11] = ci;
actionneur[0] = (etape == 1);
actionneur[1] = (etape == 2 || etape == 3);
actionneur[2] = (etape == 5);
actionneur[3] = (etape == 6);
// Prêt pour un nouveau cycle
// L'état courant devient l'état précédent
marche_precedent = marche;
arret_precedent = arret;
for (int i = 0; i < 8; i++) {
bouton_precedent[i] = bouton[i];
}
marche_precedent = marche;
arret_precedent = arret;
c7_precedent = capteur[7];
}