release CDR 2022

LesKaribous · May 30, 2022 · d7d0eb4 · d7d0eb4
1 parent 5bbb859
commit d7d0eb4
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Showing 15 changed files with 41 additions and 666 deletions.
diff --git a/include/Actuators.h b/include/Actuators.h
@@ -2,8 +2,7 @@
 
 #include <Arduino.h>
 #include <Servo.h>
-#include <Wire.h>
-#include <Adafruit_PWMServoDriver.h>
+
 
 #define GROUND 0
 #define DISPENSER 1

diff --git a/include/IHM.h b/include/IHM.h
@@ -15,6 +15,7 @@
  * Switch 4 : Index 3 : Robot
  **********/
 #include <Arduino.h>
+#include <U8g2lib.h>
 
 #define LOADING_SOUND 0001
 #define UP_SOUND 0002
@@ -100,4 +101,7 @@ namespace IHM{
         void playSound      (int soundfile);
         void switchSound    (bool state);
     }
+
+    extern U8G2_SSD1309_128X64_NONAME2_F_4W_HW_SPI 
+	_u8g2;  
 }
diff --git a/include/Joke.h b/include/Joke.h
diff --git a/include/Settings.h b/include/Settings.h
@@ -33,7 +33,7 @@ namespace Settings{
     SECONDARY = 0,
     ABSOLUTE = true,
 
-    IHM      = true,
+    IHM      = true, //FALSE for primary
     YELLOW   = true,
     PURPLE   = false;
 
@@ -71,6 +71,19 @@ namespace Settings{
 
     }
 
+    #ifdef JOKE
+    namespace Calibration{
+        const CalibrationProfile Primary = {
+            { 1.0f, 1.0f, 1.0f }, //Holonomic : ABC
+            { 0.5f, -0.5f, -0.5f } //Cartesian : XYROT
+        };
+
+        const CalibrationProfile Secondary = {
+            { 1.0f, 1.0f, 1.0f }, //Holonomic : ABC
+            { 1.17f, -1.17f, -1.0525f } //Cartesian : XYROT
+        };
+    }
+    #else
     namespace Calibration{
         const CalibrationProfile Primary = {
             { 1.0f, 1.0f, 1.0f }, //Holonomic : ABC
@@ -82,6 +95,7 @@ namespace Settings{
             { 1.17f, -1.17f, -1.0525f } //Cartesian : XYROT
         };
     }
+    #endif
 }
 
 

diff --git a/include/Strategy.h b/include/Strategy.h
@@ -44,9 +44,5 @@ namespace Strategy{
     void probeElement();
 
     //----- ALIGNMENT STRATEGIES -----
-
 	void alignTurn(float angleFrom, float angleTo);
-
-    //----- STRATEGIE DANSE -----
-    void batonDanse();
 }
diff --git a/platformio.ini b/platformio.ini
@@ -14,7 +14,7 @@ board = teensy35
 framework = arduino
 lib_deps = 
 	FastCRC
-	olikraus/U8g2 @ 2.32.15
+	olikraus/U8g2 @ 2.28.8
 	luni64/TeensyStep@^2.1
 	dfrobot/DFRobotDFPlayerMini@^1.0.5
 	featherfly/SoftwareSerial@^1.0