update PCB
This commit is contained in:
Clément SAILLANT
Vendored
-10
@@ -1,10 +0,0 @@
|
||||
{
|
||||
// See http://go.microsoft.com/fwlink/?LinkId=827846
|
||||
// for the documentation about the extensions.json format
|
||||
"recommendations": [
|
||||
"platformio.platformio-ide"
|
||||
],
|
||||
"unwantedRecommendations": [
|
||||
"ms-vscode.cpptools-extension-pack"
|
||||
]
|
||||
}
|
||||
Vendored
-3
@@ -1,3 +0,0 @@
|
||||
{
|
||||
"idf.flashType": "JTAG"
|
||||
}
|
||||
Vendored
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+76
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||||
.HEADER
|
||||
BOARD_FILE 3.0 "Created by KiCad (7.0.0-0)" 2023/07/30.20:12:48 1
|
||||
"PCB.kicad_pcb" MM
|
||||
.END_HEADER
|
||||
|
||||
.BOARD_OUTLINE UNOWNED
|
||||
1.60000
|
||||
0 45.04000 -140.88070 0
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0 49.04000 -140.88070 0
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4 124.54000 -138.63070 360
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.END_BOARD_OUTLINE
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||||
.DRILLED_HOLES
|
||||
1.200 100.59600 -49.31270 PTH "J1" PIN ECAD
|
||||
1.200 96.78600 -49.31270 PTH "J1" PIN ECAD
|
||||
1.200 92.97600 -49.31270 PTH "J1" PIN ECAD
|
||||
1.200 89.16600 -49.31270 PTH "J1" PIN ECAD
|
||||
1.200 85.35600 -49.31270 PTH "J1" PIN ECAD
|
||||
1.200 81.54600 -49.31270 PTH "J1" PIN ECAD
|
||||
1.200 77.73600 -49.31270 PTH "J1" PIN ECAD
|
||||
1.200 73.92600 -49.31270 PTH "J1" PIN ECAD
|
||||
1.200 70.11600 -49.31270 PTH "J1" PIN ECAD
|
||||
1.200 66.30600 -49.31270 PTH "J1" PIN ECAD
|
||||
1.600 51.59000 -77.25270 NPTH "J10" MTG ECAD
|
||||
1.600 56.67000 -69.63270 NPTH "J10" MTG ECAD
|
||||
1.600 65.56000 -69.63270 PTH "J10" PIN ECAD
|
||||
1.600 65.56000 -77.25270 PTH "J10" PIN ECAD
|
||||
1.200 65.56000 -73.44270 PTH "J10" PIN ECAD
|
||||
1.200 60.48000 -73.44270 PTH "J10" PIN ECAD
|
||||
1.000 98.47800 -146.34070 PTH "J2" PIN ECAD
|
||||
1.000 101.01800 -146.34070 PTH "J2" PIN ECAD
|
||||
1.000 103.55800 -146.34070 PTH "J2" PIN ECAD
|
||||
1.000 106.09800 -146.34070 PTH "J2" PIN ECAD
|
||||
1.000 108.63800 -146.34070 PTH "J2" PIN ECAD
|
||||
1.000 111.17800 -146.34070 PTH "J2" PIN ECAD
|
||||
1.200 116.51200 -49.31270 PTH "J3" PIN ECAD
|
||||
1.200 112.70200 -49.31270 PTH "J3" PIN ECAD
|
||||
1.600 51.59000 -106.71670 NPTH "J5" MTG ECAD
|
||||
1.600 56.67000 -99.09670 NPTH "J5" MTG ECAD
|
||||
1.600 60.44000 -106.78670 PTH "J5" PIN ECAD
|
||||
1.600 61.48000 -99.08670 PTH "J5" PIN ECAD
|
||||
1.200 65.56000 -102.90670 PTH "J5" PIN ECAD
|
||||
1.200 54.79000 -111.07670 PTH "J5" PIN ECAD
|
||||
0.759 107.31000 -69.34870 PTH "PS1" PIN ECAD
|
||||
0.759 109.85000 -69.34870 PTH "PS1" PIN ECAD
|
||||
0.759 112.39000 -69.34870 PTH "PS1" PIN ECAD
|
||||
0.800 85.91500 -141.94570 PTH "RV1" PIN ECAD
|
||||
0.800 83.37500 -144.48570 PTH "RV1" PIN ECAD
|
||||
0.800 80.83500 -141.94570 PTH "RV1" PIN ECAD
|
||||
0.800 73.46900 -141.94570 PTH "RV2" PIN ECAD
|
||||
0.800 70.92900 -144.48570 PTH "RV2" PIN ECAD
|
||||
0.800 68.38900 -141.94570 PTH "RV2" PIN ECAD
|
||||
1.000 48.22600 -124.42670 PTH "SW2" PIN ECAD
|
||||
1.000 50.72600 -129.57670 PTH "SW2" PIN ECAD
|
||||
1.000 48.22600 -129.50670 PTH "SW2" PIN ECAD
|
||||
1.000 50.72600 -124.49670 PTH "SW2" PIN ECAD
|
||||
1.000 48.22600 -126.96670 PTH "SW2" PIN ECAD
|
||||
1.000 50.72600 -127.03670 PTH "SW2" PIN ECAD
|
||||
.END_DRILLED_HOLES
|
||||
|
||||
@@ -0,0 +1,4 @@
|
||||
.HEADER
|
||||
LIBRARY_FILE 3.0 "Created by KiCad (7.0.0-0)" 2023/07/30.20:12:48 1
|
||||
.END_HEADER
|
||||
|
||||
+16858
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@@ -0,0 +1,78 @@
|
||||
{
|
||||
"board": {
|
||||
"active_layer": 31,
|
||||
"active_layer_preset": "All Layers",
|
||||
"auto_track_width": true,
|
||||
"hidden_netclasses": [],
|
||||
"hidden_nets": [],
|
||||
"high_contrast_mode": 0,
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"net_color_mode": 1,
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"opacity": {
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"images": 0.6,
|
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"pads": 1.0,
|
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"tracks": 1.0,
|
||||
"vias": 1.0,
|
||||
"zones": 0.6
|
||||
},
|
||||
"ratsnest_display_mode": 0,
|
||||
"selection_filter": {
|
||||
"dimensions": true,
|
||||
"footprints": true,
|
||||
"graphics": true,
|
||||
"keepouts": true,
|
||||
"lockedItems": true,
|
||||
"otherItems": true,
|
||||
"pads": true,
|
||||
"text": true,
|
||||
"tracks": true,
|
||||
"vias": true,
|
||||
"zones": true
|
||||
},
|
||||
"visible_items": [
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0,
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1,
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|
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5,
|
||||
8,
|
||||
9,
|
||||
10,
|
||||
11,
|
||||
12,
|
||||
13,
|
||||
15,
|
||||
16,
|
||||
17,
|
||||
18,
|
||||
19,
|
||||
20,
|
||||
21,
|
||||
22,
|
||||
23,
|
||||
24,
|
||||
25,
|
||||
26,
|
||||
27,
|
||||
28,
|
||||
29,
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
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|
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},
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"project": {
|
||||
"files": []
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,510 @@
|
||||
{
|
||||
"board": {
|
||||
"3dviewports": [],
|
||||
"design_settings": {
|
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"defaults": {
|
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|
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|
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|
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|
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"copper_text_thickness": 0.3,
|
||||
"copper_text_upright": false,
|
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"courtyard_line_width": 0.049999999999999996,
|
||||
"dimension_precision": 4,
|
||||
"dimension_units": 3,
|
||||
"dimensions": {
|
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"arrow_length": 1270000,
|
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"extension_offset": 500000,
|
||||
"keep_text_aligned": true,
|
||||
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|
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"text_position": 0,
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|
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},
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|
||||
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|
||||
"fab_text_size_h": 1.0,
|
||||
"fab_text_size_v": 1.0,
|
||||
"fab_text_thickness": 0.15,
|
||||
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|
||||
"other_line_width": 0.15,
|
||||
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|
||||
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|
||||
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|
||||
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|
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|
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|
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|
||||
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|
||||
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|
||||
},
|
||||
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|
||||
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|
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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|
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|
||||
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||||
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|
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}
|
||||
],
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||||
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|
||||
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|
||||
"version": 2
|
||||
},
|
||||
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|
||||
"annular_width": "error",
|
||||
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|
||||
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|
||||
"copper_edge_clearance": "error",
|
||||
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|
||||
"courtyards_overlap": "error",
|
||||
"diff_pair_gap_out_of_range": "error",
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
"pth_inside_courtyard": "ignore",
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
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||||
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||||
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|
||||
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||||
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|
||||
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|
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|
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{
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},
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},
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+3867
File diff suppressed because it is too large
Load Diff
+328317
File diff suppressed because it is too large
Load Diff
+34264
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Load Diff
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Load Diff
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Load Diff
File diff suppressed because one or more lines are too long
@@ -0,0 +1,208 @@
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#VRML V2.0 utf8
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#kicad StepUp wrl exported
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||||
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||||
# Copyright (C) 2017, kicad StepUp
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||||
#
|
||||
# This work is licensed under the [Creative Commons CC-BY-SA 4.0 License](https://creativecommons.org/licenses/by-sa/4.0/legalcode),
|
||||
# with the following exception:
|
||||
# To the extent that the creation of electronic designs that use 'Licensed Material' can be considered to be 'Adapted Material',
|
||||
# then the copyright holder waives article 3 of the license with respect to these designs and any generated files which use data provided
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||||
# as part of the 'Licensed Material'.
|
||||
# You are free to use the library data in your own projects without the obligation to share your project files under this or any other license agreement.
|
||||
# However, if you wish to redistribute these libraries, or parts thereof (including in modified form) as a collection then the exception above does not apply.
|
||||
# Please refer to https://github.com/KiCad/kicad-packages3D/blob/master/LICENSE.md for further clarification of the exception.
|
||||
# Disclaimer of Warranties and Limitation of Liability.
|
||||
# These libraries are provided in the hope that they will be useful, but are provided without warranty of any kind, express or implied.
|
||||
# *USE 3D CAD DATA AT YOUR OWN RISK*
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||||
# *DO NOT RELY UPON ANY INFORMATION FOUND HERE WITHOUT INDEPENDENT VERIFICATION.*
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@@ -0,0 +1,208 @@
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#VRML V2.0 utf8
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#kicad StepUp wrl exported
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# Copyright (C) 2017, kicad StepUp
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#
|
||||
# This work is licensed under the [Creative Commons CC-BY-SA 4.0 License](https://creativecommons.org/licenses/by-sa/4.0/legalcode),
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# with the following exception:
|
||||
# To the extent that the creation of electronic designs that use 'Licensed Material' can be considered to be 'Adapted Material',
|
||||
# then the copyright holder waives article 3 of the license with respect to these designs and any generated files which use data provided
|
||||
# as part of the 'Licensed Material'.
|
||||
# You are free to use the library data in your own projects without the obligation to share your project files under this or any other license agreement.
|
||||
# However, if you wish to redistribute these libraries, or parts thereof (including in modified form) as a collection then the exception above does not apply.
|
||||
# Please refer to https://github.com/KiCad/kicad-packages3D/blob/master/LICENSE.md for further clarification of the exception.
|
||||
# Disclaimer of Warranties and Limitation of Liability.
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||||
# These libraries are provided in the hope that they will be useful, but are provided without warranty of any kind, express or implied.
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||||
# *USE 3D CAD DATA AT YOUR OWN RISK*
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# *DO NOT RELY UPON ANY INFORMATION FOUND HERE WITHOUT INDEPENDENT VERIFICATION.*
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#
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# You are free to use the library data in your own projects without the obligation to share your project files under this or any other license agreement.
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# Please refer to https://github.com/KiCad/kicad-packages3D/blob/master/LICENSE.md for further clarification of the exception.
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# Disclaimer of Warranties and Limitation of Liability.
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# *USE 3D CAD DATA AT YOUR OWN RISK*
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#kicad StepUp wrl exported
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# Copyright (C) 2017, kicad StepUp
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#
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# This work is licensed under the [Creative Commons CC-BY-SA 4.0 License](https://creativecommons.org/licenses/by-sa/4.0/legalcode),
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# with the following exception:
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# To the extent that the creation of electronic designs that use 'Licensed Material' can be considered to be 'Adapted Material',
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# then the copyright holder waives article 3 of the license with respect to these designs and any generated files which use data provided
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# as part of the 'Licensed Material'.
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# You are free to use the library data in your own projects without the obligation to share your project files under this or any other license agreement.
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# However, if you wish to redistribute these libraries, or parts thereof (including in modified form) as a collection then the exception above does not apply.
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# Please refer to https://github.com/KiCad/kicad-packages3D/blob/master/LICENSE.md for further clarification of the exception.
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# Disclaimer of Warranties and Limitation of Liability.
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# These libraries are provided in the hope that they will be useful, but are provided without warranty of any kind, express or implied.
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# *USE 3D CAD DATA AT YOUR OWN RISK*
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# *DO NOT RELY UPON ANY INFORMATION FOUND HERE WITHOUT INDEPENDENT VERIFICATION.*
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@@ -0,0 +1,207 @@
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#VRML V2.0 utf8
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#kicad StepUp wrl exported
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# Copyright (C) 2018, kicad StepUp
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#
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# This work is licensed under the [Creative Commons CC-BY-SA 4.0 License](https://creativecommons.org/licenses/by-sa/4.0/legalcode),
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# with the following exception:
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# To the extent that the creation of electronic designs that use 'Licensed Material' can be considered to be 'Adapted Material',
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||||
# then the copyright holder waives article 3 of the license with respect to these designs and any generated files which use data provided
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# as part of the 'Licensed Material'.
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||||
# You are free to use the library data in your own projects without the obligation to share your project files under this or any other license agreement.
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||||
# However, if you wish to redistribute these libraries, or parts thereof (including in modified form) as a collection then the exception above does not apply.
|
||||
# Please refer to https://github.com/KiCad/kicad-packages3D/blob/master/LICENSE.md for further clarification of the exception.
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# Disclaimer of Warranties and Limitation of Liability.
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# These libraries are provided in the hope that they will be useful, but are provided without warranty of any kind, express or implied.
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# *USE 3D CAD DATA AT YOUR OWN RISK*
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# *DO NOT RELY UPON ANY INFORMATION FOUND HERE WITHOUT INDEPENDENT VERIFICATION.*
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#
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File diff suppressed because it is too large
Load Diff
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#VRML V2.0 utf8
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#kicad StepUp wrl exported
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# Copyright (C) 2017, kicad StepUp
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#
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# This work is licensed under the [Creative Commons CC-BY-SA 4.0 License](https://creativecommons.org/licenses/by-sa/4.0/legalcode),
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# with the following exception:
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# To the extent that the creation of electronic designs that use 'Licensed Material' can be considered to be 'Adapted Material',
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# then the copyright holder waives article 3 of the license with respect to these designs and any generated files which use data provided
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# as part of the 'Licensed Material'.
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||||
# You are free to use the library data in your own projects without the obligation to share your project files under this or any other license agreement.
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||||
# However, if you wish to redistribute these libraries, or parts thereof (including in modified form) as a collection then the exception above does not apply.
|
||||
# Please refer to https://github.com/KiCad/kicad-packages3D/blob/master/LICENSE.md for further clarification of the exception.
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# Disclaimer of Warranties and Limitation of Liability.
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# These libraries are provided in the hope that they will be useful, but are provided without warranty of any kind, express or implied.
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# *USE 3D CAD DATA AT YOUR OWN RISK*
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# *DO NOT RELY UPON ANY INFORMATION FOUND HERE WITHOUT INDEPENDENT VERIFICATION.*
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#
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@@ -0,0 +1,507 @@
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#VRML V2.0 utf8
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#kicad StepUp wrl exported
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# Copyright (C) 2017, kicad StepUp
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#
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# This work is licensed under the [Creative Commons CC-BY-SA 4.0 License](https://creativecommons.org/licenses/by-sa/4.0/legalcode),
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# with the following exception:
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# To the extent that the creation of electronic designs that use 'Licensed Material' can be considered to be 'Adapted Material',
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# then the copyright holder waives article 3 of the license with respect to these designs and any generated files which use data provided
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# as part of the 'Licensed Material'.
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# You are free to use the library data in your own projects without the obligation to share your project files under this or any other license agreement.
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# However, if you wish to redistribute these libraries, or parts thereof (including in modified form) as a collection then the exception above does not apply.
|
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# Please refer to https://github.com/KiCad/kicad-packages3D/blob/master/LICENSE.md for further clarification of the exception.
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# Disclaimer of Warranties and Limitation of Liability.
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# These libraries are provided in the hope that they will be useful, but are provided without warranty of any kind, express or implied.
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# *USE 3D CAD DATA AT YOUR OWN RISK*
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# *DO NOT RELY UPON ANY INFORMATION FOUND HERE WITHOUT INDEPENDENT VERIFICATION.*
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#
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coord Coordinate { point [-0.285 -0.315 0.098,-0.289 -0.315 0.073,-0.285 -0.197 0.098,-0.289 -0.197 0.073,-0.299 -0.315 0.049,-0.299 -0.197 0.049,-0.314 -0.315 0.029,-0.314 -0.197 0.029,-0.335 -0.315 0.013,-0.335 -0.197 0.013,-0.358 -0.315 0.003,-0.358 -0.197 0.003,-0.384 -0.315 0.000,-0.384 -0.197 0.000]
|
||||
}}
|
||||
appearance Appearance{material USE PIN-01 }
|
||||
}
|
||||
Shape { geometry IndexedFaceSet
|
||||
{ creaseAngle 0.50 coordIndex [0,1,2,-1,2,1,3,-1,3,4,5,-1,1,4,3,-1,5,6,7,-1,4,6,5,-1,7,8,9,-1,6,8,7,-1,9,10,11,-1,8,10,9,-1,11,12,13,-1,10,12,11,-1]
|
||||
coord Coordinate { point [-0.344 0.197 0.157,-0.341 0.197 0.183,-0.344 0.315 0.157,-0.341 0.315 0.183,-0.331 0.197 0.207,-0.331 0.315 0.207,-0.316 0.197 0.227,-0.316 0.315 0.227,-0.295 0.197 0.243,-0.295 0.315 0.243,-0.272 0.197 0.253,-0.272 0.315 0.253,-0.246 0.197 0.256,-0.246 0.315 0.256]
|
||||
}}
|
||||
appearance Appearance{material USE PIN-01 }
|
||||
}
|
||||
Shape { geometry IndexedFaceSet
|
||||
{ creaseAngle 0.50 coordIndex [0,1,2,-1,2,1,3,-1]
|
||||
coord Coordinate { point [-0.344 0.197 0.098,-0.344 0.197 0.157,-0.344 0.315 0.098,-0.344 0.315 0.157]
|
||||
}}
|
||||
appearance Appearance{material USE PIN-01 }
|
||||
}
|
||||
Shape { geometry IndexedFaceSet
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||||
{ creaseAngle 0.50 coordIndex [0,1,2,-1,2,1,3,-1,3,4,5,-1,1,4,3,-1,5,6,7,-1,4,6,5,-1,7,8,9,-1,6,8,7,-1,9,10,11,-1,8,10,9,-1,11,12,13,-1,10,12,11,-1]
|
||||
coord Coordinate { point [-0.384 0.197 0.059,-0.374 0.197 0.060,-0.384 0.315 0.059,-0.374 0.315 0.060,-0.364 0.197 0.064,-0.364 0.315 0.064,-0.356 0.197 0.071,-0.356 0.315 0.071,-0.350 0.197 0.079,-0.350 0.315 0.079,-0.346 0.197 0.088,-0.346 0.315 0.088,-0.344 0.197 0.098,-0.344 0.315 0.098]
|
||||
}}
|
||||
appearance Appearance{material USE PIN-01 }
|
||||
}
|
||||
Shape { geometry IndexedFaceSet
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||||
{ creaseAngle 0.50 coordIndex [0,1,2,-1,2,1,3,-1]
|
||||
coord Coordinate { point [-0.394 0.197 0.059,-0.384 0.197 0.059,-0.394 0.315 0.059,-0.384 0.315 0.059]
|
||||
}}
|
||||
appearance Appearance{material USE PIN-01 }
|
||||
}
|
||||
Shape { geometry IndexedFaceSet
|
||||
{ creaseAngle 0.50 coordIndex [0,1,2,-1,2,1,3,-1]
|
||||
coord Coordinate { point [-0.394 0.197 0.000,-0.394 0.197 0.059,-0.394 0.315 0.000,-0.394 0.315 0.059]
|
||||
}}
|
||||
appearance Appearance{material USE PIN-01 }
|
||||
}
|
||||
Shape { geometry IndexedFaceSet
|
||||
{ creaseAngle 0.50 coordIndex [0,1,2,-1,2,1,3,-1]
|
||||
coord Coordinate { point [-0.384 0.197 0.000,-0.394 0.197 0.000,-0.384 0.315 0.000,-0.394 0.315 0.000]
|
||||
}}
|
||||
appearance Appearance{material USE PIN-01 }
|
||||
}
|
||||
Shape { geometry IndexedFaceSet
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||||
{ creaseAngle 0.50 coordIndex [0,1,2,-1,2,1,3,-1,3,4,5,-1,1,4,3,-1,5,6,7,-1,4,6,5,-1,7,8,9,-1,6,8,7,-1,9,10,11,-1,8,10,9,-1,11,12,13,-1,10,12,11,-1]
|
||||
coord Coordinate { point [-0.285 0.197 0.098,-0.289 0.197 0.073,-0.285 0.315 0.098,-0.289 0.315 0.073,-0.299 0.197 0.049,-0.299 0.315 0.049,-0.314 0.197 0.029,-0.314 0.315 0.029,-0.335 0.197 0.013,-0.335 0.315 0.013,-0.358 0.197 0.003,-0.358 0.315 0.003,-0.384 0.197 0.000,-0.384 0.315 0.000]
|
||||
}}
|
||||
appearance Appearance{material USE PIN-01 }
|
||||
}
|
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Shape { geometry IndexedFaceSet
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{ creaseAngle 0.50 coordIndex [0,1,2,-1,3,1,0,-1]
|
||||
coord Coordinate { point [-0.246 0.315 0.256,-0.236 0.197 0.256,-0.236 0.315 0.256,-0.246 0.197 0.256]
|
||||
}}
|
||||
appearance Appearance{material USE PIN-01 }
|
||||
}
|
||||
@@ -0,0 +1,813 @@
|
||||
#VRML V2.0 utf8
|
||||
DEF TXFM_1 Transform {
|
||||
center 0 0 0
|
||||
rotation 0 0 1 0
|
||||
scale 1 1 1
|
||||
scaleOrientation 0 0 1 0
|
||||
translation 0 0 0
|
||||
children [
|
||||
DEF TXFM_2 Transform {
|
||||
center 0 0 0
|
||||
rotation 0 0 1 0
|
||||
scale 1 1 1
|
||||
scaleOrientation 0 0 1 0
|
||||
translation 0 0 0
|
||||
children [
|
||||
DEF TXFM_3 Transform {
|
||||
center 0 0 0
|
||||
rotation 0 0 1 0
|
||||
scale 1 1 1
|
||||
scaleOrientation 0 0 1 0
|
||||
translation 0 0 0
|
||||
children [
|
||||
DEF SHAPE_1 Shape {
|
||||
appearance DEF APP_1 Appearance {
|
||||
material Material {
|
||||
ambientIntensity 0.87931037
|
||||
diffuseColor 0.11372549 0.11372549 0.11372549
|
||||
emissiveColor 0 0 0
|
||||
shininess 0.1
|
||||
specularColor 0.12 0.12 0.12
|
||||
transparency 0
|
||||
} }
|
||||
geometry DEF FACE_1 IndexedFaceSet {
|
||||
coord DEF COORD_1 Coordinate { point [
|
||||
2.1636364 -1.6911955 0.19685039,-2.1636364 -1.6911955 0.19685039,
|
||||
2.1636364 1.6911955 0.19685039,-2.1636364 1.6911955 0.19685039,
|
||||
0.098425197 -0.56102362 0.19685039,-0.098425197 -0.56102362 0.19685039,
|
||||
-0.098425197 -0.46259843 0.19685039,0.098425197 -0.46259843 0.19685039,
|
||||
1.0984252 -0.56102362 0.19685039,0.9015748 -0.56102362 0.19685039,
|
||||
0.9015748 -0.46259843 0.19685039,1.0984252 -0.46259843 0.19685039,
|
||||
-0.9015748 -0.56102362 0.19685039,-1.0984252 -0.56102362 0.19685039,
|
||||
-1.0984252 -0.46259843 0.19685039,-0.9015748 -0.46259843 0.19685039] }
|
||||
coordIndex [
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14,13,1,-1,12,1,13,-1,5,1,12,-1,6,12,15,-1,6,5,12,-1,3,15,14,-1,3,14,1,-1,3,6,15,-1,
|
||||
10,4,7,-1,10,9,4,-1,0,5,4,-1,0,1,5,-1,0,4,9,-1,8,0,9,-1,11,0,8,-1,2,7,6,-1,
|
||||
2,11,10,-1,2,6,3,-1,2,10,7,-1,2,0,11,-1]
|
||||
normalPerVertex TRUE
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normal DEF NORM_1 Normal { vector [
|
||||
0 0 -1,0 0 -1,
|
||||
0 0 -1,0 0 -1,
|
||||
0 0 -1,0 0 -1,
|
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0 0 -1,0 0 -1,
|
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0 0 -1,0 0 -1,
|
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0 0 -1,0 0 -1,
|
||||
0 0 -1,0 0 -1,
|
||||
0 0 -1,0 0 -1] }
|
||||
}
|
||||
}
|
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DEF SHAPE_2 Shape {
|
||||
appearance USE APP_1
|
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geometry DEF FACE_2 IndexedFaceSet {
|
||||
coord DEF COORD_2 Coordinate { point [
|
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-2.2834676 -1.6929134 0,-2.1653543 -1.6929134 0,
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-2.302684 -1.6905326 0,-2.3201026 -1.6838718 0,
|
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-2.3345139 -1.6741253 0,-2.346526 -1.6613276 0,
|
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-2.3552917 -1.646439 0,-2.3604618 -1.630652 0,
|
||||
-2.3617839 -1.622306 0,-2.3622047 -1.6141762 0,
|
||||
-2.3622047 1.6141762 0,-2.3598239 1.6333927 0,
|
||||
-2.3531632 1.6508112 0,-2.3434166 1.6652226 0,
|
||||
-2.3306189 1.6772347 0,-2.3157304 1.6860003 0,
|
||||
-2.2999433 1.6911704 0,-2.2915973 1.6924926 0,
|
||||
-2.2834676 1.6929134 0,-2.1653543 1.6929134 0] }
|
||||
coordIndex [
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5,3,4,-1,6,2,3,-1,6,3,5,-1,7,2,6,-1,8,0,2,-1,8,2,7,-1,9,1,0,-1,9,0,8,-1,
|
||||
10,19,1,-1,10,1,9,-1,18,19,10,-1,17,18,10,-1,11,16,17,-1,11,17,10,-1,15,16,11,-1,12,15,11,-1,
|
||||
14,15,12,-1,13,14,12,-1]
|
||||
normalPerVertex TRUE
|
||||
normal DEF NORM_2 Normal { vector [
|
||||
0 0 -1,0 0 -1,
|
||||
0 0 -1,0 0 -1,
|
||||
0 0 -1,0 0 -1,
|
||||
0 0 -1,0 0 -1,
|
||||
0 0 -1,0 0 -1,
|
||||
0 0 -1,0 0 -1,
|
||||
0 0 -1,0 0 -1,
|
||||
0 0 -1,0 0 -1,
|
||||
0 0 -1,0 0 -1,
|
||||
0 0 -1,0 0 -1] }
|
||||
}
|
||||
}
|
||||
DEF SHAPE_3 Shape {
|
||||
appearance USE APP_1
|
||||
geometry DEF FACE_3 IndexedFaceSet {
|
||||
coord DEF COORD_3 Coordinate { point [
|
||||
2.3622047 -1.6141762 0,2.3622047 1.6141762 0,
|
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2.3168465 1.568818 5.1975375,2.3168465 -1.568818 5.1975375] }
|
||||
coordIndex [
|
||||
1,2,3,-1,1,3,0,-1]
|
||||
normalPerVertex TRUE
|
||||
normal DEF NORM_3 Normal { vector [
|
||||
0.99996192 0 0.0087265355,0.99996192 0 0.0087265355,
|
||||
0.99996192 0 0.0087265355,0.99996192 0 0.0087265355] }
|
||||
}
|
||||
}
|
||||
DEF SHAPE_4 Shape {
|
||||
appearance USE APP_1
|
||||
geometry DEF FACE_4 IndexedFaceSet {
|
||||
coord DEF COORD_4 Coordinate { point [
|
||||
-2.2381093 1.6475552 5.1975375,2.2381093 1.6475552 5.1975375,
|
||||
2.2834676 1.6929134 0,2.1653543 1.6929134 0,
|
||||
2.1636364 1.6911955 0.19685039,-2.1636364 1.6911955 0.19685039,
|
||||
-2.1653543 1.6929134 0,-2.2834676 1.6929134 0] }
|
||||
coordIndex [
|
||||
5,6,7,-1,4,2,3,-1,0,4,5,-1,0,5,7,-1,1,4,0,-1,1,2,4,-1]
|
||||
normalPerVertex TRUE
|
||||
normal DEF NORM_4 Normal { vector [
|
||||
0 0.99996192 0.0087265355,0 0.99996192 0.0087265355,
|
||||
0 0.99996192 0.0087265355,0 0.99996192 0.0087265355,
|
||||
0 0.99996192 0.0087265355,0 0.99996192 0.0087265355,
|
||||
0 0.99996192 0.0087265355,0 0.99996192 0.0087265355] }
|
||||
}
|
||||
}
|
||||
DEF SHAPE_5 Shape {
|
||||
appearance USE APP_1
|
||||
geometry DEF FACE_5 IndexedFaceSet {
|
||||
coord DEF COORD_5 Coordinate { point [
|
||||
-2.3622047 1.6141762 0,-2.3622047 -1.6141762 0,
|
||||
-2.3168465 -1.568818 5.1975375,-2.3168465 1.568818 5.1975375] }
|
||||
coordIndex [
|
||||
2,0,1,-1,3,0,2,-1]
|
||||
normalPerVertex TRUE
|
||||
normal DEF NORM_5 Normal { vector [
|
||||
-0.99996192 0 0.0087265355,-0.99996192 0 0.0087265355,
|
||||
-0.99996192 0 0.0087265355,-0.99996192 0 0.0087265355] }
|
||||
}
|
||||
}
|
||||
DEF SHAPE_6 Shape {
|
||||
appearance USE APP_1
|
||||
geometry DEF FACE_6 IndexedFaceSet {
|
||||
coord DEF COORD_6 Coordinate { point [
|
||||
2.1653543 -1.6929134 0,2.2834676 -1.6929134 0,
|
||||
2.2381093 -1.6475552 5.1975375,-2.2381093 -1.6475552 5.1975375,
|
||||
-2.2834676 -1.6929134 0,-2.1653543 -1.6929134 0,
|
||||
-2.1636364 -1.6911955 0.19685039,2.1636364 -1.6911955 0.19685039] }
|
||||
coordIndex [
|
||||
4,6,3,-1,5,6,4,-1,7,2,3,-1,7,3,6,-1,1,7,0,-1,1,2,7,-1]
|
||||
normalPerVertex TRUE
|
||||
normal DEF NORM_6 Normal { vector [
|
||||
0 -0.99996192 0.0087265355,0 -0.99996192 0.0087265355,
|
||||
0 -0.99996192 0.0087265355,0 -0.99996192 0.0087265355,
|
||||
0 -0.99996192 0.0087265355,0 -0.99996192 0.0087265355,
|
||||
0 -0.99996192 0.0087265355,0 -0.99996192 0.0087265355] }
|
||||
}
|
||||
}
|
||||
DEF SHAPE_7 Shape {
|
||||
appearance USE APP_1
|
||||
geometry DEF FACE_7 IndexedFaceSet {
|
||||
coord DEF COORD_7 Coordinate { point [
|
||||
2.2381093 1.568818 5.2755906,-2.2381093 1.568818 5.2755906,
|
||||
2.2381093 -1.568818 5.2755906,-2.2381093 -1.568818 5.2755906] }
|
||||
coordIndex [
|
||||
1,2,0,-1,1,3,2,-1]
|
||||
normalPerVertex TRUE
|
||||
normal DEF NORM_7 Normal { vector [
|
||||
0 0 1,0 0 1,
|
||||
0 0 1,0 0 1] }
|
||||
}
|
||||
}
|
||||
DEF SHAPE_8 Shape {
|
||||
appearance USE APP_1
|
||||
geometry DEF FACE_8 IndexedFaceSet {
|
||||
coord DEF COORD_8 Coordinate { point [
|
||||
2.2834676 1.6929134 0,2.1653543 1.6929134 0,
|
||||
2.302684 1.6905326 0,2.3201026 1.6838718 0,
|
||||
2.3345139 1.6741253 0,2.346526 1.6613276 0,
|
||||
2.3552917 1.646439 0,2.3604618 1.630652 0,
|
||||
2.3617839 1.622306 0,2.3622047 1.6141762 0,
|
||||
2.3622047 -1.6141762 0,2.3598239 -1.6333927 0,
|
||||
2.3531632 -1.6508112 0,2.3434166 -1.6652226 0,
|
||||
2.3306189 -1.6772347 0,2.3157304 -1.6860003 0,
|
||||
2.2999433 -1.6911704 0,2.2915973 -1.6924926 0,
|
||||
2.2834676 -1.6929134 0,2.1653543 -1.6929134 0] }
|
||||
coordIndex [
|
||||
12,13,14,-1,15,12,14,-1,11,12,15,-1,16,11,15,-1,17,11,16,-1,10,11,17,-1,18,10,17,-1,19,10,18,-1,
|
||||
9,10,19,-1,3,4,5,-1,3,5,6,-1,2,6,7,-1,2,7,8,-1,2,3,6,-1,0,8,9,-1,0,2,8,-1,
|
||||
1,9,19,-1,1,0,9,-1]
|
||||
normalPerVertex TRUE
|
||||
normal DEF NORM_8 Normal { vector [
|
||||
0 0 -1,0 0 -1,
|
||||
0 0 -1,0 0 -1,
|
||||
0 0 -1,0 0 -1,
|
||||
0 0 -1,0 0 -1,
|
||||
0 0 -1,0 0 -1,
|
||||
0 0 -1,0 0 -1,
|
||||
0 0 -1,0 0 -1,
|
||||
0 0 -1,0 0 -1,
|
||||
0 0 -1,0 0 -1,
|
||||
0 0 -1,0 0 -1] }
|
||||
}
|
||||
}
|
||||
DEF SHAPE_9 Shape {
|
||||
appearance USE APP_1
|
||||
geometry DEF FACE_9 IndexedFaceSet {
|
||||
coord DEF COORD_9 Coordinate { point [
|
||||
-2.1636364 -1.6911955 0.19685039,-2.1653543 -1.6929134 0,
|
||||
-2.1636364 1.6911955 0.19685039,-2.1653543 1.6929134 0] }
|
||||
coordIndex [
|
||||
2,0,1,-1,2,1,3,-1]
|
||||
normalPerVertex TRUE
|
||||
normal DEF NORM_9 Normal { vector [
|
||||
0.99996192 0 -0.0087265355,0.99996192 0 -0.0087265355,
|
||||
0.99996192 0 -0.0087265355,0.99996192 0 -0.0087265355] }
|
||||
}
|
||||
}
|
||||
DEF SHAPE_10 Shape {
|
||||
appearance USE APP_1
|
||||
geometry DEF FACE_10 IndexedFaceSet {
|
||||
coord DEF COORD_10 Coordinate { point [
|
||||
2.1636364 1.6911955 0.19685039,2.1653543 1.6929134 0,
|
||||
2.1636364 -1.6911955 0.19685039,2.1653543 -1.6929134 0] }
|
||||
coordIndex [
|
||||
1,2,0,-1,1,3,2,-1]
|
||||
normalPerVertex TRUE
|
||||
normal DEF NORM_10 Normal { vector [
|
||||
-0.99996192 0 -0.0087265355,-0.99996192 0 -0.0087265355,
|
||||
-0.99996192 0 -0.0087265355,-0.99996192 0 -0.0087265355] }
|
||||
}
|
||||
}
|
||||
DEF SHAPE_11 Shape {
|
||||
appearance DEF APP_2 Appearance {
|
||||
material Material {
|
||||
ambientIntensity 0.11135371
|
||||
diffuseColor 0.89803922 0.89803922 0.89803922
|
||||
emissiveColor 0 0 0
|
||||
shininess 0.1
|
||||
specularColor 0.12 0.12 0.12
|
||||
transparency 0
|
||||
} }
|
||||
geometry DEF FACE_11 IndexedFaceSet {
|
||||
coord DEF COORD_11 Coordinate { point [
|
||||
1.0984252 -0.46259843 -1.6141732,1.0984252 -0.46259843 0.19685039,
|
||||
1.0984252 -0.56102362 -1.6141732,1.0984252 -0.56102362 0.19685039] }
|
||||
coordIndex [
|
||||
1,2,0,-1,1,3,2,-1]
|
||||
normalPerVertex TRUE
|
||||
normal DEF NORM_11 Normal { vector [
|
||||
1 0 0,1 0 0,
|
||||
1 0 0,1 0 0] }
|
||||
}
|
||||
}
|
||||
DEF SHAPE_12 Shape {
|
||||
appearance USE APP_2
|
||||
geometry DEF FACE_12 IndexedFaceSet {
|
||||
coord DEF COORD_12 Coordinate { point [
|
||||
1.0984252 -0.56102362 -1.6141732,1.0984252 -0.56102362 0.19685039,
|
||||
0.9015748 -0.56102362 -1.6141732,0.9015748 -0.56102362 0.19685039] }
|
||||
coordIndex [
|
||||
1,2,0,-1,1,3,2,-1]
|
||||
normalPerVertex TRUE
|
||||
normal DEF NORM_12 Normal { vector [
|
||||
0 -1 0,0 -1 0,
|
||||
0 -1 0,0 -1 0] }
|
||||
}
|
||||
}
|
||||
DEF SHAPE_13 Shape {
|
||||
appearance USE APP_2
|
||||
geometry DEF FACE_13 IndexedFaceSet {
|
||||
coord DEF COORD_13 Coordinate { point [
|
||||
0.9015748 -0.56102362 -1.6141732,0.9015748 -0.56102362 0.19685039,
|
||||
0.9015748 -0.46259843 -1.6141732,0.9015748 -0.46259843 0.19685039] }
|
||||
coordIndex [
|
||||
2,0,1,-1,2,1,3,-1]
|
||||
normalPerVertex TRUE
|
||||
normal DEF NORM_13 Normal { vector [
|
||||
-1 0 0,-1 0 0,
|
||||
-1 0 0,-1 0 0] }
|
||||
}
|
||||
}
|
||||
DEF SHAPE_14 Shape {
|
||||
appearance USE APP_2
|
||||
geometry DEF FACE_14 IndexedFaceSet {
|
||||
coord DEF COORD_14 Coordinate { point [
|
||||
0.9015748 -0.46259843 -1.6141732,0.9015748 -0.46259843 0.19685039,
|
||||
1.0984252 -0.46259843 -1.6141732,1.0984252 -0.46259843 0.19685039] }
|
||||
coordIndex [
|
||||
2,0,1,-1,2,1,3,-1]
|
||||
normalPerVertex TRUE
|
||||
normal DEF NORM_14 Normal { vector [
|
||||
0 1 0,0 1 0,
|
||||
0 1 0,0 1 0] }
|
||||
}
|
||||
}
|
||||
DEF SHAPE_15 Shape {
|
||||
appearance USE APP_2
|
||||
geometry DEF FACE_15 IndexedFaceSet {
|
||||
coord DEF COORD_15 Coordinate { point [
|
||||
1.0984252 -0.46259843 -1.6141732,1.0984252 -0.56102362 -1.6141732,
|
||||
0.9015748 -0.56102362 -1.6141732,0.9015748 -0.46259843 -1.6141732] }
|
||||
coordIndex [
|
||||
3,0,1,-1,3,1,2,-1]
|
||||
normalPerVertex TRUE
|
||||
normal DEF NORM_15 Normal { vector [
|
||||
0 0 -1,0 0 -1,
|
||||
0 0 -1,0 0 -1] }
|
||||
}
|
||||
}
|
||||
DEF SHAPE_16 Shape {
|
||||
appearance USE APP_2
|
||||
geometry DEF FACE_16 IndexedFaceSet {
|
||||
coord DEF COORD_16 Coordinate { point [
|
||||
0.098425197 -0.46259843 -1.6141732,0.098425197 -0.46259843 0.19685039,
|
||||
0.098425197 -0.56102362 -1.6141732,0.098425197 -0.56102362 0.19685039] }
|
||||
coordIndex [
|
||||
1,2,0,-1,1,3,2,-1]
|
||||
normalPerVertex TRUE
|
||||
normal DEF NORM_16 Normal { vector [
|
||||
1 0 0,1 0 0,
|
||||
1 0 0,1 0 0] }
|
||||
}
|
||||
}
|
||||
DEF SHAPE_17 Shape {
|
||||
appearance USE APP_2
|
||||
geometry DEF FACE_17 IndexedFaceSet {
|
||||
coord DEF COORD_17 Coordinate { point [
|
||||
0.098425197 -0.56102362 -1.6141732,0.098425197 -0.56102362 0.19685039,
|
||||
-0.098425197 -0.56102362 -1.6141732,-0.098425197 -0.56102362 0.19685039] }
|
||||
coordIndex [
|
||||
1,2,0,-1,1,3,2,-1]
|
||||
normalPerVertex TRUE
|
||||
normal DEF NORM_17 Normal { vector [
|
||||
0 -1 0,0 -1 0,
|
||||
0 -1 0,0 -1 0] }
|
||||
}
|
||||
}
|
||||
DEF SHAPE_18 Shape {
|
||||
appearance USE APP_2
|
||||
geometry DEF FACE_18 IndexedFaceSet {
|
||||
coord DEF COORD_18 Coordinate { point [
|
||||
-0.098425197 -0.56102362 -1.6141732,-0.098425197 -0.56102362 0.19685039,
|
||||
-0.098425197 -0.46259843 -1.6141732,-0.098425197 -0.46259843 0.19685039] }
|
||||
coordIndex [
|
||||
2,0,1,-1,2,1,3,-1]
|
||||
normalPerVertex TRUE
|
||||
normal DEF NORM_18 Normal { vector [
|
||||
-1 0 0,-1 0 0,
|
||||
-1 0 0,-1 0 0] }
|
||||
}
|
||||
}
|
||||
DEF SHAPE_19 Shape {
|
||||
appearance USE APP_2
|
||||
geometry DEF FACE_19 IndexedFaceSet {
|
||||
coord DEF COORD_19 Coordinate { point [
|
||||
-0.098425197 -0.46259843 -1.6141732,-0.098425197 -0.46259843 0.19685039,
|
||||
0.098425197 -0.46259843 -1.6141732,0.098425197 -0.46259843 0.19685039] }
|
||||
coordIndex [
|
||||
2,0,1,-1,2,1,3,-1]
|
||||
normalPerVertex TRUE
|
||||
normal DEF NORM_19 Normal { vector [
|
||||
0 1 0,0 1 0,
|
||||
0 1 0,0 1 0] }
|
||||
}
|
||||
}
|
||||
DEF SHAPE_20 Shape {
|
||||
appearance USE APP_2
|
||||
geometry DEF FACE_20 IndexedFaceSet {
|
||||
coord DEF COORD_20 Coordinate { point [
|
||||
0.098425197 -0.46259843 -1.6141732,0.098425197 -0.56102362 -1.6141732,
|
||||
-0.098425197 -0.56102362 -1.6141732,-0.098425197 -0.46259843 -1.6141732] }
|
||||
coordIndex [
|
||||
3,0,1,-1,3,1,2,-1]
|
||||
normalPerVertex TRUE
|
||||
normal DEF NORM_20 Normal { vector [
|
||||
0 0 -1,0 0 -1,
|
||||
0 0 -1,0 0 -1] }
|
||||
}
|
||||
}
|
||||
DEF SHAPE_21 Shape {
|
||||
appearance USE APP_2
|
||||
geometry DEF FACE_21 IndexedFaceSet {
|
||||
coord DEF COORD_21 Coordinate { point [
|
||||
-0.9015748 -0.46259843 -1.6141732,-0.9015748 -0.46259843 0.19685039,
|
||||
-0.9015748 -0.56102362 -1.6141732,-0.9015748 -0.56102362 0.19685039] }
|
||||
coordIndex [
|
||||
1,2,0,-1,1,3,2,-1]
|
||||
normalPerVertex TRUE
|
||||
normal DEF NORM_21 Normal { vector [
|
||||
1 0 0,1 0 0,
|
||||
1 0 0,1 0 0] }
|
||||
}
|
||||
}
|
||||
DEF SHAPE_22 Shape {
|
||||
appearance USE APP_2
|
||||
geometry DEF FACE_22 IndexedFaceSet {
|
||||
coord DEF COORD_22 Coordinate { point [
|
||||
-0.9015748 -0.56102362 -1.6141732,-0.9015748 -0.56102362 0.19685039,
|
||||
-1.0984252 -0.56102362 -1.6141732,-1.0984252 -0.56102362 0.19685039] }
|
||||
coordIndex [
|
||||
1,2,0,-1,1,3,2,-1]
|
||||
normalPerVertex TRUE
|
||||
normal DEF NORM_22 Normal { vector [
|
||||
0 -1 0,0 -1 0,
|
||||
0 -1 0,0 -1 0] }
|
||||
}
|
||||
}
|
||||
DEF SHAPE_23 Shape {
|
||||
appearance USE APP_2
|
||||
geometry DEF FACE_23 IndexedFaceSet {
|
||||
coord DEF COORD_23 Coordinate { point [
|
||||
-1.0984252 -0.56102362 -1.6141732,-1.0984252 -0.56102362 0.19685039,
|
||||
-1.0984252 -0.46259843 -1.6141732,-1.0984252 -0.46259843 0.19685039] }
|
||||
coordIndex [
|
||||
2,0,1,-1,2,1,3,-1]
|
||||
normalPerVertex TRUE
|
||||
normal DEF NORM_23 Normal { vector [
|
||||
-1 0 0,-1 0 0,
|
||||
-1 0 0,-1 0 0] }
|
||||
}
|
||||
}
|
||||
DEF SHAPE_24 Shape {
|
||||
appearance USE APP_2
|
||||
geometry DEF FACE_24 IndexedFaceSet {
|
||||
coord DEF COORD_24 Coordinate { point [
|
||||
-1.0984252 -0.46259843 -1.6141732,-1.0984252 -0.46259843 0.19685039,
|
||||
-0.9015748 -0.46259843 -1.6141732,-0.9015748 -0.46259843 0.19685039] }
|
||||
coordIndex [
|
||||
2,0,1,-1,2,1,3,-1]
|
||||
normalPerVertex TRUE
|
||||
normal DEF NORM_24 Normal { vector [
|
||||
0 1 0,0 1 0,
|
||||
0 1 0,0 1 0] }
|
||||
}
|
||||
}
|
||||
DEF SHAPE_25 Shape {
|
||||
appearance USE APP_2
|
||||
geometry DEF FACE_25 IndexedFaceSet {
|
||||
coord DEF COORD_25 Coordinate { point [
|
||||
-0.9015748 -0.46259843 -1.6141732,-0.9015748 -0.56102362 -1.6141732,
|
||||
-1.0984252 -0.56102362 -1.6141732,-1.0984252 -0.46259843 -1.6141732] }
|
||||
coordIndex [
|
||||
3,0,1,-1,3,1,2,-1]
|
||||
normalPerVertex TRUE
|
||||
normal DEF NORM_25 Normal { vector [
|
||||
0 0 -1,0 0 -1,
|
||||
0 0 -1,0 0 -1] }
|
||||
}
|
||||
}
|
||||
DEF SHAPE_26 Shape {
|
||||
appearance USE APP_1
|
||||
geometry DEF FACE_26 IndexedFaceSet {
|
||||
coord DEF COORD_26 Coordinate { point [
|
||||
-2.3622047 1.6141762 0,-2.3598239 1.6333927 0,
|
||||
-2.3531632 1.6508112 0,-2.3434166 1.6652226 0,
|
||||
-2.3306189 1.6772347 0,-2.3157304 1.6860003 0,
|
||||
-2.2999433 1.6911704 0,-2.2915973 1.6924926 0,
|
||||
-2.2834676 1.6929134 0,-2.3168465 1.568818 5.1975375,
|
||||
-2.2381093 1.6475552 5.1975375,-2.2584871 1.644871 5.1976919,
|
||||
-2.2774762 1.6370044 5.197789,-2.2937828 1.6244915 5.1978221,
|
||||
-2.3062957 1.6081849 5.197789,-2.3141623 1.5891957 5.1976919] }
|
||||
coordIndex [
|
||||
0,9,15,-1,1,0,15,-1,2,15,14,-1,2,1,15,-1,3,14,13,-1,3,2,14,-1,4,13,12,-1,4,3,13,-1,
|
||||
5,12,11,-1,5,4,12,-1,6,5,11,-1,7,11,10,-1,7,6,11,-1,8,7,10,-1]
|
||||
normalPerVertex TRUE
|
||||
normal DEF NORM_26 Normal { vector [
|
||||
-0.99187425 0.12684587 0.009777554,-0.97081458 0.23959844 0.010565933,
|
||||
-0.90229506 0.43096202 0.011634135,-0.77304966 0.63422669 0.012277301,
|
||||
-0.60337777 0.79736192 0.012215834,-0.40191896 0.91560307 0.011496553,
|
||||
-0.25976845 0.96561195 0.010673264,-0.11922528 0.99281899 0.009787169,
|
||||
-0.051689278 0.99862115 0.0091659203,-0.991398 0.13051493 0.0097907858,
|
||||
-0.10822134 0.99407942 0.0097084255,-0.25916673 0.96577267 0.010759287,
|
||||
-0.50215241 0.86469601 0.011990293,-0.70028339 0.71375729 0.012398067,
|
||||
-0.85514584 0.51824785 0.012031551,-0.96829538 0.24958105 0.010647036] }
|
||||
}
|
||||
}
|
||||
DEF SHAPE_27 Shape {
|
||||
appearance USE APP_1
|
||||
geometry DEF FACE_27 IndexedFaceSet {
|
||||
coord DEF COORD_27 Coordinate { point [
|
||||
2.2381093 1.6475552 5.1975375,2.2381093 1.6447249 5.2177824,
|
||||
2.2381093 1.6367788 5.2366165,2.2381093 1.6242522 5.2527705,
|
||||
2.2381093 1.6079896 5.2651556,2.2381093 1.5890868 5.2729371,
|
||||
2.2381093 1.568818 5.2755906,-2.2381093 1.6475552 5.1975375,
|
||||
-2.2381093 1.568818 5.2755906,-2.2381093 1.5890868 5.2729371,
|
||||
-2.2381093 1.6079896 5.2651556,-2.2381093 1.6242522 5.2527705,
|
||||
-2.2381093 1.6367788 5.2366165,-2.2381093 1.6447249 5.2177824] }
|
||||
coordIndex [
|
||||
1,0,7,-1,1,7,13,-1,2,13,12,-1,2,1,13,-1,3,12,11,-1,3,2,12,-1,4,11,10,-1,4,3,11,-1,
|
||||
5,10,9,-1,5,4,10,-1,6,9,8,-1,6,5,9,-1]
|
||||
normalPerVertex TRUE
|
||||
normal DEF NORM_27 Normal { vector [
|
||||
0 0.99036902 0.13845292,0 0.974691 0.22355638,
|
||||
0 0.88429861 0.46692181,0 0.73430668 0.67881787,
|
||||
0 0.53482431 0.84496329,0 0.29929611 0.95416028,
|
||||
0 0.12980516 0.99153952,0 0.99036902 0.13845292,
|
||||
0 0.12980516 0.99153952,0 0.21504219 0.97660476,
|
||||
0 0.45918717 0.88833954,0 0.67238407 0.74020245,
|
||||
0 0.84026395 0.54217755,0 0.95151213 0.30761123] }
|
||||
}
|
||||
}
|
||||
DEF SHAPE_28 Shape {
|
||||
appearance USE APP_1
|
||||
geometry DEF FACE_28 IndexedFaceSet {
|
||||
coord DEF COORD_28 Coordinate { point [
|
||||
2.2834676 1.6929134 0,2.302684 1.6905326 0,
|
||||
2.3201026 1.6838718 0,2.3345139 1.6741253 0,
|
||||
2.346526 1.6613276 0,2.3552917 1.646439 0,
|
||||
2.3604618 1.630652 0,2.3617839 1.622306 0,
|
||||
2.3622047 1.6141762 0,2.2381093 1.6475552 5.1975375,
|
||||
2.3168465 1.568818 5.1975375,2.3141623 1.5891957 5.1976919,
|
||||
2.3062957 1.6081849 5.197789,2.2937828 1.6244915 5.1978221,
|
||||
2.2774762 1.6370044 5.197789,2.2584871 1.644871 5.1976919] }
|
||||
coordIndex [
|
||||
1,0,9,-1,1,9,15,-1,2,15,14,-1,2,1,15,-1,3,14,13,-1,3,2,14,-1,4,13,12,-1,4,3,13,-1,
|
||||
5,12,11,-1,5,4,12,-1,6,5,11,-1,7,11,10,-1,7,6,11,-1,8,7,10,-1]
|
||||
normalPerVertex TRUE
|
||||
normal DEF NORM_28 Normal { vector [
|
||||
0.1229493 0.99236522 0.0097332024,0.20141603 0.97945155 0.010307103,
|
||||
0.43096202 0.90229506 0.011634135,0.63422669 0.77304966 0.012277301,
|
||||
0.79736192 0.60337777 0.012215834,0.91560307 0.40191896 0.011496553,
|
||||
0.96561195 0.25976845 0.010673264,0.99281899 0.11922528 0.009787169,
|
||||
0.99862115 0.051689278 0.0091659203,0.12684587 0.99187425 0.009777554,
|
||||
0.99407942 0.10822134 0.0097084255,0.96577267 0.25916673 0.010759287,
|
||||
0.86469601 0.50215241 0.011990293,0.71375729 0.70028339 0.012398067,
|
||||
0.51824785 0.85514584 0.012031551,0.29000553 0.95696282 0.010906981] }
|
||||
}
|
||||
}
|
||||
DEF SHAPE_29 Shape {
|
||||
appearance USE APP_1
|
||||
geometry DEF FACE_29 IndexedFaceSet {
|
||||
coord DEF COORD_29 Coordinate { point [
|
||||
-2.2381093 1.568818 5.2755906,-2.2381093 1.5890868 5.2729371,
|
||||
-2.2381093 1.6079896 5.2651556,-2.2381093 1.6242522 5.2527705,
|
||||
-2.2381093 1.6367788 5.2366165,-2.2381093 1.6447249 5.2177824,
|
||||
-2.2381093 1.6475552 5.1975375,-2.2584871 1.644871 5.1976919,
|
||||
-2.2774762 1.6370044 5.197789,-2.2937828 1.6244915 5.1978221,
|
||||
-2.3062957 1.6081849 5.197789,-2.3141623 1.5891957 5.1976919,
|
||||
-2.3168465 1.568818 5.1975375,-2.2583782 1.568818 5.2729371,
|
||||
-2.2772809 1.568818 5.2651556,-2.2935436 1.568818 5.2527705,
|
||||
-2.3060701 1.568818 5.2366165,-2.3140163 1.568818 5.2177824,
|
||||
-2.3046623 1.5930193 5.2312745,-2.2908602 1.5930193 5.2500637,
|
||||
-2.2719514 1.5930193 5.2637012,-2.2497662 1.5930193 5.2708668,
|
||||
-2.2754667 1.6148777 5.2486476,-2.2577381 1.6148777 5.2576223,
|
||||
-2.2591634 1.6322769 5.2384401,-2.2453614 1.6322769 5.242898] }
|
||||
coordIndex [
|
||||
11,17,16,-1,11,12,17,-1,1,13,0,-1,7,8,4,-1,5,7,4,-1,6,7,5,-1,18,10,11,-1,18,11,16,-1,
|
||||
19,15,14,-1,19,16,15,-1,19,10,18,-1,19,18,16,-1,20,14,13,-1,20,19,14,-1,21,1,2,-1,21,20,13,-1,
|
||||
21,13,1,-1,22,9,10,-1,22,10,19,-1,22,19,20,-1,23,2,3,-1,23,22,20,-1,23,21,2,-1,23,20,21,-1,
|
||||
24,8,9,-1,24,22,23,-1,24,9,22,-1,25,3,4,-1,25,8,24,-1,25,23,3,-1,25,24,23,-1,25,4,8,-1]
|
||||
normalPerVertex TRUE
|
||||
normal DEF NORM_29 Normal { vector [
|
||||
-0.12872522 0.12872522 0.98329021,-0.10739968 0.19203278 0.97549409,
|
||||
-0.11191184 0.50122124 0.85805187,-0.09744161 0.67663425 0.72984328,
|
||||
-0.31143046 0.87581221 0.36873301,-0.24725792 0.93408507 0.25758225,
|
||||
-0.12833442 0.98217961 0.13730805,-0.30235248 0.90050957 0.3125148,
|
||||
-0.36611588 0.87606136 0.31380831,-0.63155198 0.68823908 0.3570281,
|
||||
-0.74861589 0.56204555 0.35168033,-0.93969919 0.23715209 0.24642306,
|
||||
-0.98217961 0.12833442 0.13730805,-0.25392559 0.15116698 0.95533781,
|
||||
-0.5234562 0.15765779 0.83733961,-0.69544298 0.15557248 0.7015385,
|
||||
-0.88037222 0.18453894 0.43690976,-0.93408507 0.24725792 0.25758225,
|
||||
-0.86521921 0.34956311 0.35944588,-0.69846883 0.40629987 0.58911943,
|
||||
-0.41898633 0.30753642 0.85432535,-0.21647111 0.32278407 0.92138521,
|
||||
-0.6307063 0.61020979 0.47943047,-0.24983104 0.57558723 0.77864227,
|
||||
-0.44957406 0.79620386 0.40489823,-0.17480352 0.88192309 0.43778465] }
|
||||
}
|
||||
}
|
||||
DEF SHAPE_30 Shape {
|
||||
appearance USE APP_1
|
||||
geometry DEF FACE_30 IndexedFaceSet {
|
||||
coord DEF COORD_30 Coordinate { point [
|
||||
2.3168465 1.568818 5.1975375,2.3141623 1.5891957 5.1976919,
|
||||
2.3062957 1.6081849 5.197789,2.2937828 1.6244915 5.1978221,
|
||||
2.2774762 1.6370044 5.197789,2.2584871 1.644871 5.1976919,
|
||||
2.2381093 1.6475552 5.1975375,2.2381093 1.6447249 5.2177824,
|
||||
2.2381093 1.6367788 5.2366165,2.2381093 1.6242522 5.2527705,
|
||||
2.2381093 1.6079896 5.2651556,2.2381093 1.5890868 5.2729371,
|
||||
2.2381093 1.568818 5.2755906,2.3140163 1.568818 5.2177824,
|
||||
2.3060701 1.568818 5.2366165,2.2935436 1.568818 5.2527705,
|
||||
2.2772809 1.568818 5.2651556,2.2583782 1.568818 5.2729371,
|
||||
2.2497662 1.5930193 5.2708668,2.2719514 1.5930193 5.2637012,
|
||||
2.2908602 1.5930193 5.2500637,2.2577381 1.6148777 5.2576223,
|
||||
2.3046623 1.5930193 5.2312745,2.2754667 1.6148777 5.2486476,
|
||||
2.2453614 1.6322769 5.242898,2.2591634 1.6322769 5.2384401] }
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coordIndex [
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19,17,16,-1,19,18,17,-1,20,15,14,-1,20,16,15,-1,20,19,16,-1,21,9,10,-1,21,18,19,-1,21,10,18,-1,
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24,8,9,-1,24,9,21,-1,24,4,8,-1,25,3,4,-1,25,21,23,-1,25,4,24,-1,25,23,3,-1,25,24,21,-1]
|
||||
normalPerVertex TRUE
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normal DEF NORM_30 Normal { vector [
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||||
0.98217961 0.12833442 0.13730805,0.93969919 0.23715209 0.24642306,
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0.74861589 0.56204555 0.35168033,0.63155198 0.68823908 0.3570281,
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0.36611588 0.87606136 0.31380831,0.30235248 0.90050957 0.3125148,
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0.12833442 0.98217961 0.13730805,0.24725792 0.93408507 0.25758225,
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0.31143046 0.87581221 0.36873301,0.09744161 0.67663425 0.72984328,
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0.11191184 0.50122124 0.85805187,0.10739968 0.19203278 0.97549409,
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0.12872522 0.12872522 0.98329021,0.93408507 0.24725792 0.25758225,
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0.88037222 0.18453894 0.43690976,0.69544298 0.15557248 0.7015385,
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0.5234562 0.15765779 0.83733961,0.25392559 0.15116698 0.95533781,
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0.21647111 0.32278407 0.92138521,0.41898633 0.30753642 0.85432535,
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0.69846883 0.40629987 0.58911943,0.24983104 0.57558723 0.77864227,
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0.86521921 0.34956311 0.35944588,0.6307063 0.61020979 0.47943047,
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0.17480352 0.88192309 0.43778465,0.44957406 0.79620386 0.40489823] }
|
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}
|
||||
}
|
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DEF SHAPE_31 Shape {
|
||||
appearance USE APP_1
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||||
geometry DEF FACE_31 IndexedFaceSet {
|
||||
coord DEF COORD_31 Coordinate { point [
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-2.2834676 -1.6929134 0,-2.302684 -1.6905326 0,
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-2.3201026 -1.6838718 0,-2.3345139 -1.6741253 0,
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-2.346526 -1.6613276 0,-2.3552917 -1.646439 0,
|
||||
-2.3604618 -1.630652 0,-2.3617839 -1.622306 0,
|
||||
-2.3622047 -1.6141762 0,-2.2381093 -1.6475552 5.1975375,
|
||||
-2.3168465 -1.568818 5.1975375,-2.3141623 -1.5891957 5.1976919,
|
||||
-2.3062957 -1.6081849 5.197789,-2.2937828 -1.6244915 5.1978221,
|
||||
-2.2774762 -1.6370044 5.197789,-2.2584871 -1.644871 5.1976919] }
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coordIndex [
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|
||||
5,12,11,-1,5,4,12,-1,6,5,11,-1,7,11,10,-1,7,6,11,-1,8,7,10,-1]
|
||||
normalPerVertex TRUE
|
||||
normal DEF NORM_31 Normal { vector [
|
||||
-0.1229493 -0.99236522 0.0097332024,-0.20141603 -0.97945155 0.010307103,
|
||||
-0.43096202 -0.90229506 0.011634135,-0.63422669 -0.77304966 0.012277301,
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||||
-0.79736192 -0.60337777 0.012215834,-0.91560307 -0.40191896 0.011496553,
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||||
-0.96561195 -0.25976845 0.010673264,-0.99281899 -0.11922528 0.009787169,
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-0.99862115 -0.051689278 0.0091659203,-0.12684587 -0.99187425 0.009777554,
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-0.99407942 -0.10822134 0.0097084255,-0.96577267 -0.25916673 0.010759287,
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-0.86469601 -0.50215241 0.011990293,-0.71375729 -0.70028339 0.012398067,
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-0.51824785 -0.85514584 0.012031551,-0.29000553 -0.95696282 0.010906981] }
|
||||
}
|
||||
}
|
||||
DEF SHAPE_32 Shape {
|
||||
appearance USE APP_1
|
||||
geometry DEF FACE_32 IndexedFaceSet {
|
||||
coord DEF COORD_32 Coordinate { point [
|
||||
-2.2381093 1.568818 5.2755906,-2.2583782 1.568818 5.2729371,
|
||||
-2.2772809 1.568818 5.2651556,-2.2935436 1.568818 5.2527705,
|
||||
-2.3060701 1.568818 5.2366165,-2.3140163 1.568818 5.2177824,
|
||||
-2.3168465 1.568818 5.1975375,-2.3168465 -1.568818 5.1975375,
|
||||
-2.2381093 -1.568818 5.2755906,-2.2583782 -1.568818 5.2729371,
|
||||
-2.2772809 -1.568818 5.2651556,-2.2935436 -1.568818 5.2527705,
|
||||
-2.3060701 -1.568818 5.2366165,-2.3140163 -1.568818 5.2177824] }
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coordIndex [
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5,6,7,-1,5,13,12,-1,5,7,13,-1,4,5,12,-1,3,11,10,-1,3,12,11,-1,3,4,12,-1,2,3,10,-1,
|
||||
1,10,9,-1,1,2,10,-1,0,9,8,-1,0,1,9,-1]
|
||||
normalPerVertex TRUE
|
||||
normal DEF NORM_32 Normal { vector [
|
||||
-0.12980516 0 0.99153952,-0.29929611 0 0.95416028,
|
||||
-0.49747872 0 0.86747618,-0.70401472 0 0.71018538,
|
||||
-0.86310188 0 0.50502984,-0.96401812 0 0.26583655,
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||||
-0.99036902 0 0.13845292,-0.99036902 0 0.13845292,
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-0.12980516 0 0.99153952,-0.21504219 0 0.97660476,
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-0.49747872 0 0.86747618,-0.70401472 0 0.71018538,
|
||||
-0.86310188 0 0.50502984,-0.96401812 0 0.26583655] }
|
||||
}
|
||||
}
|
||||
DEF SHAPE_33 Shape {
|
||||
appearance USE APP_1
|
||||
geometry DEF FACE_33 IndexedFaceSet {
|
||||
coord DEF COORD_33 Coordinate { point [
|
||||
2.3168465 1.568818 5.1975375,2.3140163 1.568818 5.2177824,
|
||||
2.3060701 1.568818 5.2366165,2.2935436 1.568818 5.2527705,
|
||||
2.2772809 1.568818 5.2651556,2.2583782 1.568818 5.2729371,
|
||||
2.2381093 1.568818 5.2755906,2.2381093 -1.568818 5.2755906,
|
||||
2.3168465 -1.568818 5.1975375,2.3140163 -1.568818 5.2177824,
|
||||
2.3060701 -1.568818 5.2366165,2.2935436 -1.568818 5.2527705,
|
||||
2.2772809 -1.568818 5.2651556,2.2583782 -1.568818 5.2729371] }
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||||
coordIndex [
|
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8,0,1,-1,9,1,2,-1,9,8,1,-1,10,2,3,-1,10,9,2,-1,11,3,4,-1,11,10,3,-1,12,11,4,-1,
|
||||
13,4,5,-1,13,5,6,-1,13,12,4,-1,7,13,6,-1]
|
||||
normalPerVertex TRUE
|
||||
normal DEF NORM_33 Normal { vector [
|
||||
0.99036902 0 0.13845292,0.974691 0 0.22355638,
|
||||
0.88429861 0 0.46692181,0.73430668 0 0.67881787,
|
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0.49747872 0 0.86747618,0.25741389 0 0.96630124,
|
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0.12980516 0 0.99153952,0.12980516 0 0.99153952,
|
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0.99036902 0 0.13845292,0.95151213 0 0.30761123,
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0.84026395 0 0.54217755,0.67238407 0 0.74020245,
|
||||
0.49747872 0 0.86747618,0.25741389 0 0.96630124] }
|
||||
}
|
||||
}
|
||||
DEF SHAPE_34 Shape {
|
||||
appearance USE APP_1
|
||||
geometry DEF FACE_34 IndexedFaceSet {
|
||||
coord DEF COORD_34 Coordinate { point [
|
||||
2.3622047 -1.6141762 0,2.3598239 -1.6333927 0,
|
||||
2.3531632 -1.6508112 0,2.3434166 -1.6652226 0,
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||||
2.3306189 -1.6772347 0,2.3157304 -1.6860003 0,
|
||||
2.2999433 -1.6911704 0,2.2915973 -1.6924926 0,
|
||||
2.2834676 -1.6929134 0,2.3168465 -1.568818 5.1975375,
|
||||
2.2381093 -1.6475552 5.1975375,2.2584871 -1.644871 5.1976919,
|
||||
2.2774762 -1.6370044 5.197789,2.2937828 -1.6244915 5.1978221,
|
||||
2.3062957 -1.6081849 5.197789,2.3141623 -1.5891957 5.1976919] }
|
||||
coordIndex [
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|
||||
5,12,11,-1,5,4,12,-1,6,5,11,-1,7,11,10,-1,7,6,11,-1,8,7,10,-1]
|
||||
normalPerVertex TRUE
|
||||
normal DEF NORM_34 Normal { vector [
|
||||
0.99187425 -0.12684587 0.009777554,0.97081458 -0.23959844 0.010565933,
|
||||
0.90229506 -0.43096202 0.011634135,0.77304966 -0.63422669 0.012277301,
|
||||
0.60337777 -0.79736192 0.012215834,0.40191896 -0.91560307 0.011496553,
|
||||
0.25976845 -0.96561195 0.010673264,0.11922528 -0.99281899 0.009787169,
|
||||
0.051689278 -0.99862115 0.0091659203,0.991398 -0.13051493 0.0097907858,
|
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0.10822134 -0.99407942 0.0097084255,0.25916673 -0.96577267 0.010759287,
|
||||
0.50215241 -0.86469601 0.011990293,0.70028339 -0.71375729 0.012398067,
|
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0.85514584 -0.51824785 0.012031551,0.96829538 -0.24958105 0.010647036] }
|
||||
}
|
||||
}
|
||||
DEF SHAPE_35 Shape {
|
||||
appearance USE APP_1
|
||||
geometry DEF FACE_35 IndexedFaceSet {
|
||||
coord DEF COORD_35 Coordinate { point [
|
||||
-2.2381093 -1.568818 5.2755906,-2.2583782 -1.568818 5.2729371,
|
||||
-2.2772809 -1.568818 5.2651556,-2.2935436 -1.568818 5.2527705,
|
||||
-2.3060701 -1.568818 5.2366165,-2.3140163 -1.568818 5.2177824,
|
||||
-2.3168465 -1.568818 5.1975375,-2.3141623 -1.5891957 5.1976919,
|
||||
-2.3062957 -1.6081849 5.197789,-2.2937828 -1.6244915 5.1978221,
|
||||
-2.2774762 -1.6370044 5.197789,-2.2584871 -1.644871 5.1976919,
|
||||
-2.2381093 -1.6475552 5.1975375,-2.2381093 -1.5890868 5.2729371,
|
||||
-2.2381093 -1.6079896 5.2651556,-2.2381093 -1.6242522 5.2527705,
|
||||
-2.2381093 -1.6367788 5.2366165,-2.2381093 -1.6447249 5.2177824,
|
||||
-2.241976 -1.6435327 5.221402,-2.2524368 -1.6322769 5.2412092,
|
||||
-2.28307 -1.6148777 5.2422052,-2.2669536 -1.6148777 5.2538287,
|
||||
-2.2984965 -1.5930193 5.2412092,-2.2480447 -1.6148777 5.2599361,
|
||||
-2.2819395 -1.5930193 5.2576223,-2.2611392 -1.5930193 5.2681521] }
|
||||
coordIndex [
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|
||||
19,9,10,-1,19,16,15,-1,19,10,16,-1,20,8,9,-1,21,20,9,-1,21,9,19,-1,22,3,4,-1,22,7,8,-1,
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22,4,7,-1,23,15,14,-1,23,19,15,-1,23,21,19,-1,24,2,3,-1,24,20,21,-1,24,8,20,-1,24,22,8,-1,
|
||||
24,3,22,-1,25,1,2,-1,25,14,13,-1,25,21,23,-1,25,23,14,-1,25,2,24,-1,25,24,21,-1,25,13,1,-1]
|
||||
normalPerVertex TRUE
|
||||
normal DEF NORM_35 Normal { vector [
|
||||
-0.12872522 -0.12872522 0.98329021,-0.23046095 -0.14933999 0.9615536,
|
||||
-0.47513186 -0.15440441 0.8662615,-0.69569095 -0.15331924 0.70178865,
|
||||
-0.88634368 -0.23468384 0.39914706,-0.93408507 -0.24725792 0.25758225,
|
||||
-0.98217961 -0.12833442 0.13730805,-0.91596583 -0.27887749 0.28850295,
|
||||
-0.7895678 -0.49319114 0.36516461,-0.55607038 -0.74892789 0.36040636,
|
||||
-0.41505149 -0.83810321 0.35399897,-0.24506539 -0.94397905 0.22101247,
|
||||
-0.12833442 -0.98217961 0.13730805,-0.14559249 -0.22810076 0.96269043,
|
||||
-0.11487512 -0.44432992 0.88846757,-0.082080481 -0.71522909 0.69405342,
|
||||
-0.26170282 -0.88341922 0.38869282,-0.10914986 -0.97866727 0.17405941,
|
||||
-0.35398829 -0.86134439 0.36438735,-0.41037294 -0.7946071 0.44743,
|
||||
-0.71069283 -0.55470546 0.43268645,-0.42350991 -0.69637187 0.57940104,
|
||||
-0.81222316 -0.38227987 0.44063097,-0.19253424 -0.58315654 0.78921418,
|
||||
-0.63993113 -0.38349063 0.66590021,-0.29576709 -0.31130877 0.90311055] }
|
||||
}
|
||||
}
|
||||
DEF SHAPE_36 Shape {
|
||||
appearance USE APP_1
|
||||
geometry DEF FACE_36 IndexedFaceSet {
|
||||
coord DEF COORD_36 Coordinate { point [
|
||||
2.2381093 -1.6475552 5.1975375,2.2584871 -1.644871 5.1976919,
|
||||
2.2774762 -1.6370044 5.197789,2.2937828 -1.6244915 5.1978221,
|
||||
2.3062957 -1.6081849 5.197789,2.3141623 -1.5891957 5.1976919,
|
||||
2.3168465 -1.568818 5.1975375,2.3140163 -1.568818 5.2177824,
|
||||
2.3060701 -1.568818 5.2366165,2.2935436 -1.568818 5.2527705,
|
||||
2.2772809 -1.568818 5.2651556,2.2583782 -1.568818 5.2729371,
|
||||
2.2381093 -1.568818 5.2755906,2.2381093 -1.6447249 5.2177824,
|
||||
2.2381093 -1.6367788 5.2366165,2.2381093 -1.6242522 5.2527705,
|
||||
2.2381093 -1.6079896 5.2651556,2.2381093 -1.5890868 5.2729371,
|
||||
2.241976 -1.6435327 5.221402,2.2524368 -1.6322769 5.2412092,
|
||||
2.2480447 -1.6148777 5.2599361,2.2669536 -1.6148777 5.2538287,
|
||||
2.28307 -1.6148777 5.2422052,2.2611392 -1.5930193 5.2681521,
|
||||
2.2819395 -1.5930193 5.2576223,2.2984965 -1.5930193 5.2412092] }
|
||||
coordIndex [
|
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1,13,0,-1,11,12,17,-1,7,8,5,-1,6,7,5,-1,18,1,2,-1,18,14,13,-1,18,13,1,-1,18,2,14,-1,
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||||
19,2,3,-1,19,15,14,-1,19,14,2,-1,20,16,15,-1,20,15,19,-1,21,20,19,-1,21,19,3,-1,22,3,4,-1,
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||||
22,21,3,-1,23,10,11,-1,23,17,16,-1,23,20,21,-1,23,16,20,-1,23,11,17,-1,24,9,10,-1,24,10,23,-1,
|
||||
24,23,21,-1,24,22,4,-1,24,21,22,-1,25,4,5,-1,25,8,9,-1,25,9,24,-1,25,24,4,-1,25,5,8,-1]
|
||||
normalPerVertex TRUE
|
||||
normal DEF NORM_36 Normal { vector [
|
||||
0.12833442 -0.98217961 0.13730805,0.24506539 -0.94397905 0.22101247,
|
||||
0.41505149 -0.83810321 0.35399897,0.55607038 -0.74892789 0.36040636,
|
||||
0.7895678 -0.49319114 0.36516461,0.91596583 -0.27887749 0.28850295,
|
||||
0.98217961 -0.12833442 0.13730805,0.93408507 -0.24725792 0.25758225,
|
||||
0.88634368 -0.23468384 0.39914706,0.69569095 -0.15331924 0.70178865,
|
||||
0.47513186 -0.15440441 0.8662615,0.23046095 -0.14933999 0.9615536,
|
||||
0.12872522 -0.12872522 0.98329021,0.10914986 -0.97866727 0.17405941,
|
||||
0.26170282 -0.88341922 0.38869282,0.082080481 -0.71522909 0.69405342,
|
||||
0.11487512 -0.44432992 0.88846757,0.14559249 -0.22810076 0.96269043,
|
||||
0.35398829 -0.86134439 0.36438735,0.41037294 -0.7946071 0.44743,
|
||||
0.19253424 -0.58315654 0.78921418,0.42350991 -0.69637187 0.57940104,
|
||||
0.71069283 -0.55470546 0.43268645,0.29576709 -0.31130877 0.90311055,
|
||||
0.63993113 -0.38349063 0.66590021,0.81222316 -0.38227987 0.44063097] }
|
||||
}
|
||||
}
|
||||
DEF SHAPE_37 Shape {
|
||||
appearance USE APP_1
|
||||
geometry DEF FACE_37 IndexedFaceSet {
|
||||
coord DEF COORD_37 Coordinate { point [
|
||||
-2.2381093 -1.568818 5.2755906,-2.2381093 -1.5890868 5.2729371,
|
||||
-2.2381093 -1.6079896 5.2651556,-2.2381093 -1.6242522 5.2527705,
|
||||
-2.2381093 -1.6367788 5.2366165,-2.2381093 -1.6447249 5.2177824,
|
||||
-2.2381093 -1.6475552 5.1975375,2.2381093 -1.6475552 5.1975375,
|
||||
2.2381093 -1.6447249 5.2177824,2.2381093 -1.6367788 5.2366165,
|
||||
2.2381093 -1.6242522 5.2527705,2.2381093 -1.6079896 5.2651556,
|
||||
2.2381093 -1.5890868 5.2729371,2.2381093 -1.568818 5.2755906] }
|
||||
coordIndex [
|
||||
5,6,7,-1,5,7,8,-1,4,8,9,-1,4,5,8,-1,3,9,10,-1,3,4,9,-1,2,10,11,-1,2,11,12,-1,
|
||||
2,3,10,-1,1,12,13,-1,1,2,12,-1,0,1,13,-1]
|
||||
normalPerVertex TRUE
|
||||
normal DEF NORM_37 Normal { vector [
|
||||
0 -0.12980516 0.99153952,0 -0.21504219 0.97660476,
|
||||
0 -0.49747872 0.86747618,0 -0.73430668 0.67881787,
|
||||
0 -0.88429861 0.46692181,0 -0.974691 0.22355638,
|
||||
0 -0.99036902 0.13845292,0 -0.99036902 0.13845292,
|
||||
0 -0.95151213 0.30761123,0 -0.84026395 0.54217755,
|
||||
0 -0.67238407 0.74020245,0 -0.49747872 0.86747618,
|
||||
0 -0.29929611 0.95416028,0 -0.12980516 0.99153952] }
|
||||
}
|
||||
}
|
||||
] }
|
||||
] }
|
||||
] }
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -1,39 +0,0 @@
|
||||
|
||||
This directory is intended for project header files.
|
||||
|
||||
A header file is a file containing C declarations and macro definitions
|
||||
to be shared between several project source files. You request the use of a
|
||||
header file in your project source file (C, C++, etc) located in `src` folder
|
||||
by including it, with the C preprocessing directive `#include'.
|
||||
|
||||
```src/main.c
|
||||
|
||||
#include "header.h"
|
||||
|
||||
int main (void)
|
||||
{
|
||||
...
|
||||
}
|
||||
```
|
||||
|
||||
Including a header file produces the same results as copying the header file
|
||||
into each source file that needs it. Such copying would be time-consuming
|
||||
and error-prone. With a header file, the related declarations appear
|
||||
in only one place. If they need to be changed, they can be changed in one
|
||||
place, and programs that include the header file will automatically use the
|
||||
new version when next recompiled. The header file eliminates the labor of
|
||||
finding and changing all the copies as well as the risk that a failure to
|
||||
find one copy will result in inconsistencies within a program.
|
||||
|
||||
In C, the usual convention is to give header files names that end with `.h'.
|
||||
It is most portable to use only letters, digits, dashes, and underscores in
|
||||
header file names, and at most one dot.
|
||||
|
||||
Read more about using header files in official GCC documentation:
|
||||
|
||||
* Include Syntax
|
||||
* Include Operation
|
||||
* Once-Only Headers
|
||||
* Computed Includes
|
||||
|
||||
https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html
|
||||
-46
@@ -1,46 +0,0 @@
|
||||
|
||||
This directory is intended for project specific (private) libraries.
|
||||
PlatformIO will compile them to static libraries and link into executable file.
|
||||
|
||||
The source code of each library should be placed in a an own separate directory
|
||||
("lib/your_library_name/[here are source files]").
|
||||
|
||||
For example, see a structure of the following two libraries `Foo` and `Bar`:
|
||||
|
||||
|--lib
|
||||
| |
|
||||
| |--Bar
|
||||
| | |--docs
|
||||
| | |--examples
|
||||
| | |--src
|
||||
| | |- Bar.c
|
||||
| | |- Bar.h
|
||||
| | |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
|
||||
| |
|
||||
| |--Foo
|
||||
| | |- Foo.c
|
||||
| | |- Foo.h
|
||||
| |
|
||||
| |- README --> THIS FILE
|
||||
|
|
||||
|- platformio.ini
|
||||
|--src
|
||||
|- main.c
|
||||
|
||||
and a contents of `src/main.c`:
|
||||
```
|
||||
#include <Foo.h>
|
||||
#include <Bar.h>
|
||||
|
||||
int main (void)
|
||||
{
|
||||
...
|
||||
}
|
||||
|
||||
```
|
||||
|
||||
PlatformIO Library Dependency Finder will find automatically dependent
|
||||
libraries scanning project source files.
|
||||
|
||||
More information about PlatformIO Library Dependency Finder
|
||||
- https://docs.platformio.org/page/librarymanager/ldf.html
|
||||
@@ -1,30 +0,0 @@
|
||||
; PlatformIO Project Configuration File
|
||||
;
|
||||
; Build options: build flags, source filter
|
||||
; Upload options: custom upload port, speed and extra flags
|
||||
; Library options: dependencies, extra library storages
|
||||
; Advanced options: extra scripting
|
||||
;
|
||||
; Please visit documentation for the other options and examples
|
||||
; https://docs.platformio.org/page/projectconf.html
|
||||
|
||||
[env:PCB-v01a]
|
||||
platform = espressif32
|
||||
board = featheresp32
|
||||
; change microcontroller to ESP32M4
|
||||
board_build.mcu = esp32
|
||||
; change MCU frequency
|
||||
board_build.f_cpu = 240000000L
|
||||
framework = arduino
|
||||
;upload_protocol = esp-prog
|
||||
|
||||
monitor_speed = 115200
|
||||
monitor_filters = esp32_exception_decoder
|
||||
; debug_tool = esp-prog
|
||||
; debug_init_break = tbreak setup
|
||||
; build_type=debug
|
||||
lib_deps =
|
||||
https://github.com/someweisguy/esp_dmx
|
||||
https://github.com/madhephaestus/ESP32Encoder
|
||||
pkerspe/ESP-FlexyStepper @ ^1.4.3
|
||||
|
||||
@@ -1,32 +0,0 @@
|
||||
/// ********************** PIN ASSIGNEMENTS **********************
|
||||
// DMX
|
||||
const int tx_pin = 16; // define the IO pin the DMX TX pin is connected to
|
||||
const int rx_pin = 17; // define the IO pin the DMX RX pin is connected to
|
||||
const int rts_pin = 4; // define the IO pin the DMX RTS pin is connected to
|
||||
|
||||
// capteur BCD pour adressage DMX
|
||||
#define q1 21 // define the IO pin for the thumbwheel '1' is connected to
|
||||
#define q2 19 // define the IO pin for the thumbwheel '2' is connected to
|
||||
#define q4 18 // define the IO pin for the thumbwheel '4' is connected to
|
||||
#define q8 5 // define the IO pin for the thumbwheel '8' is connected to
|
||||
|
||||
// driver moteur
|
||||
const int MOTOR_ENABLE_PIN = 27; // define the IO pin the motor enable pin is connected to
|
||||
const int MOTOR_STEP_PIN = 26; // define the IO pin the motor step pin is connected to
|
||||
const int MOTOR_DIRECTION_PIN = 25; // define the IO pin the motor direction pin is connected to
|
||||
#ifndef dev_mode
|
||||
const int EMERGENCY_STOP_PIN = 13; // define the IO pin the emergency stop switch is connected to
|
||||
#endif
|
||||
const int HOME_SWITCH_PIN = 35; // define the IO pin where the home switches are connected to (switches in series in normally closed setup against ground)
|
||||
const int LIMIT_SWITCH_PIN = 34; // define the IO pin where the limit switches are connected to (switches in series in normally closed setup against ground)
|
||||
|
||||
// encoder moteur pas à pas
|
||||
#define EB_plus 22 // define the IO pin for the encoder B is connected to
|
||||
#define EA_plus 23 // define the IO pin for the encoder A is connected to
|
||||
|
||||
// potentiomètre pour le réglage des fins de course
|
||||
#define home_set_pot 36 // define the IO pin for the home set potentiometer is connected to
|
||||
#define limit_set_pot 39 // define the IO pin for the limit set potentiometer is connected to
|
||||
#define divider_pot 1 // define the divider potentiometer value
|
||||
|
||||
|
||||
-143
@@ -1,143 +0,0 @@
|
||||
#define nb_dmx_channel 2 // nombre de canaux DMX utilisés
|
||||
#define pos_array 0 // position de la position dans le tableau DMX_data
|
||||
#define speed_array 1 // position de la vitesse dans le tableau DMX_data
|
||||
|
||||
int DMX_start_channel; // numéro de la première adresse DMX
|
||||
int pos_channel; // numéro de l'adresse DMX de la position
|
||||
int speed_channel; // numéro de l'adresse DMX de la vitesse
|
||||
const dmx_port_t dmx_num = DMX_NUM_2; // numéro du port DMX
|
||||
byte data[DMX_PACKET_SIZE]; // tableau de données DMX
|
||||
|
||||
bool dmxIsConnected = false; // état de la connexion DMX
|
||||
unsigned long lastUpdate = millis(); // temps de la dernière mise à jour des données DMX
|
||||
uint8_t DMX_data[nb_dmx_channel + 1]; // tableau de données DMX
|
||||
uint8_t DMX_data_old[nb_dmx_channel + 1]; // tableau de données DMX précédentes
|
||||
bool dataChanged[nb_dmx_channel + 1]; // tableau de drapeau pour donnée DMX ayant changées
|
||||
unsigned long last_connected_Time = 0; // temps de la dernière connexion DMX
|
||||
unsigned long last_disconnected_Time = 0; // temps de la dernière déconnexion DMX
|
||||
|
||||
#define DMX_Connected_Time 1000 // temps en ms entre chaque vérification de la connexion DMX
|
||||
#define DMX_Read_Time 200 // temps en ms entre chaque mise à jour des données DMX
|
||||
#define dmx_debounce_try 0 // nombre de boucle pour le debounce DMX afin d'éviter les valeurs de 0 ou 255 erronées
|
||||
int dmx_count[nb_dmx_channel + 1]; // compteur de boucle pour le debounce DMX afin d'éviter les valeurs de 0 ou 255 erronées
|
||||
|
||||
// fonction
|
||||
int readSwitch(); // fonction pour lire le codeur d'adresse DMX
|
||||
void reset_dmx_counter(); // fonction pour réinitialiser le compteur de boucle pour le debounce DMX afin d'éviter les valeurs de 0 ou 255 erronées
|
||||
void receiveDMX(); // fonction pour recevoir les données DMX
|
||||
|
||||
int readSwitch() // fonction pour lire le codeur d'adresse DMX
|
||||
{
|
||||
int total = 0;
|
||||
if (digitalRead(q1) == HIGH)
|
||||
{
|
||||
total += 1;
|
||||
}
|
||||
if (digitalRead(q2) == HIGH)
|
||||
{
|
||||
total += 2;
|
||||
}
|
||||
if (digitalRead(q4) == HIGH)
|
||||
{
|
||||
total += 4;
|
||||
}
|
||||
if (digitalRead(q8) == HIGH)
|
||||
{
|
||||
total += 8;
|
||||
}
|
||||
total = ((total + 1) * 2) - 1; // correction battarde de l'adresse DMX
|
||||
|
||||
return total;
|
||||
}
|
||||
|
||||
void reset_dmx_counter() // fonction pour réinitialiser le compteur de boucle pour le debounce DMX afin d'éviter les valeurs de 0 ou 255 erronées
|
||||
{
|
||||
for (int i = 0; i < nb_dmx_channel + 1; i++)
|
||||
{
|
||||
dmx_count[i] = 0;
|
||||
}
|
||||
}
|
||||
|
||||
void receiveDMX() // fonction pour recevoir les données DMX
|
||||
{
|
||||
dmx_packet_t packet;
|
||||
if (dmx_receive(dmx_num, &packet, DMX_TIMEOUT_TICK))
|
||||
{
|
||||
|
||||
if (!packet.err)
|
||||
{
|
||||
if (!dmxIsConnected)
|
||||
{
|
||||
Serial.println("DMX is connected!");
|
||||
last_connected_Time = millis();
|
||||
dmxIsConnected = true;
|
||||
}
|
||||
dmx_read(dmx_num, data, packet.size);
|
||||
// mise à jour des données DMX si elles ont changé et si le temps écoulé depuis la dernière mise à jour est supérieur à DMX_Read_Time
|
||||
if (millis() - lastUpdate > DMX_Read_Time)
|
||||
{
|
||||
lastUpdate = millis(); // réinitialisation du temps de la dernière mise à jour des données DMX
|
||||
last_connected_Time = millis(); // réinitialisation du temps de la dernière connexion DMX
|
||||
// mise à jour de la position
|
||||
if (DMX_data[pos_array] != data[pos_channel])
|
||||
{
|
||||
if (DMX_data[pos_array] == 0 || DMX_data[pos_array] == 255)
|
||||
{
|
||||
dmx_count[pos_array]++;
|
||||
if (dmx_count[pos_array] > dmx_debounce_try)
|
||||
{
|
||||
DMX_data[pos_array] = data[pos_channel];
|
||||
reset_dmx_counter();
|
||||
(dataChanged[pos_array]) = true;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
DMX_data[pos_array] = data[pos_channel];
|
||||
reset_dmx_counter();
|
||||
(dataChanged[pos_array]) = true;
|
||||
}
|
||||
}
|
||||
|
||||
// mise à jour de la vitesse
|
||||
if (DMX_data[speed_array] != data[speed_channel])
|
||||
{
|
||||
if (DMX_data[speed_array] == 0 || DMX_data[speed_array] == 255)
|
||||
{
|
||||
dmx_count[speed_array]++;
|
||||
if (dmx_count[speed_array] > dmx_debounce_try)
|
||||
{
|
||||
DMX_data[speed_array] = data[speed_channel];
|
||||
reset_dmx_counter();
|
||||
(dataChanged[speed_array]) = true;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
DMX_data[speed_array] = data[speed_channel];
|
||||
reset_dmx_counter();
|
||||
(dataChanged[speed_array]) = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
reset_dmx_counter();
|
||||
Serial.println("A DMX error occurred.");
|
||||
}
|
||||
}
|
||||
else if (dmxIsConnected)
|
||||
{
|
||||
reset_dmx_counter();
|
||||
// Serial.println("DMX was disconnected."); // affichage de la déconnexion DMX
|
||||
if (millis() - last_connected_Time > DMX_Connected_Time)
|
||||
{
|
||||
dmxIsConnected = false;
|
||||
last_disconnected_Time = millis(); // réinitialisation du temps de la dernière déconnexion DMX
|
||||
Serial.println("DMX was halted."); // affichage de la déconnexion DMX
|
||||
// emergencyStop = true; // arrêt du moteur en cas de déconnexion DMX
|
||||
// emercency_stop_timer = millis(); // réinitialisation du timer d'arrêt d'urgence
|
||||
}
|
||||
}
|
||||
}
|
||||
-67
@@ -1,67 +0,0 @@
|
||||
|
||||
// ********************** variables for software debouncing of the limit switches **********************
|
||||
#define switch_active 1 // active low switch configuration (NO connection with internal pull up) or HIGH for active high switch configuration (NC connection with internal pull up)
|
||||
|
||||
volatile unsigned long lastDebounceTime = 0; // the last time the limit switch input pin was toggled
|
||||
volatile unsigned long debounceDelay = 100; // the minimum delay in milliseconds to check for bouncing of the switch. Increase this slighlty if you switches tend to bounce a lot
|
||||
bool buttonStateChangeDetected = false; // flag to indicate that the button state has changed
|
||||
volatile byte limitSwitchState = !switch_active; // the current reading from the limit switch input pin
|
||||
byte ConfirmedLimitSwitchState = !switch_active; // the last confirmed reading from the limit switch input pin
|
||||
volatile byte homeSwitchState = !switch_active; // the current reading from the home switch input pin
|
||||
byte ConfirmedHomeSwitchState = !switch_active; // the last confirmed reading from the home switch input pin
|
||||
|
||||
volatile int home_steps; // nombre de pas pour bien positionner le moteur à la position de départ
|
||||
volatile int limit_steps; // nombre de pas pour bien positionner le moteur à la position de fin
|
||||
|
||||
void homeReachedCallback(); // callback function that will be called when the home position is reached
|
||||
void limitReachedCallback(); // callback function that will be called when the limit position is reached
|
||||
void IRAM_ATTR limitSwitchHandler(); // interrupt handler for the limit switch
|
||||
void IRAM_ATTR homeSwitchHandler(); // interrupt handler for the home switch
|
||||
void limit_sw_check(); // fonction pour la sécurité si une limite est détectée par le bouton poussoir
|
||||
void home_sw_check(); // fonction pour la sécurité si une limite est détectée par le bouton poussoir
|
||||
|
||||
void homeReachedCallback() // callback function that will be called when the home position is reached
|
||||
{
|
||||
Serial.println("Home reached");
|
||||
}
|
||||
|
||||
void limitReachedCallback() // callback function that will be called when the limit position is reached
|
||||
{
|
||||
Serial.println("Limit reached");
|
||||
}
|
||||
|
||||
void IRAM_ATTR limitSwitchHandler() // interrupt handler for the limit switch
|
||||
{
|
||||
lastDebounceTime = millis();
|
||||
limitSwitchState = digitalRead(LIMIT_SWITCH_PIN);
|
||||
}
|
||||
|
||||
void IRAM_ATTR homeSwitchHandler() // interrupt handler for the home switch
|
||||
{
|
||||
lastDebounceTime = millis();
|
||||
homeSwitchState = digitalRead(HOME_SWITCH_PIN);
|
||||
}
|
||||
|
||||
void limit_sw_check() // fonction pour la sécurité si une limite est détectée par le bouton poussoir
|
||||
{
|
||||
|
||||
if (limitSwitchState != ConfirmedLimitSwitchState && (millis() - lastDebounceTime) > debounceDelay)
|
||||
{
|
||||
ConfirmedLimitSwitchState = limitSwitchState;
|
||||
Serial.printf("Limit switch change detected. New state is %i\n", limitSwitchState);
|
||||
Serial.printf("Limit setting is %i\n", limit_steps);
|
||||
buttonStateChangeDetected = true;
|
||||
}
|
||||
}
|
||||
|
||||
void home_sw_check() // fonction pour la sécurité si une limite est détectée par le bouton poussoir
|
||||
{
|
||||
if (homeSwitchState != ConfirmedHomeSwitchState && (millis() - lastDebounceTime) > debounceDelay)
|
||||
{
|
||||
|
||||
ConfirmedHomeSwitchState = homeSwitchState;
|
||||
Serial.printf("Home switch change detected. New state is %i\n", homeSwitchState);
|
||||
Serial.printf("Home setting is %i\n", home_steps);
|
||||
buttonStateChangeDetected = true;
|
||||
}
|
||||
}
|
||||
-169
@@ -1,169 +0,0 @@
|
||||
|
||||
/*
|
||||
controle de moteur pas à pas selon commande DMX
|
||||
|
||||
code par Clément SAILLANT pour Hémisphère - 2023
|
||||
[email protected]
|
||||
0625334420
|
||||
|
||||
Un canal DMX est utilisé pour la commande de la position du moteur
|
||||
Un autre canal DMX est utilisé pour la commande de la vitesse du moteur
|
||||
Une fonction affine est utilisée pour convertir la valeur DMX en position ou vitesse
|
||||
La position et la vitesse sont stockées dans des variables globales
|
||||
Une fonction est utilisée pour la sécurité si un obstacle est détecté par la perte de pas du moteur
|
||||
|
||||
moteur : 34HS59-6004D-E1000
|
||||
Angle de pas: 1.8 deg
|
||||
Résolution de l'encodeur: 1000PPR(4000CPR)
|
||||
https://www.omc-stepperonline.com/download/34HS59-6004D-E1000_Torque_Curve.pdf
|
||||
https://www.omc-stepperonline.com/download/34HS59-6004D-E1000.pdf
|
||||
|
||||
Controleur CL86T V4.0
|
||||
https://www.omc-stepperonline.com/index.php?route=product/product/get_file&file=389/CL86T%20(V4.0).pdf
|
||||
*/
|
||||
|
||||
#include "PIN_mapping.h" // fichier contenant les variables globales et le mapping des pins
|
||||
bool emergencyStop = false; // variable pour stocker l'état de l'arrêt d'urgence
|
||||
|
||||
#include <Arduino.h>
|
||||
#include <esp_dmx.h>
|
||||
#include <ESP_FlexyStepper.h> // librairie pour le controle des moteurs pas à pas
|
||||
#include <ESP32Encoder.h> // librairie pour le controle des encodeurs
|
||||
|
||||
ESP_FlexyStepper stepper; // création de l'ojet motor
|
||||
ESP32Encoder encoder; // création de l'objet encoder
|
||||
|
||||
#include "limit.h" // fichier contenant les fonctions de limites
|
||||
#include "dmx_data.h" // fichier contenant les fonctions dmx
|
||||
#include "moving.h" // fichier contenant les fonctions de mouvement
|
||||
#include "security.h" // fichier contenant les fonctions de sécurité type emergency stop
|
||||
|
||||
void setup()
|
||||
{
|
||||
// delay(1000);
|
||||
Serial.begin(115200);
|
||||
Serial.println("started");
|
||||
|
||||
dmx_set_pin(dmx_num, tx_pin, rx_pin, rts_pin);
|
||||
dmx_driver_install(dmx_num, DMX_DEFAULT_INTR_FLAGS);
|
||||
|
||||
// configuration encoder pour suivre la position du moteur et la perte de pas
|
||||
encoder.attachHalfQuad(EB_plus, EA_plus);
|
||||
encoder.setCount(0);
|
||||
|
||||
// configuration ENABLE motor
|
||||
pinMode(MOTOR_ENABLE_PIN, OUTPUT);
|
||||
|
||||
// configuration BCD Coder
|
||||
pinMode(q1, INPUT); // thumbwheel '1'
|
||||
pinMode(q2, INPUT); // thumbwheel '2'
|
||||
pinMode(q4, INPUT); // thumbwheel '4'
|
||||
pinMode(q8, INPUT); // thumbwheel '8'
|
||||
|
||||
/*
|
||||
// attach an interrupt to the IO pin of the ermegency stop switch and specify the handler function
|
||||
pinMode(EMERGENCY_STOP_PIN, INPUT_PULLUP);
|
||||
attachInterrupt(digitalPinToInterrupt(EMERGENCY_STOP_PIN), emergencySwitchHandler, RISING);
|
||||
*/
|
||||
|
||||
// lecture des potentiomètres pour définir les offset de pas a ajouter aux positions home et limit
|
||||
limit_steps = map((analogRead(limit_set_pot)), 4095, 0, min_offset, max_offset);
|
||||
home_steps = map((analogRead(home_set_pot)), 4095, 0, min_offset, max_offset);
|
||||
|
||||
// attach an interrupt to the IO pin of the home switch and specify the handler function
|
||||
attachInterrupt(digitalPinToInterrupt(HOME_SWITCH_PIN), homeSwitchHandler, CHANGE);
|
||||
stepper.registerHomeReachedCallback(homeReachedCallback);
|
||||
|
||||
// attach an interrupt to the IO pin of the limit switch and specify the handler function
|
||||
attachInterrupt(digitalPinToInterrupt(LIMIT_SWITCH_PIN), limitSwitchHandler, CHANGE);
|
||||
stepper.registerLimitReachedCallback(limitReachedCallback);
|
||||
|
||||
// connect and configure the stepper motor to its IO pins
|
||||
stepper.connectToPins(MOTOR_STEP_PIN, MOTOR_DIRECTION_PIN);
|
||||
// set the speed and acceleration rates for the stepper motor
|
||||
stepper.setSpeedInStepsPerSecond(SPEED_IN_STEPS_PER_SECOND);
|
||||
stepper.setAccelerationInStepsPerSecondPerSecond(ACCELERATION_IN_STEPS_PER_SECOND);
|
||||
stepper.setDecelerationInStepsPerSecondPerSecond(DECELERATION_IN_STEPS_PER_SECOND);
|
||||
stepper.setStepsPerRevolution(STEP_PER_REV);
|
||||
stepper.registerTargetPositionReachedCallback(targetPositionReachedCallback);
|
||||
|
||||
// start the stepper instance as a service in the "background" as a separate task
|
||||
stepper.startAsService(1); // core 1 sinon bug avec le dmx et déplacement aléatoire du moteur
|
||||
|
||||
init_range(); // set home and limit position of the motor
|
||||
|
||||
DMX_start_channel = readSwitch(); // lecture de la position du codeurs BCD pour définir le canal DMX de départ
|
||||
// DMX_start_channel = 2; // pour test avec adresse fixe
|
||||
pos_channel = DMX_start_channel;
|
||||
speed_channel = DMX_start_channel + 1;
|
||||
|
||||
Serial.println("----------------------------------------");
|
||||
Serial.printf("number of tasks is %i\n", uxTaskGetNumberOfTasks());
|
||||
Serial.printf("home position is %i\n", min_steps);
|
||||
Serial.printf("limit position is %i\n", max_steps);
|
||||
Serial.printf("Limit setting is %i\n", limit_steps);
|
||||
Serial.printf("Home setting is %i\n", home_steps);
|
||||
Serial.printf("DMX start channel is %i\n", DMX_start_channel);
|
||||
Serial.printf("DMX position channel is %i\n", pos_channel);
|
||||
Serial.printf("DMX speed channel is %i\n", speed_channel);
|
||||
Serial.println("----------------------------------------");
|
||||
}
|
||||
|
||||
void loop()
|
||||
{
|
||||
receiveDMX(); // reception des données DMX
|
||||
|
||||
// mise à jour de la vitesse du moteur si la valeur DMX a changée
|
||||
if (dataChanged[speed_array] == true)
|
||||
{
|
||||
dataChanged[speed_array] = false;
|
||||
Serial.printf("dmx speed receive => %ld\n", DMX_data[speed_array]);
|
||||
speed_map(); // fonction pour convertir la valeur DMX en vitesse/acceleration/deceleration
|
||||
}
|
||||
|
||||
// mise à jour de la position du moteur si la valeur DMX a changée
|
||||
// if (dataChanged[pos_array] == true && emergencyStop == false && digitalRead(MOTOR_ENABLE_PIN) == LOW)
|
||||
if (dataChanged[pos_array] == true)
|
||||
{
|
||||
// stepper.setTargetPositionToStop();
|
||||
dataChanged[pos_array] = false;
|
||||
pos_in_step = map(DMX_data[pos_array], 255, 0, min_steps, max_steps);
|
||||
// pos_map(); // fonction pour convertir la valeur DMX en position
|
||||
stepper.setTargetPositionInSteps(pos_in_step);
|
||||
DMX_data_old[pos_array] = DMX_data[pos_array];
|
||||
last_dmx_change_pos = millis();
|
||||
}
|
||||
// gestion de la position du moteur si la valeur DMX n'a pas changée mais que le moteur n'est pas à la position demandée
|
||||
if (millis() - last_dmx_change_pos > 1000)
|
||||
{
|
||||
int codeur_pos = map(encoder.getCount(), min_count, max_count, min_steps, max_steps);
|
||||
if (pos_in_step <= min_steps && ConfirmedHomeSwitchState != switch_active && stepper.getDirectionOfMotion() == 0)
|
||||
{
|
||||
Serial.println("!!!!!!!!!!!!! home not reached");
|
||||
Serial.printf("codeur pos => %i\n", codeur_pos);
|
||||
// stepper.setTargetPositionInSteps(min_steps - codeur_pos); // home_steps
|
||||
int step_add = nb_microstep * 2;
|
||||
stepper.setTargetPositionRelativeInSteps(-step_add);
|
||||
delay(100);
|
||||
}
|
||||
else if (pos_in_step >= max_steps && ConfirmedLimitSwitchState != switch_active && stepper.getDirectionOfMotion() == 0)
|
||||
{
|
||||
Serial.println("!!!!!!!!!!!!! limit not reached");
|
||||
Serial.printf("codeur pos => %i\n", codeur_pos);
|
||||
// stepper.setTargetPositionInSteps(max_steps + (max_steps - codeur_pos)); // limit_steps
|
||||
int step_add = nb_microstep * 2;
|
||||
stepper.setTargetPositionRelativeInSteps(step_add);
|
||||
delay(100);
|
||||
}
|
||||
else if (abs(codeur_pos - pos_in_step) > 100 && stepper.getDirectionOfMotion() == 0)
|
||||
{
|
||||
Serial.println("!!!!!!!!!!!!! Not in position");
|
||||
Serial.printf("codeur pos => %i\n", codeur_pos);
|
||||
Serial.printf("pos in step => %i\n", pos_in_step);
|
||||
stepper.setTargetPositionInSteps(pos_in_step);
|
||||
}
|
||||
}
|
||||
// motor_follower(emergency_stop_loss_step); // fonction pour suivre la position du moteur et la perte de pas
|
||||
emergency_check(); // fonction pour la sécurité si un obstacle est détecté par la perte de pas du moteur
|
||||
limit_check(); // fonction pour la sécurité si un obstacle est détecté par le bouton poussoir
|
||||
}
|
||||
-163
@@ -1,163 +0,0 @@
|
||||
|
||||
#define nb_microstep 8 // nombre de microstep configuré sur le driver moteur
|
||||
#define STEP_PER_REV_MOTOR 200 // nombre de pas par tour du moteur
|
||||
#define CPR_ENCODER 4000 // nombre de pas par tour du codeur optique
|
||||
/*
|
||||
Nb SW1 SW2 SW3 SW4
|
||||
1 200 on on on on
|
||||
4 800 off on on on
|
||||
8 1600 on off on on
|
||||
16 3200 off off on on
|
||||
32 6400 on on off on
|
||||
64 12800 off on off on
|
||||
128 25600 on off off on
|
||||
256 51200 off off off on
|
||||
5 1000 on on on off
|
||||
10 2000 off on on off
|
||||
20 4000 on off on off
|
||||
25 5000 off off on off
|
||||
40 8000 on on off off
|
||||
50 10000 off on off off
|
||||
100 20000 on off off off
|
||||
200 40000 off off off off
|
||||
*/
|
||||
#define SECOND_PER_REV 2 // nombre de seconde pour faire un tour
|
||||
const int STEP_PER_REV = nb_microstep * STEP_PER_REV_MOTOR; // nombre de pas par tour du moteur
|
||||
const int MIN_SPEED = 1; // vitesse minimum du moteur
|
||||
const int MAX_SPEED = ((STEP_PER_REV / 2) / SECOND_PER_REV) * nb_microstep; // vitesse maximum du moteur (1/2 révolution par SECOND_PER_REV seconde)
|
||||
//const int MAX_SPEED = ((STEP_PER_REV / 2) / SECOND_PER_REV) * nb_microstep; // vitesse maximum du moteur (1/2 révolution par SECOND_PER_REV seconde)
|
||||
|
||||
const int SPEED_IN_STEPS_PER_SECOND = STEP_PER_REV; // vitesse initiale de déplacement du moteur = 1/2 de la vitesse maximum
|
||||
const int ACCELERATION_IN_STEPS_PER_SECOND = nb_microstep * 2; // accélération initiale du moteur
|
||||
const int DECELERATION_IN_STEPS_PER_SECOND = nb_microstep; // décélération initiale du moteur
|
||||
int ACC_DEC_REMOVE_STEP = ACCELERATION_IN_STEPS_PER_SECOND + DECELERATION_IN_STEPS_PER_SECOND; // nombre de pas à enlever à la position pour l'accélération et la décélération ?
|
||||
int min_steps = 0; // position de départ du moteur
|
||||
int max_steps = STEP_PER_REV / 2; // position de fin du moteur (1600 en 16 microstep) (400 en 1 microstep)
|
||||
int pos_in_step = max_steps / 2; // position du moteur en pas pour le mappage de la position
|
||||
|
||||
int min_count = 0; // valeur minimum du compteur du codeur optique
|
||||
int max_count = CPR_ENCODER / 4; // valeur maximum du compteur du codeur optique avec uniquement les fronts montants du codeur
|
||||
const int min_offset = 0; // min offset pour le potentiomètre de réglage de la position min/max
|
||||
const int max_offset = nb_microstep * 5; // max offset pour le potentiomètre de réglage de la position min/max
|
||||
|
||||
volatile unsigned long last_dmx_change_pos;
|
||||
|
||||
volatile int speed_in_accel = MAX_SPEED / 10; // variable pour la vitesse d'acceleration
|
||||
volatile int speed_in_decel = DECELERATION_IN_STEPS_PER_SECOND; // variable pour la vitesse de deceleration
|
||||
|
||||
// fonction
|
||||
void targetPositionReachedCallback(long position); // callback function as the target position is reached
|
||||
void speed_map(); // fonction de mapping de la vitesse du moteur avec accélération et décélération
|
||||
void pos_map(); // fonction de mapping de la position du moteur
|
||||
void set_min(); // fonction pour position minimum de la plage de déplacement du moteur
|
||||
void set_max(); // fonction pour position maximum de la plage de déplacement du moteurF
|
||||
void init_range(); // fonction d'initialisation de la plage de déplacement du moteur
|
||||
|
||||
void targetPositionReachedCallback(long position) // callback function as the target position is reached
|
||||
{
|
||||
Serial.printf("Stepper reached target position %ld\n", position);
|
||||
Serial.printf("Encoder map count is %ld\n", map(encoder.getCount(), min_count, max_count, min_steps, max_steps));
|
||||
Serial.printf("Encoder count is %ld\n", encoder.getCount());
|
||||
}
|
||||
|
||||
void speed_map() // fonction de mapping de la vitesse du moteur avec accélération et décélération
|
||||
{
|
||||
int speed_in_step = map(DMX_data[speed_array], 0, 255, MIN_SPEED, MAX_SPEED);
|
||||
stepper.setSpeedInStepsPerSecond(speed_in_step);
|
||||
}
|
||||
|
||||
void pos_map() // fonction de mapping de la position du moteur
|
||||
{
|
||||
int pos_in_step = map(DMX_data[pos_array], 255, 0, min_steps, max_steps);
|
||||
//int pos_in_step = map(DMX_data[pos_array], 0, 255, min_steps - home_steps, max_steps + limit_steps); // fait dans la fonction limit_check
|
||||
stepper.setTargetPositionInSteps(pos_in_step);
|
||||
Serial.printf("dmx pos to step => %ld\n", pos_in_step);
|
||||
}
|
||||
|
||||
void set_min() // fonction pour position minimum de la plage de déplacement du moteur
|
||||
{
|
||||
home_steps = map((analogRead(home_set_pot)), 4095, 0, min_offset, max_offset);
|
||||
stepper.setCurrentPositionAsHomeAndStop(); // set the current position as the home position and stop the stepper
|
||||
// min_steps = stepper.getCurrentPositionInSteps() - home_steps; // position min du moteur en pas
|
||||
min_steps = stepper.getCurrentPositionInSteps();
|
||||
encoder.setCount(0); // remise à zéro de l'encodeur
|
||||
min_count = encoder.getCount(); // valeur minimum du compteur du codeur en position min
|
||||
}
|
||||
|
||||
void set_max() // fonction pour position maximum de la plage de déplacement du moteur
|
||||
{
|
||||
limit_steps = map((analogRead(limit_set_pot)), 4095, 0, min_offset, max_offset);
|
||||
// max_steps = stepper.getCurrentPositionInSteps() + limit_steps; // position max du moteur en pas
|
||||
max_steps = stepper.getCurrentPositionInSteps();
|
||||
max_count = encoder.getCount(); // valeur maximum du compteur du codeur en position max
|
||||
}
|
||||
|
||||
void init_range() // fonction d'initialisation de la plage de déplacement du moteur
|
||||
{
|
||||
int direction = -1;
|
||||
bool limit_OK = false;
|
||||
int position_init = max_steps / 2;
|
||||
Serial.println("starting homing");
|
||||
digitalWrite(MOTOR_ENABLE_PIN, LOW); // enable motor
|
||||
stepper.setDirectionToHome(direction);
|
||||
if (digitalRead(HOME_SWITCH_PIN) == switch_active) // si position est déjà à home
|
||||
{
|
||||
Serial.println("already in home position");
|
||||
stepper.setCurrentPositionAsHomeAndStop(); // set the current position as the home position and stop the stepper
|
||||
stepper.setTargetPositionInSteps(position_init);
|
||||
delay(2000);
|
||||
}
|
||||
stepper.goToLimitAndSetAsHome(); // go to the limit switch and set the current position as the home position
|
||||
|
||||
while (!limit_OK)
|
||||
{
|
||||
home_sw_check();
|
||||
if (ConfirmedHomeSwitchState == switch_active)
|
||||
{
|
||||
stepper.setLimitSwitchActive(stepper.LIMIT_SWITCH_BEGIN); // this will cause to stop any motion that is currently going on and block further movement in the same direction as long as the switch is active
|
||||
stepper.setTargetPositionToStop();
|
||||
limit_OK = true;
|
||||
}
|
||||
else
|
||||
{
|
||||
stepper.clearLimitSwitchActive(); // clear the limit switch flag to allow movement in both directions again
|
||||
}
|
||||
}
|
||||
set_min();
|
||||
Serial.println("home OK");
|
||||
stepper.clearLimitSwitchActive(); // clear the limit switch flag to allow movement in both directions again
|
||||
limit_OK = false;
|
||||
Serial.println("waiting for limit switch");
|
||||
stepper.setTargetPositionInSteps(position_init); // set the target position to the middle of the range
|
||||
while (!limit_OK)
|
||||
{
|
||||
limit_sw_check();
|
||||
if (ConfirmedLimitSwitchState == switch_active)
|
||||
{
|
||||
stepper.setLimitSwitchActive(stepper.LIMIT_SWITCH_END); // this will cause to stop any motion that is currently going on and block further movement in the same direction as long as the switch is active
|
||||
stepper.setTargetPositionToStop();
|
||||
limit_OK = true;
|
||||
}
|
||||
else
|
||||
{
|
||||
stepper.clearLimitSwitchActive(); // clear the limit switch flag to allow movement in both directions again
|
||||
if (stepper.getCurrentPositionInSteps() < (max_steps - (max_steps / 4)))
|
||||
{
|
||||
position_init = stepper.getCurrentPositionInSteps() + (max_steps / 8);
|
||||
}
|
||||
else
|
||||
{
|
||||
position_init = stepper.getCurrentPositionInSteps() + nb_microstep;
|
||||
}
|
||||
stepper.setTargetPositionInSteps(position_init);
|
||||
}
|
||||
}
|
||||
Serial.println("limit init OK");
|
||||
stepper.setTargetPositionToStop();
|
||||
position_init = max_steps / 2;
|
||||
stepper.clearLimitSwitchActive(); // clear the limit switch flag to allow movement in both directions again
|
||||
set_max();
|
||||
stepper.setTargetPositionInSteps(position_init); // set the target position to the middle of the range
|
||||
delay(500);
|
||||
buttonStateChangeDetected = false; // remise à zéro du flag de changement d'état des switchs
|
||||
}
|
||||
@@ -1,8 +0,0 @@
|
||||
https://github.com/arttupii/CLSMB Closed loop step motor controller
|
||||
|
||||
https://www.switchdoc.com/2018/04/esp32-tutorial-debouncing-a-button-press-using-interrupts/
|
||||
avec vtask pour plus d'efficacité
|
||||
|
||||
voir pour mieur gérer le homming avec les fonctions explicité dans la lib felxystepper
|
||||
|
||||
rajouter plus de délai à la lecture dmx pour mieux éviter les problème de chanement de valeurs trop rapide
|
||||
-167
@@ -1,167 +0,0 @@
|
||||
|
||||
#define emergency_stop_bounce_time 1000 // time in ms to wait before disabling the motor in emergency when step as been lost
|
||||
#define emergency_release_time 2000 // time in ms to wait before releasing the emergency stop
|
||||
#define emergency_stop_loss_step 5 // number of step to wait before disabling the motor in emergency when step as been lost
|
||||
unsigned long emercency_stop_timer; // temps en ms depuis lequel le moteur est en arrêt d'urgence
|
||||
unsigned long lastStepTime; // variable pour stocker le temps de la dernière mise à jour des données encoder
|
||||
long old_count; // variable des précedentes données de l'encoder
|
||||
long newPosition; // variable des données de l'encoder
|
||||
|
||||
// fonction :
|
||||
void motor_follower(int loss_step); // fonction pour suivre la position du moteur et la perte de pas
|
||||
void emergency_check(); // fonction pour la sécurité si un obstacle est détecté par la perte de pas du moteur
|
||||
void limit_check(); // fonction pour la sécurité si une limite est détectée par le bouton poussoir
|
||||
|
||||
/*
|
||||
void IRAM_ATTR emergencySwitchHandler() // interrupt handler for the emergency stop switch
|
||||
{
|
||||
|
||||
// we do not realy need to debounce here, since we only want to trigger a stop, no matter what.
|
||||
// So even triggering mutliple times does not realy matter at the end
|
||||
if (digitalRead(EMERGENCY_STOP_PIN) == LOW) // Switch is configured in active low configuration
|
||||
{
|
||||
// the boolean true in the following command tells the stepper to hold the emergency stop until reaseEmergencyStop() is called explicitly.
|
||||
// If ommitted or "false" is given, the function call would only stop the current motion and then instanlty would allow for new motion commands to be accepted
|
||||
stepper.emergencyStop(true);
|
||||
}
|
||||
else
|
||||
{
|
||||
// release a previously enganed emergency stop when the emergency stop button is released
|
||||
stepper.releaseEmergencyStop();
|
||||
}
|
||||
|
||||
}
|
||||
*/
|
||||
|
||||
void motor_follower(int loss_step) // fonction pour suivre la position du moteur et la perte de pas
|
||||
{
|
||||
// Quand le moteur est en mouvement, on vérifie si la position a changé de plus de 5 pas
|
||||
// mise à jour de la position de l'encodeur
|
||||
newPosition = encoder.getCount();
|
||||
if (stepper.getDirectionOfMotion() != 0)
|
||||
{
|
||||
if (newPosition > old_count || newPosition < old_count)
|
||||
{
|
||||
lastStepTime = millis();
|
||||
emergencyStop = false;
|
||||
}
|
||||
if (newPosition >= old_count + loss_step || newPosition <= old_count - loss_step)
|
||||
{
|
||||
old_count = newPosition;
|
||||
}
|
||||
else if (millis() - lastStepTime > emergency_stop_bounce_time / (DMX_data[speed_array] + 1) && emergencyStop == false)
|
||||
{
|
||||
Serial.println("!!!!!!!!!!!!!!!!!!!!!!!!!!!!! emergency stop");
|
||||
stepper.setTargetPositionToStop();
|
||||
emercency_stop_timer = millis();
|
||||
emergencyStop = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void emergency_check() // fonction pour la sécurité si un obstacle est détecté par la perte de pas du moteur
|
||||
{
|
||||
if (emergencyStop)
|
||||
{
|
||||
Serial.printf("emergency stop timer : %i\n", millis() - emercency_stop_timer);
|
||||
if (millis() - emercency_stop_timer > emergency_release_time && emergencyStop == true)
|
||||
{
|
||||
digitalWrite(MOTOR_ENABLE_PIN, LOW); // enable motor
|
||||
Serial.println("======================> emergency stop released");
|
||||
lastStepTime = millis();
|
||||
emergencyStop = false;
|
||||
last_dmx_change_pos = millis();
|
||||
// stepper.setTargetPositionInSteps(pos_in_step);
|
||||
}
|
||||
else if (digitalRead(MOTOR_ENABLE_PIN) == LOW && emergencyStop == true)
|
||||
{
|
||||
Serial.println("======================> emergency stop engaged");
|
||||
digitalWrite(MOTOR_ENABLE_PIN, HIGH); // disable and free motor
|
||||
}
|
||||
}
|
||||
else if (digitalRead(MOTOR_ENABLE_PIN) == HIGH && emergencyStop == false)
|
||||
{
|
||||
digitalWrite(MOTOR_ENABLE_PIN, LOW); // enable motor
|
||||
Serial.println("======================> emergency HARD stop released");
|
||||
lastStepTime = millis();
|
||||
// last_dmx_change_pos = millis();
|
||||
// stepper.setTargetPositionInSteps(pos_in_step);
|
||||
}
|
||||
}
|
||||
|
||||
void limit_check() // fonction pour la sécurité si une limite est détectée par le bouton poussoir
|
||||
{
|
||||
const int limit_step_lost = nb_microstep; // nombre de pas à perdre avant de déclencher l'arrêt d'urgence en cas de détection de limite
|
||||
limit_sw_check(); // check limit switch
|
||||
home_sw_check(); // check home switch
|
||||
|
||||
// si aucun bouton n'est appuyé
|
||||
if (ConfirmedHomeSwitchState != switch_active && ConfirmedLimitSwitchState != switch_active && buttonStateChangeDetected == true)
|
||||
{
|
||||
buttonStateChangeDetected = false;
|
||||
stepper.clearLimitSwitchActive(); // clear the limit switch flag to allow movement in both directions again
|
||||
return;
|
||||
}
|
||||
|
||||
// si les deux boutons sont appuyés il y a un problème
|
||||
if (ConfirmedHomeSwitchState == switch_active && ConfirmedLimitSwitchState == switch_active)
|
||||
{
|
||||
Serial.println("!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! ERROOOOORRRRRREEE !!!!!!!!");
|
||||
stepper.emergencyStop(true);
|
||||
emergencyStop = true;
|
||||
}
|
||||
|
||||
// si le bouton de début de course est appuyé
|
||||
if (ConfirmedHomeSwitchState == switch_active)
|
||||
{
|
||||
home_steps = map((analogRead(home_set_pot)), 4095, 0, min_offset, max_offset); // mise à jour de la valeur de l'offset de la position de départ
|
||||
// motor_follower(limit_step_lost);
|
||||
if (emergencyStop)
|
||||
{
|
||||
stepper.setLimitSwitchActive(stepper.LIMIT_SWITCH_BEGIN); // this will cause to stop any motion that is currently going on and block further movement in the same direction as long as the switch is agtive
|
||||
stepper.setCurrentPositionAsHomeAndStop();
|
||||
}
|
||||
// si le bouton vient d'être appuyé on va à la position de départ selon la config d'offset par le potentiomètre
|
||||
else if (buttonStateChangeDetected == true)
|
||||
{
|
||||
Serial.printf("===========> Home <===========\n");
|
||||
buttonStateChangeDetected = false;
|
||||
home_steps = map((analogRead(home_set_pot)), 4095, 0, min_offset, max_offset);
|
||||
// set_min(); // on enregistre la position actuelle comme position de départ
|
||||
min_count = encoder.getCount(); // valeur minimum du compteur du codeur en position min
|
||||
stepper.setCurrentPositionAsHomeAndStop(); // set the current position as the home position and stop the stepper
|
||||
stepper.setCurrentPositionInSteps(min_steps); // mise à jour de la position pour compenser un décalage éventuel
|
||||
stepper.setTargetPositionInSteps(min_steps - home_steps); // on va à la position de départ selon la config d'offset par le potentiomètre
|
||||
Serial.printf("go to Home set : %i\n", min_steps - home_steps);
|
||||
Serial.printf("min_steps : %i\n", min_steps);
|
||||
Serial.printf("add config step : %i\n", home_steps);
|
||||
Serial.printf("pos_in_step : %i\n", pos_in_step);
|
||||
}
|
||||
}
|
||||
|
||||
// si le bouton de fin de course est appuyé
|
||||
if (ConfirmedLimitSwitchState == switch_active)
|
||||
{
|
||||
limit_steps = map((analogRead(limit_set_pot)), 4095, 0, min_offset, max_offset); // mise à jour de la valeur de l'offset de la position de fin
|
||||
// motor_follower(limit_step_lost);
|
||||
if (emergencyStop)
|
||||
{
|
||||
stepper.setLimitSwitchActive(stepper.LIMIT_SWITCH_END); // this will cause to stop any motion that is currently going on and block further movement in the same direction as long as the switch is agtive
|
||||
}
|
||||
// si le bouton vient d'être appuyé on va à la position de fin selon la config d'offset par le potentiomètre
|
||||
else if (buttonStateChangeDetected == true)
|
||||
{
|
||||
Serial.printf("===========> Limit <===========\n");
|
||||
buttonStateChangeDetected = false;
|
||||
limit_steps = map((analogRead(limit_set_pot)), 4095, 0, min_offset, max_offset);
|
||||
// set_max(); // on enregistre la position actuelle comme position de fin
|
||||
max_count = encoder.getCount(); // valeur maximum du compteur du codeur en position max
|
||||
stepper.setCurrentPositionInSteps(max_steps); // mise à jour de la position pour compenser un décalage éventuel
|
||||
stepper.setTargetPositionInSteps(max_steps); // mise à jour de la position pour compenser un décalage éventuel
|
||||
stepper.setTargetPositionInSteps(max_steps + limit_steps); // on va à la position de fin selon la config d'offset par le potentiomètre
|
||||
Serial.printf("go to Limit set : %i\n", max_steps + limit_steps);
|
||||
Serial.printf("max_steps : %i\n", max_steps);
|
||||
Serial.printf("add config step : %i\n", limit_steps);
|
||||
}
|
||||
}
|
||||
}
|
||||
-11
@@ -1,11 +0,0 @@
|
||||
|
||||
This directory is intended for PlatformIO Test Runner and project tests.
|
||||
|
||||
Unit Testing is a software testing method by which individual units of
|
||||
source code, sets of one or more MCU program modules together with associated
|
||||
control data, usage procedures, and operating procedures, are tested to
|
||||
determine whether they are fit for use. Unit testing finds problems early
|
||||
in the development cycle.
|
||||
|
||||
More information about PlatformIO Unit Testing:
|
||||
- https://docs.platformio.org/en/latest/advanced/unit-testing/index.html
|
||||
Reference in New Issue
Block a user