Mise au propre du code YATA

Moteur DC/ServoStrap/ServoStrapPortManipulationLD293D_1_2/ServoStrapPortManipulationLD293D_1_2.ino

@@ -1,30 +1,14 @@
 #include <digitalWriteFast.h>
-//this is to use DWF library, it will increase the speed of digitalRead/Write command
+
-//used in the interrupt function doEncoderMotor0, but may be used everywhere.
 /*
+Fortement inspiré du projet :
 https://github.com/danithebest91/ServoStrap
- i have made this code for the LMD18245 motor controller, 
-  i have merged the pid code of  Josh Kopel 
-    whith the code of makerbot servo-controller board,
-  you can use this code on the some board changing some values.
-  Daniele Poddighe
-   external ardware require a quadrature encoder, timing slit strip and a dc motor,
-   all you can find inside an old printer, i have took it from canon and hp printers(psc1510)
-   
-   for motor controll you can choose different type of H-bridge, i have used LMD18245,
-   you can order 3 of it on ti.com sample request, the hardware needed is explained on the datasheet but i'm drowing
-   the schematic and PCB layout on eagle.
-   
-   
-   read a rotary encoder with interrupts
-   Encoder hooked up with common to GROUND,
-   encoder0PinA to pin 2, encoder0PinB to pin 4 (or pin 3 see below)
-   it doesn't matter which encoder pin you use for A or B 
    
    is possible to change PID costants by sending on serial interfaces the values separated by ',' in this order: KP,KD,KI
    example: 5.2,3.1,0 so we have  KP=5.2 KD=3.1 KI=0 is only for testing purposes, but i will leave this function with eeprom storage
    
-   This code use Port manipulation :
+   Utilisation de la librairies digitalWriteFast qui permet d'utiliser la manipulation de port pour accélérer les lectures écritures de certaine entree/sortie :
+   
    Port registers allow for lower-level and faster manipulation of the i/o pins of the microcontroller on an Arduino board. The chips used on the Arduino board
    (the ATmega8 and ATmega168) have three ports: 
     B (digital pin 8 to 13)
@@ -32,34 +16,46 @@ https://github.com/danithebest91/ServoStrap
     D (digital pins 0 to 7)
    https://www.arduino.cc/en/Reference/PortManipulation
    
+   Petit rappel sur la puce arduino :
    https://www.arduino.cc/en/Hacking/PinMapping
    https://www.arduino.cc/en/Hacking/PinMapping168
 */ 
 
-#define encoder0PinA  2 // PD2 (INT0) You can't modify port mapping here because this code use Port manipulation (I2)
+// --------------- INPUT ---------------------------------------------------
+
+// Les ports de l'encoder sont 2 pour bénéficier de l'interuption sur A et 8 pour utiliser le PortManipulation. Attention sur le port manipulation à ne pas utiliser les pin 9 à 13 !
+#define encoder0PinA  2 // PD2 (INT0)
 #define encoder0PinB  8  // PB0; (I8)
 
+// Utilisation de 5 et 6 pour la commande moteur via le driver L293D. Le enable est connecté au vcc et le pwm est envoyé directement dans les input.
 #define MotorIN1     5 //(I5) IN1
 #define MotorIN2     6 //(I6) IN2
 
-//from ramps 1.4 stepper driver
+// Recuperation des step de la carte avec interuption sur le port 3 et PortManipulation sur le port A0. Attention sur le port manipulation à ne pas utiliser les pin A1 à A5 !
 #define STEP_PIN              3  //PD3 (INT1) (I3)
 #define DIR_PIN               14 //PC0; (A0)
+
+// Récupération du fin de course x_min pour l'initialisation du moteur
 #define X_MIN               4 //(4)
 
+// ------------------------------------------------------------------------
+
+// ------------- CONSTANTE DU PID -------------
+
+float KP = 5 ; //Porportionnel
+float KI = 0.1; // Intergrale
+float KD = 2.0; // derive
+
+// ------------- CONSTANTE DU PID -------------
+
+// Initialisation de la position encoder. Attention celle-ci est incrémenté via un CHANGE sur l'interuption 0. Le nombre de pas de la roue codeuse est donc double !
 volatile long encoder0Pos = 0;
 
 long target = 0;
 long target1 = 0;
-int StartRoutine=0;
-//correction = Kp * error + Kd * (error - prevError) + kI * (sum of errors)
-//PID controller constants
-float KP = 5 ; //position multiplier (gain) 2.25
-float KI = 0.1; // Intergral multiplier (gain) .25
-float KD = 2.0; // derivative multiplier (gain) 1.0
-
 int lastError = 0;
 int sumError = 0;
+int StartRoutine=0;
 
 //Integral term min/max (random value and not yet tested/verified)
 int iMax = 100;
@@ -84,12 +80,16 @@ void setup() {
    pinModeFast(MotorIN1, OUTPUT); 
   pinModeFast(MotorIN2, OUTPUT); 
   
-  //ramps 1.4 motor control
+// Initailisation recuperation commande carte
     pinModeFast(STEP_PIN, INPUT);
     pinModeFast(DIR_PIN, INPUT);
 
+// INTERUPTION
+	
   attachInterrupt(0, doEncoderMotor0, CHANGE);  // encoder pin on interrupt 0 - pin 2
   attachInterrupt(1, countStep, RISING);  //on pin 3
+
+// INTERUPTION
   
   Serial.begin (115200);
   Serial.println("start");                // a personal quirk
@@ -125,7 +125,8 @@ void loop(){
 }
 
 void Fstart(){
-
+//Fonction start joue une seul fois
+// Devellopement de l'autotune en cours a intergrer au demarrage du moteur ainsi que le homing
     if (StartRoutine == 0)
     {
       	  digitalWrite ( MotorIN1 , LOW );