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authorNeodarZ <neodarz@neodarz-K53SV.com>2015-04-29 23:20:14 +0200
committerNeodarZ <neodarz@neodarz-K53SV.com>2015-04-29 23:20:14 +0200
commit9222bfc8a944a616996e404cb3dfbd29532bd56a (patch)
tree9c35225ee94a56fc7cb35cf1b1d2922b7b2f38a4 /pilotage_moteur_v2/pilotage_moteur_v2.ino
parent3c0afb53872c09e8cb2c1e5afb6d6a5184aab0fe (diff)
downloadRobot-Cable-9222bfc8a944a616996e404cb3dfbd29532bd56a.zip
Robot-Cable-9222bfc8a944a616996e404cb3dfbd29532bd56a.tar.xz
Rajout des programme de commande des treuils (Processing) et ceux du fonctionnement des treuils (Arduino)
Diffstat (limited to 'pilotage_moteur_v2/pilotage_moteur_v2.ino')
-rw-r--r--pilotage_moteur_v2/pilotage_moteur_v2.ino140
1 files changed, 140 insertions, 0 deletions
diff --git a/pilotage_moteur_v2/pilotage_moteur_v2.ino b/pilotage_moteur_v2/pilotage_moteur_v2.ino
new file mode 100644
index 0000000..2910422
--- /dev/null
+++ b/pilotage_moteur_v2/pilotage_moteur_v2.ino
@@ -0,0 +1,140 @@
+
+
+String chaine_nbr = ""; // valeur numérique
+String chaine_cmd = ""; // valeur commande
+
+int delaylegnth = 4; //durée du delai.
+
+void setup()
+{
+ //establish motor direction toggle pins
+ pinMode(12, OUTPUT); //CH A -- HIGH = forwards and LOW = backwards???
+ pinMode(13, OUTPUT); //CH B -- HIGH = forwards and LOW = backwards???
+
+ //establish motor brake pins //etablir les pin du frein du moteur
+ pinMode(9, OUTPUT); //brake (disable) CH A
+ pinMode(8, OUTPUT); //brake (disable) CH B
+
+ Serial.begin(9600);
+}
+
+void loop()
+{
+ while (Serial.available() > 0) // si buffer liaison serie non vide // quand on reçoit data
+ {
+ int inChar = Serial.read(); //lecture des octets rentrants
+ if (isDigit(inChar))
+ {
+ // convert the incoming byte to a char and add it to the string: //convertir les octets rentrant en nombre et les ajoute a la chaine de charactere.
+ chaine_nbr += (char)inChar;
+ }
+ //if (!isDigit(inChar)&&(inChar != 0x0D)&&(inChar != 0x0A)) // si octet PAS nbr ET octet PAS 0x0D (cr) ET octet PAS 0x0A (nl)
+ if (!isDigit(inChar)&&(inChar != 0x0D)&&(inChar != 0x0A))
+ {
+ chaine_cmd += (char)inChar; // valeur commande
+ }
+ // if you get a newline, print the string,
+ // then the string's value:
+ if (inChar == '\r')
+ {
+ Serial.print("Nom commande : ");
+ Serial.print(chaine_cmd);
+ Serial.print(" Valeur nombre : ");
+ Serial.println(chaine_nbr.toInt()); // valeur après conversion en entier
+
+
+ if (chaine_cmd=="cmdH") //commande pour avancer
+ {
+ for (int cpt=0; cpt<chaine_nbr.toInt(); cpt++)
+ {
+ actionA(); //effectuer A
+ Serial.println("actionA 4pas");
+ }
+ }
+ if (chaine_cmd=="cmdT") //commande pour reculer
+ {
+ for (int cpt=0; cpt<chaine_nbr.toInt(); cpt++)
+ {
+ actionB(); //effectuer B
+ Serial.println("actionB 4pas");
+ }
+ }
+
+ // effacement des chaines nbr et cmd
+ chaine_nbr = "";
+ chaine_cmd = "";
+ } // fin si fin de ligne
+
+ } // fin while
+} // fin loop
+
+
+/////////////////////////////////
+
+void actionA()
+{
+ digitalWrite(9, LOW); //ENABLE CH A
+ digitalWrite(8, HIGH); //DISABLE CH B
+ digitalWrite(12, HIGH); //Sets direction of CH A
+ analogWrite(3, 128); //Moves CH A /Entre 0 et 255
+
+ delay(delaylegnth);
+
+ digitalWrite(9, HIGH); //DISABLE CH A
+ digitalWrite(8, LOW); //ENABLE CH B
+ digitalWrite(13, LOW); //Sets direction of CH B
+ analogWrite(11, 128); //Moves CH B /Entre 0 et 255
+
+ delay(delaylegnth);
+
+ digitalWrite(9, LOW); //ENABLE CH A
+ digitalWrite(8, HIGH); //DISABLE CH B
+ digitalWrite(12, LOW); //Sets direction of CH A
+ analogWrite(3, 128); //Moves CH A /Entre 0 et 255
+
+ delay(delaylegnth);
+
+ digitalWrite(9, HIGH); //DISABLE CH A
+ digitalWrite(8, LOW); //ENABLE CH B
+ digitalWrite(13, HIGH); //Sets direction of CH B
+ analogWrite(11, 128); //Moves CH B /Entre 0 et 255
+
+ delay(delaylegnth);
+}
+
+void actionB()
+{
+
+
+ digitalWrite(9, LOW); //ENABLE CH A
+ digitalWrite(8, HIGH); //DISABLE CH B
+ digitalWrite(12, LOW); //Sets direction of CH A
+ analogWrite(3, 128); //Moves CH A /Entre 0 et 255
+
+ delay(delaylegnth);
+
+ digitalWrite(9, HIGH); //DISABLE CH A
+ digitalWrite(8, LOW); //ENABLE CH B
+ digitalWrite(13, LOW); //Sets direction of CH B
+ analogWrite(11, 128); //Moves CH B /Entre 0 et 255
+
+ delay(delaylegnth);
+
+ digitalWrite(9, LOW); //ENABLE CH A
+ digitalWrite(8, HIGH); //DISABLE CH B
+ digitalWrite(12, HIGH); //Sets direction of CH A
+ analogWrite(3, 128); //Moves CH A /Entre 0 et 255
+
+ delay(delaylegnth);
+
+ digitalWrite(9, HIGH); //DISABLE CH A
+ digitalWrite(8, LOW); //ENABLE CH B
+ digitalWrite(13, HIGH); //Sets direction of CH B
+ analogWrite(11, 128); //Moves CH B /coefficient Entre 0 et 255 de le tension envoyée.
+
+ delay(delaylegnth);
+}
+
+
+
+