Rajout des programme de commande des treuils (Processing) et ceux du fonctionnement des treuils (Arduino)

2 files changed, 343 insertions, 0 deletions

diff --git a/Position/Position.pde b/Position/Position.pde
new file mode 100644
index 0000000..38967d7
--- /dev/null
+++ b/Position/Position.pde
@@ -0,0 +1,203 @@
+// longeur/largeur du tableau. changer a votre convenance ;)
+int Lx=900; //default: 900
+int Ly=600; //default: 600
+
+import processing.serial.*;
+
+Serial monPortamoi;
+Serial monPortamoi2;
+Serial monPortamoi3;
+Serial monPortamoi4;
+
+int x;
+int y;
+int clicX;
+int clicY;
+
+int coeff=10; // <1 multiplie, >1 divise, 1 inchangé.
+
+float l1=0;
+float l2;
+float l3;
+float l4;
+
+
+float savel1=540;
+float savel2=540;
+float savel3=540;
+float savel4=540;
+
+float calcull1;
+float calcull3;
+
+void setup()
+{
+  size(Lx+500,Ly); //taille du tableau. a definir plus haut
+  println(Serial.list());
+  String arduinoPort = Serial.list()[1];
+  //String arduinoPort2 = Serial.list()[0];
+  String arduinoPort3 = Serial.list()[0];
+  //String arduinoPort4 = Serial.list()[1];
+  monPortamoi = new Serial(this, arduinoPort, 9600);
+  //monPortamoi2 = new Serial(this, arduinoPort2, 9600);
+  monPortamoi3 = new Serial(this, arduinoPort3, 9600);
+  //monPortamoi4 = new Serial(this, arduinoPort4, 9600);
+}
+
+
+
+
+void draw()
+{
+  background(0); //fond noir
+  fill(0,0,0); //remplir en noir
+  stroke(0,200,200); //contour bleu
+  rect(Lx,0,200,Ly); //boite
+  rect(Lx,0,200,180); //boite
+  //ellipse(x, height-y, 10,10);
+  ellipse(x, mouseY, 10,10);
+  
+  x=mouseX; //x=position x de la souris
+  y=height-mouseY; // y=hauteur-position y de la souris
+  x=constrain(x,0,Lx); //contrainte de la souris. pour pas qu'elle ne se ballade dans les stats
+  //traçage des lignes l1 l2 l3 l4
+  line(0,0,x,height-y);
+  line(Lx,Ly,x,height-y);
+  line(Lx,0,x,height-y);
+  line(0,Ly,x,height-y);
+  
+  
+  
+  
+  
+texte();  
+}
+
+void mouseClicked ()
+{
+  if( mouseX<Lx) // la souris est à gauche du bandeau
+    {
+      calculLongeurs();
+      calculDeplacement();
+      
+      savel1=l1;
+      savel2=l2;
+      savel3=l3;
+      savel4=l4;
+      
+      clicX=x;
+      clicY=y;
+      
+      envoiMessageXbee();
+    }
+}  
+
+void texte()
+{
+  fill(255,255,255);
+  //affichage X et Y
+  text("X= "+x, Lx+40,50);
+  text("Y= "+y, Lx+120,50);
+  //affichage 
+  text("L1= "+nf(l1,3,2), Lx+40,130);
+  text("L2= "+nf(l2,3,2), Lx+40,140);
+  text("L3= "+nf(l3,3,2), Lx+40,150);
+  text("L4= "+nf(l4,3,2), Lx+40,160);
+  
+  //affichage du nom des cables a proximité de ceux ci
+  text("L2", x-100, height-y-100);
+  text("L4", x+100, height-y+100);
+  text("L3", x+100, height-y-100);
+  text("L1", x-100, height-y+100);
+}
+
+void calculLongeurs()
+{
+  l1=sqrt( sq(x) + sq(y) );
+  l2=sqrt( sq(x) + sq(Ly-y) );
+  l3=sqrt( sq(Lx-x) + sq(Ly-y) );
+  l4=sqrt( sq(Lx-x) + sq(y) );
+}
+
+void calculDeplacement()
+{
+  println(coeff);
+  calcull1=(l1-savel1)/coeff;
+  print("l1= ");
+  println(calcull1);
+  calcull3=(l3-savel3)/coeff;
+  print("l3= ");
+  println(calcull3);
+}
+
+
+
+
+void envoiMessageXbee()
+{
+  /*******************MESSAGE TREUIL1*******************************/
+  if (calcull1>0)
+  {
+   monPortamoi.write("cmdH"+int(calcull1)+"\r");
+    print("envoi message : ");
+    println("cmdH"+int(calcull1));
+    
+
+  }
+  if (calcull1<0)
+  {
+    monPortamoi.write("cmdT"+int(abs(calcull1))+"\r");
+    print("envoi message : ");
+    println("cmdT"+int(abs(calcull1)));
+    
+  }
+  /*******************MESSAGE TREUIL2******************************* /
+  if (calcull2>0)
+  {
+    monPortamoi2.write("cmdH"+int(calcull2)+"\r");
+    print("envoi message : ");
+    println("cmdH"+int(calcull2));
+    
+
+  }
+  if (calcull2<0)
+  {
+    monPortamoi2.write("cmdT"+int(abs(calcull2))+"\r");
+    print("envoi message : ");
+    println("cmdT"+int(abs(calcull2)));
+    
+  }
+  /*******************MESSAGE TREUIL3*******************************/
+ if (calcull3>0)
+  {
+    monPortamoi3.write("cmdH"+int(calcull3)+"\r");
+    print("envoi message : ");
+    println("cmdH"+int(calcull3));
+    
+
+  }
+  if (calcull3<0)
+  {
+    monPortamoi3.write("cmdT"+int(abs(calcull3))+"\r");
+    print("envoi message : ");
+    println("cmdT"+int(abs(calcull3)));
+    
+  }
+  /*******************MESSAGE TREUIL4******************************* /
+  if (calcull4>0)
+  {
+    monPortamoi4.write("cmdH"+int(calcull4)+"\r");
+    print("envoi message : ");
+    println("cmdH"+int(calcull4));
+    
+
+  }
+  if (calcull4<0)
+  {
+    monPortamoi4.write("cmdT"+int(abs(calcull4))+"\r");
+    print("envoi message : ");
+    println("cmdT"+int(abs(calcull4)));
+    
+  }*/
+}
+

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);
+}
+
+
+
+