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);
+}
+
+
+
+