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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);
}
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