Bonsoir,
J'essaie d'adapter mon programme fait pour l'Arduino Due pour le faire fonctionner sur la teensy 3.6.
Mais quand j'utilise la Teensy, Processing saccade alors qu'il fonctionnait parfaitement avec l'Arduino Due.
Avec la Due, le port dans Processing apparait comme ça
[1] "/dev/cu.usbmodem14201"
Avec la Teensy, le port dans Processing apparait comme ça
[1] "/dev/cu.usbmodem72864401"
Dans le setup du logiciel Teensyduino, j'ai réglé la vitesse du port série sur 250000 car j'envoie à 250000 bauds aussi depuis Processing.
Mon animation saccade mais toutefois, la LED "buit-in" de la Teensy fonctionne comme prévue quand je démarre Processing.
J'ai donc mal programmé un truc quelque part. Je mets mon programme en bas.
Aussi, je dois branché un module sur une liaison RX/TX de la Teensy et écrire sur cet autre port d'autres informations , comment pourrais-je trouver un exemple simple pour m'en servir? Merci
Merci pleinement.
A bien+
#include "TeensyStep.h"
Stepper motor_1(1, 2); //DIR pin = 1 , STEP pin = 2,
Stepper motor_2(3, 4);
Stepper motor_3(5, 6);
Stepper motor_4(7, 8);
Stepper motor_5(9, 10);
Stepper motor_6(11, 12);
StepControl controller;
int positionX, positionX1, positionX2, positionX3,positionX4,positionX5, positionX6, positionX7, positionX8, positionX9;
// Receive with start- and end-markers combined with parsing
const byte numChars = 200;
char receivedChars[numChars];
char tempChars[numChars]; // temporary array for use when parsing
// variables to hold the parsed data
char messageFromPC[numChars] = {0}; //or {5} doesn't change anything
int integerFromPC0 = 0;
int integerFromPC1 = 0;
int integerFromPC2 = 0;
int integerFromPC3 = 0;
int integerFromPC4 = 0;
int integerFromPC5 = 0;
int integerFromPC6 = 0;
int integerFromPC7 = 0;
int integerFromPC8 = 0;
int integerFromPC9 = 0;
int PC0= 0;
int PC1= 0;
int PC2= 0;
int PC3= 0;
int PC4= 0;
int PC5= 0;
int PC6= 0;
int PC7= 0;
int PC8= 0;
int PC9= 0;
int PCTer0= 0;
int PCTer1= 0;
int PCTer2= 0;
int PCTer3= 0;
int PCTer4= 0;
int PCTer5= 0;
int PCTer6= 0;
int PCTer7= 0;
int PCTer8= 0;
int PCTer9= 0;
int LoworderTrigger =0;
int orderTrigger = 0;
int orderCohesion = 0;
float floatFromPC = 0.0; // no flat are used for the moment
boolean newData = false;
//============
const int ledPin = LED_BUILTIN;// the number of the LED pin
void setup()
{
// set the digital pin as output:
pinMode(ledPin, OUTPUT);
Serial.begin (250000); // receive datas from Processing with the "Programming Port"
// SerialUSB.begin (250000); // print datas to send it into the other serial port of the Arduino Due, the "Native Usb Port"
//====Test if datas are printed into both serial of the Arduino Due
/*
SerialUSB.print ("A "); SerialUSB.println (-4);
SerialUSB.print ("B "); SerialUSB.println (-3);
SerialUSB.print ("C "); SerialUSB.println (-2);
SerialUSB.print ("D "); SerialUSB.println (-1);
SerialUSB.print ("E "); SerialUSB.println (-10);
Serial.print ("A "); Serial.println (4);
Serial.print ("B "); Serial.println (3);
Serial.print ("C "); Serial.println (2);
Serial.print ("D "); Serial.println (1);
Serial.print ("E "); Serial.println (10);
*/
//====Initialise Pin Motor
// setup the motors
motor_1
.setMaxSpeed(3200) // steps/s
.setAcceleration(1600); // steps/s^2
motor_2
.setMaxSpeed (3200) // steps/s
.setAcceleration(2000); // steps/s^2
motor_3
//.setPullInSpeed(300) // steps/s currently deactivated...
.setMaxSpeed( 3200) // steps/s
.setAcceleration(2400) // steps/s^2
.setStepPinPolarity(LOW); // driver expects active low pulses
motor_4
//.setPullInSpeed(300) // steps/s currently deactivated...
.setMaxSpeed( 3200) // steps/s
.setAcceleration(2800); // steps/s^2
motor_5
//.setPullInSpeed(300) // steps/s currently deactivated...
.setMaxSpeed( 3200) // steps/s
.setAcceleration(3200); // steps/s^2
}
void loop()
{
recvWithStartEndMarkers(); // receive 33 datas from Processing 30 times/sec.
if (newData == true) {
strcpy(tempChars, receivedChars);
// this temporary copy is necessary to protect the original data
// because strtok() used in parseData() replaces the commas with \0
digitalWrite(ledPin, HIGH); // turn the LED on (HIGH is the voltage level)
delay(100 ); // wait for a second
digitalWrite(ledPin, LOW); // turn the LED off by making the voltage LOW
delay(1000); // wait for a second
parseData(); // split the 33 data into its parts
showPosition(); // These datas are used to control positions of 10 motors. Print them on the native port
showPhazisScaled(); // Print datas on the native port
showTrigBangWithRevolution(); // Print datas on the native port
newData = false;
}
/*
constexpr int spr = 16*200; // 3200 steps per revolution
// lets shake
for(int i = 0; i < 5; i++)
{
motor_1.setTargetRel(spr/4); // 1/4 revolution
motor_4.setTargetRel(spr/4); // 1/4 revolution
controller.move(motor_1, motor_4 );
motor_1.setTargetRel(-spr/4);
motor_5.setTargetRel(-spr/4);
controller.move(motor_1, motor_5);
}
delay(500);
// move motor_1 to absolute position (10 revolutions from zero)
// move motor_2 half a revolution forward
// both motors will arrive their target positions at the same time
motor_2.setTargetAbs(10*spr);
motor_2.setTargetRel(spr/2);
controller.move(motor_1, motor_2);
// now move motor_2 together with motor_3
motor_1.setTargetRel(300);
motor_2.setTargetRel(-800);
controller.move(motor_2, motor_3);
// move all motors back to their start positions
motor_1.setTargetAbs(0);
motor_2.setTargetAbs(0);
motor_3.setTargetAbs(0);
controller.move(motor_1, motor_2, motor_3);
delay(1000);
*/
}
void recvWithStartEndMarkers() { // receive 33 datas from Processing 30 times/sec. They are marked like that in Processing <12, -98, 34,... ,-340>
static boolean recvInProgress = false;
static byte ndx = 0;
char startMarker = '<';
char endMarker = '>';
char rc;
while (Serial.available() > 0 && newData == false) {
rc = Serial.read();
if (recvInProgress == true) {
if (rc != endMarker) {
receivedChars[ndx] = rc;
ndx++;
if (ndx >= numChars) {
ndx = numChars - 1;
}
}
else {
receivedChars[ndx] = '\0'; // terminate the string
recvInProgress = false;
ndx = 0;
newData = true;
}
}
else if (rc == startMarker) {
recvInProgress = true;
}
}
}
//============
void parseData() { // split the 33 data into its parts
char * strtokIndx; // this is used by strtok() as an index
strtokIndx = strtok(tempChars,","); // get the first part - the string
integerFromPC0 = atoi(strtokIndx); // convert this part to an integer
strtokIndx = strtok(NULL, ","); // this continues where the previous call left off
integerFromPC1 = atoi(strtokIndx); // convert this part to an integer
strtokIndx = strtok(NULL, ","); // this continues where the previous call left off
integerFromPC2 = atoi(strtokIndx); // convert this part to an integer
strtokIndx = strtok(NULL, ","); // this continues where the previous call left off
integerFromPC3 = atoi(strtokIndx); // convert this part to an integer
strtokIndx = strtok(NULL, ","); // this continues where the previous call left off
integerFromPC4 = atoi(strtokIndx); // convert this part to an integer
strtokIndx = strtok(NULL, ","); // this continues where the previous call left off
integerFromPC5 = atoi(strtokIndx); // convert this part to an integer
strtokIndx = strtok(NULL, ","); // this continues where the previous call left off
integerFromPC6 = atoi(strtokIndx); // convert this part to an integer
strtokIndx = strtok(NULL, ","); // this continues where the previous call left off
integerFromPC7 = atoi(strtokIndx); // convert this part to an integer
strtokIndx = strtok(NULL, ","); // this continues where the previous call left off
integerFromPC8 = atoi(strtokIndx); // convert this part to an integer
strtokIndx = strtok(NULL, ","); // this continues where the previous call left off
integerFromPC9 = atoi(strtokIndx); // convert this part to an integer
strtokIndx = strtok(NULL, ","); // this continues where the previous call left off
PC0 = atoi(strtokIndx); // convert this part to an integer
strtokIndx = strtok(NULL, ","); // this continues where the previous call left off
PC1 = atoi(strtokIndx); // convert this part to an integer
strtokIndx = strtok(NULL, ","); // this continues where the previous call left off
PC2 = atoi(strtokIndx); // convert this part to an integer
strtokIndx = strtok(NULL, ","); // this continues where the previous call left off
PC3 = atoi(strtokIndx); // convert this part to an integer
strtokIndx = strtok(NULL, ","); // this continues where the previous call left off
PC4 = atoi(strtokIndx); // convert this part to an integer
strtokIndx = strtok(NULL, ","); // this continues where the previous call left off
PC5 = atoi(strtokIndx); // convert this part to an integer
strtokIndx = strtok(NULL, ","); // this continues where the previous call left off
PC6 = atoi(strtokIndx); // convert this part to an integer
strtokIndx = strtok(NULL, ","); // this continues where the previous call left off
PC7 = atoi(strtokIndx); // convert this part to an integer
strtokIndx = strtok(NULL, ","); // this continues where the previous call left off
PC8 = atoi(strtokIndx); // convert this part to an integer
strtokIndx = strtok(NULL, ","); // this continues where the previous call left off
PC9 = atoi(strtokIndx); // convert this part to an integer
strtokIndx = strtok(NULL, ","); // this continues where the previous call left off
PCTer0 = atoi(strtokIndx); // convert this part to an integer
strtokIndx = strtok(NULL, ","); // this continues where the previous call left off
PCTer1 = atoi(strtokIndx); // convert this part to an integer
strtokIndx = strtok(NULL, ","); // this continues where the previous call left off
PCTer2 = atoi(strtokIndx); // convert this part to an integer
strtokIndx = strtok(NULL, ","); // this continues where the previous call left off
PCTer3 = atoi(strtokIndx); // convert this part to an integer
strtokIndx = strtok(NULL, ","); // this continues where the previous call left off
PCTer4 = atoi(strtokIndx); // convert this part to an integer
strtokIndx = strtok(NULL, ","); // this continues where the previous call left off
PCTer5 = atoi(strtokIndx); // convert this part to an integer
strtokIndx = strtok(NULL, ","); // this continues where the previous call left off
PCTer6 = atoi(strtokIndx); // convert this part to an integer
strtokIndx = strtok(NULL, ","); // this continues where the previous call left off
PCTer7 = atoi(strtokIndx); // convert this part to an integer
strtokIndx = strtok(NULL, ","); // this continues where the previous call left off
PCTer8 = atoi(strtokIndx); // convert this part to an integer
strtokIndx = strtok(NULL, ","); // this continues where the previous call left off
PCTer9 = atoi(strtokIndx); // convert this part to an integer
strtokIndx = strtok(NULL, ","); // this continues where the previous call left off
LoworderTrigger = atoi(strtokIndx); // convert this part to an integer
strtokIndx = strtok(NULL, ","); // this continues where the previous call left off
orderTrigger = atoi(strtokIndx); // convert this part to an integer
strtokIndx = strtok(NULL, ","); // this continues where the previous call left off
orderCohesion = atoi(strtokIndx); // convert this part to an integer
}
//============
A
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