Merci pour ta réponse !
#include <Stepper.h>
#define L 0.215 // Empattement robot
#define consigneX 2
#define consigneY 1
volatile boolean TurnDetected; // need volatile for Interrupts
volatile boolean rotationdirection; // CW or CCW rotation
const int PinCLK=2; // Generating interrupts using CLK signal
const int PinDT=3; // Reading DT signal
// Moteur propulsion
const int PinIN1 = 6;
const int PinIN2 = 5;
const int PinEN = 7;
double distToRun; // How much to move (meters)
// Stepper motor, pour la direction
float consigneAngleRoue;
const int stepsPerRevolution = 2048; // change this to fit the number of steps per revolution
const int rolePerMinute = 15; // Adjustable range of 28BYJ-48 stepper is 0~17 rpm
Stepper myStepper(stepsPerRevolution, 8, 10, 9, 11);
// Interrupt routine runs if CLK goes from HIGH to LOW
void isr () {
delay(4); // delay for Debouncing
TurnDetected = true;
}
void setup () {
pinMode(PinIN1,OUTPUT);
pinMode(PinIN2,OUTPUT);
pinMode(PinEN,OUTPUT);
pinMode(PinCLK,INPUT);
pinMode(PinDT,INPUT);
myStepper.setSpeed(rolePerMinute);
Serial.begin(9600);
attachInterrupt (0,isr,FALLING); // interrupt 0 always connected to pin 2 on Arduino UNO
InitDistToRun(consigneX,consigneY, &distToRun);
InitAngleConsigneRoue(consigneX, consigneY, &consigneAngleRoue);
analogWrite(PinEN,0);
digitalWrite(PinIN1,LOW);
digitalWrite(PinIN2,LOW);
InitPositionRoue();
analogWrite(PinEN,255);
digitalWrite(PinIN1,HIGH);
digitalWrite(PinIN2,LOW);
}
void loop () {
if(distToRun <= 0)
{
analogWrite(PinEN,0);
digitalWrite(PinIN1,LOW);
digitalWrite(PinIN2,LOW);
}
if(TurnDetected)
{
distToRun -= 0.00946;
TurnDetected = false;
Serial.println(distToRun);
}
}
void InitDistToRun(int x, int y, double* distToRun)
{
float a = (pow(x,2)+pow(y,2))/(2*y);
*distToRun = (3.14/2 - sin((a-y)/(sqrt(pow(x,2)+pow((a-y),2))))) * a;
Serial.println(*distToRun);
}
void InitAngleConsigneRoue(int x, int y, float* consigneAngleRoue)
{
float a = (pow(x,2)+pow(y,2))/(2*y);
float consigneAngleRoueRad = - atan(a/L) + 3.14/2;
*consigneAngleRoue = (consigneAngleRoueRad * 180)/(3.14/2);
Serial.println(*consigneAngleRoue);
}
void InitPositionRoue()
{
delay(5000);
myStepper.step(440);
myStepper.step(-220);
float consigneStep = (consigneAngleRoue * 2048)/ 360;
myStepper.step(consigneStep);
Serial.println(consigneStep);
Serial.println("fin Init");
}
Voilà tout mon code.
Et avant j'avais :
#include <Stepper.h>
#define L 0.215 // Empattement robot
#define consigneX 2
#define consigneY 1
volatile boolean TurnDetected; // need volatile for Interrupts
volatile boolean rotationdirection; // CW or CCW rotation
const int PinCLK=2; // Generating interrupts using CLK signal
const int PinDT=3; // Reading DT signal
// Moteur propulsion
const int PinIN1 = 6;
const int PinIN2 = 5;
const int PinEN = 7;
double distToRun; // How much to move (meters)
// Stepper motor, pour la direction
float consigneAngleRoue;
const int stepsPerRevolution = 2048; // change this to fit the number of steps per revolution
const int rolePerMinute = 15; // Adjustable range of 28BYJ-48 stepper is 0~17 rpm
Stepper myStepper(stepsPerRevolution, 8, 10, 9, 11);
// Interrupt routine runs if CLK goes from HIGH to LOW
void isr () {
delay(4); // delay for Debouncing
distToRun -= 0.00946;
Serial.println(distToRun);
}
void setup () {
pinMode(PinIN1,OUTPUT);
pinMode(PinIN2,OUTPUT);
pinMode(PinEN,OUTPUT);
pinMode(PinCLK,INPUT);
pinMode(PinDT,INPUT);
myStepper.setSpeed(rolePerMinute);
Serial.begin(9600);
attachInterrupt (0,isr,FALLING); // interrupt 0 always connected to pin 2 on Arduino UNO
InitDistToRun(consigneX,consigneY, &distToRun);
InitAngleConsigneRoue(consigneX, consigneY, &consigneAngleRoue);
analogWrite(PinEN,0);
digitalWrite(PinIN1,LOW);
digitalWrite(PinIN2,LOW);
InitPositionRoue();
analogWrite(PinEN,255);
digitalWrite(PinIN1,HIGH);
digitalWrite(PinIN2,LOW);
}
void loop () {
if(distToRun <= 0)
{
analogWrite(PinEN,0);
digitalWrite(PinIN1,LOW);
digitalWrite(PinIN2,LOW);
}
}
void InitDistToRun(int x, int y, double* distToRun)
{
float a = (pow(x,2)+pow(y,2))/(2*y);
*distToRun = (3.14/2 - sin((a-y)/(sqrt(pow(x,2)+pow((a-y),2))))) * a;
Serial.println(*distToRun);
}
void InitAngleConsigneRoue(int x, int y, float* consigneAngleRoue)
{
float a = (pow(x,2)+pow(y,2))/(2*y);
float consigneAngleRoueRad = - atan(a/L) + 3.14/2;
*consigneAngleRoue = (consigneAngleRoueRad * 180)/(3.14/2);
Serial.println(*consigneAngleRoue);
}
void InitPositionRoue()
{
delay(5000);
myStepper.step(440);
myStepper.step(-220);
float consigneStep = (consigneAngleRoue * 2048)/ 360;
myStepper.step(consigneStep);
Serial.println(consigneStep);
Serial.println("fin Init");
}
distToRun était dans loop mais il était uniquement lu. Cela suffisait à rendre sa valeur incohérente ? Si j'avais mis distToRun en volatile ça aurait pu marcher ?
Le comportement incohérent était : distToRun diminué plus que prévu.
