int baseMoteurEnablePin = 2; int baseMoteurPin1 = 3; int baseMoteurPin2 = 4; int epauleMoteurEnablePin = 14; int epauleMoteurPin1 = 15; int epauleMoteurPin2 = 16; int coudeMoteurEnablePin = 8; int coudeMoteurPin1 = 9; int coudeMoteurPin2 = 10; int poigneeMotorEnablePin = 5; int poigneeMotorPin1 = 6; int poigneeMotorPin2 = 7; int pinceMotorEnablePin = 11; int pinceMotorPin1 = 17; int pinceMotorPin2 = 18; // set a variable to store the byte sent from the serial port int incomingByte; void setup() { // set the L293D pins as outputs: pinMode(baseMoteurPin1, OUTPUT); pinMode(baseMoteurPin2, OUTPUT); pinMode(baseMoteurEnablePin, OUTPUT); digitalWrite(baseMoteurEnablePin, HIGH); pinMode(epauleMoteurPin1, OUTPUT); pinMode(epauleMoteurPin2, OUTPUT); pinMode(epauleMoteurEnablePin, OUTPUT); digitalWrite(epauleMoteurEnablePin, HIGH); pinMode(coudeMoteurPin1, OUTPUT); pinMode(coudeMoteurPin2, OUTPUT); pinMode(coudeMoteurEnablePin, OUTPUT); digitalWrite(coudeMoteurEnablePin, HIGH); pinMode(poigneeMotorPin1, OUTPUT); pinMode(poigneeMotorPin2, OUTPUT); pinMode(poigneeMotorEnablePin, HIGH); pinMode(pinceMotorPin1, OUTPUT); pinMode(pinceMotorPin2, OUTPUT); pinMode(pinceMotorEnablePin, OUTPUT); digitalWrite(pinceMotorEnablePin, HIGH); // start sending data at 9600 baud rate Serial.begin(9600); } void loop() { // check that there's something in the serial buffer if (Serial.available() > 0) { // read the byte and store it in our variable // the byte sent is actually an ascii value incomingByte = Serial.read(); // note the upper casing of each letter! // diferrent lettre pour les directions. if (incomingByte == 'Q') { digitalWrite(baseMoteurPin1, LOW); digitalWrite(baseMoteurPin2, HIGH); } if (incomingByte == 'W') { digitalWrite(baseMoteurPin1, HIGH); digitalWrite(baseMoteurPin2, LOW); } if (incomingByte == 'E') { digitalWrite(epauleMoteurPin1, LOW); digitalWrite(epauleMoteurPin2, HIGH); } if (incomingByte == 'R') { digitalWrite(epauleMoteurPin1, HIGH); digitalWrite(epauleMoteurPin2, LOW); } if (incomingByte == 'A') { digitalWrite(coudeMoteurPin1, LOW); digitalWrite(coudeMoteurPin2, HIGH); } if (incomingByte == 'S') { digitalWrite(coudeMoteurPin1, HIGH); digitalWrite(coudeMoteurPin2, LOW); } if (incomingByte == 'D') { digitalWrite(poigneeMotorPin1, LOW); digitalWrite(poigneeMotorPin2, HIGH); } if (incomingByte == 'F') { digitalWrite(poigneeMotorPin1, HIGH); digitalWrite(poigneeMotorPin2, LOW); } if (incomingByte == 'Z') { digitalWrite(pinceMotorPin1, LOW); digitalWrite(pinceMotorPin2, HIGH); } if (incomingByte == 'X') { digitalWrite(pinceMotorPin1, HIGH); digitalWrite(pinceMotorPin2, LOW); } // si O est envoyer les moteurs ne s'allumeront pas (OFF) if (incomingByte == 'O') { digitalWrite(baseMoteurPin1, LOW); digitalWrite(baseMoteurPin2, LOW); digitalWrite(epauleMoteurPin1, LOW); digitalWrite(epauleMoteurPin2, LOW); digitalWrite(coudeMoteurPin1, LOW); digitalWrite(coudeMoteurPin2, LOW); digitalWrite(poigneeMotorPin1, LOW); digitalWrite(poigneeMotorPin2, LOW); digitalWrite(pinceMotorPin1, LOW); digitalWrite(pinceMotorPin2, LOW); } } }
reste plus qu' a faire les 2 servomoteurs et le module Bluetooth