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
