Le code de mes moteurs :
/
/ This Arduino example demonstrates bidirectional operation of a
// 28BYJ-48, using a ULN2003 interface board to drive the stepper.
// The 28BYJ-48 motor is a 4-phase, 8-beat motor, geared down by
// a factor of 68. One bipolar winding is on motor pins 1 & 3 and
// the other on motor pins 2 & 4. The step angle is 5.625/64 and the
// operating Frequency is 100pps. Current draw is 92mA.
////////////////////////////////////////////////
//declare variables for the motor pins
int motorPin1 = 8; // Blue - 28BYJ48 pin 1
int motorPin2 = 9; // Pink - 28BYJ48 pin 2
int motorPin3 = 10; // Yellow - 28BYJ48 pin 3
int motorPin4 = 11; // Orange - 28BYJ48 pin 4
// Red - 28BYJ48 pin 5 (VCC)
int motorSpeed = 1200; //variable to set stepper speed
int count = 0; // count of steps made
int countsperrev = 512; // number of steps per full revolution
int lookup[8] = {B01000, B01100, B00100, B00110, B00010, B00011, B00001, B01001};
//////////////////////////////////////////////////////////////////////////////
void setup() {
//declare the motor pins as outputs
pinMode(motorPin1, OUTPUT);
pinMode(motorPin2, OUTPUT);
pinMode(motorPin3, OUTPUT);
pinMode(motorPin4, OUTPUT);
Serial.begin(9600);
}
//////////////////////////////////////////////////////////////////////////////
void loop(){
if(count < countsperrev )
clockwise();
else if (count == countsperrev * 2)
count = 0;
else
anticlockwise();
count++;
}
//////////////////////////////////////////////////////////////////////////////
//set pins to ULN2003 high in sequence from 1 to 4
//delay "motorSpeed" between each pin setting (to determine speed)
void anticlockwise()
{
for(int i = 0; i < 8; i++)
{
setOutput(i);
delayMicroseconds(motorSpeed);
}
}
void clockwise()
{
for(int i = 7; i >= 0; i--)
{
setOutput(i);
delayMicroseconds(motorSpeed);
}
}
void setOutput(int out)
{
digitalWrite(motorPin1, bitRead(lookup[out], 0));
digitalWrite(motorPin2, bitRead(lookup[out], 1));
digitalWrite(motorPin3, bitRead(lookup[out], 2));
digitalWrite(motorPin4, bitRead(lookup[out], 3));
}
celui de mes capteurs : #define trigPin 12
#define echoPin 13
void setup() {
Serial.begin (9600);
pinMode(trigPin, OUTPUT);
pinMode(echoPin, INPUT);
}
void loop() {
int duration, distance,pos=0,i;
digitalWrite(trigPin, LOW);
delayMicroseconds(2);
digitalWrite(trigPin, HIGH);
delayMicroseconds(10);
digitalWrite(trigPin, LOW);
duration = pulseIn(echoPin, HIGH);
distance = (duration/2) / 29.1;
Serial.print(distance);
Serial.println(" cm");
}
et voila enfin le code que j'ai essayer de faire avec mais je crains qu'il soit tout faux, je vous laisse en juger :
#include <Stepper.h>
#define ECHOPINcapteurdroit 13 // Pin to receive echo pulse
#define TRIGPINcapteurdroit 12
#define ECHOPINcapteurgauche 4 // Pin to receive echo pulse
#define TRIGPINcapteurgauche 5
//declare variables for the motor pins
int motorPindroit1 = 6;
int motorPindroit2 = 7;
int motorPindroit3 = 8;
int motorPindroit4 = 9;
int motorPingauche1 = 10;
int motorPingauche2 = 11;
int motorPingauche3 = 12;
int motorPingauche4 = 13;
int motorSpeed = 1200; //variable to set stepper speed
int lookupdroit[8] = {B01000, B01100, B00100, B00110, B00010, B00011, B00001, B01001};
void setup() {
Serial.begin (9600);
pinMode(ECHOPINcapteurdroit, INPUT);
pinMode(TRIGPINcapteurdroit, OUTPUT);
pinMode(ECHOPINcapteurgauche, INPUT);
pinMode(TRIGPINcapteurgauche, OUTPUT);
pinMode(motorPindroit1, OUTPUT);
pinMode(motorPindroit2, OUTPUT);
pinMode(motorPindroit3, OUTPUT);
pinMode(motorPindroit4, OUTPUT);
pinMode(motorPingauche1, OUTPUT);
pinMode(motorPingauche2, OUTPUT);
pinMode(motorPingauche3, OUTPUT);
pinMode(motorPingauche4, OUTPUT);
}
void loop() {
int durationdroit ;
int distancedroit ;
digitalWrite(TRIGPINcapteurdroit, LOW);
delayMicroseconds(2);
digitalWrite(TRIGPINcapteurdroit, HIGH);
delayMicroseconds(10);
digitalWrite(TRIGPINcapteurdroit, LOW);
durationdroit = pulseIn(ECHOPINcapteurdroit, HIGH);
distancedroit = (durationdroit/2) / 29.1;
Serial.print(distancedroit);
Serial.println(" cm");
int distancegauche ;
digitalWrite(TRIGPINcapteurgauche, LOW);
delayMicroseconds(2);
digitalWrite(TRIGPINcapteurgauche, HIGH);
delayMicroseconds(10);
digitalWrite(TRIGPINcapteurgauche, LOW);
int durationgauche = pulseIn(ECHOPINcapteurgauche, HIGH);
distancegauche = (durationgauche/2) / 29.1;
Serial.print(distancegauche);
Serial.println(" cm");
if(distancedroit < 10)
{
moteurgauche = Anticlockwise
}
else
{
moteurgauche = Clockwise
}
if(distancegauche < 10)
{
moteurdroit = Anticlockwise
}
else
{
moteurdroit = Clockwise
}
void anticlockwise()
{
for(int i = 0; i < 8; i++)
{
setOutput(i);
delayMicroseconds(motorSpeed);
}
}
void clockwise()
{
for(int i = 7; i >= 0; i--)
{
setOutput(i);
delayMicroseconds(motorSpeed);
}
}
void setOutput(int out)
{
digitalWrite(motorPin1, bitRead(lookup[out], 0));
digitalWrite(motorPin2, bitRead(lookup[out], 1));
digitalWrite(motorPin3, bitRead(lookup[out], 2));
digitalWrite(motorPin4, bitRead(lookup[out], 3));
}
Merci, je sais que c'est un peut long a lire ^^
