Snyp54

Hi,

this is a code for use stepper motor on vigibot using an Arduino and AccelStepper library.

I use a A4988 stepper motor driver., two wire is needed between driver and Arduino ( Step & Dir).

/*
 * Vigibot Pi to Arduino Uart default remote configuration example by Mike118
 */

#include <AccelStepper.h>



// Meta Type : 

typedef struct {
 union {
  struct {
   int16_t x;
   int16_t y;
  };
  int16_t coordonnees[2];
  uint8_t bytes[4];
 };
} Point;

typedef struct {
 union {
  struct {
   int8_t x;
   int8_t y;
   int8_t z;
  };
  uint8_t bytes[3];
 };
} Vitesses;


// CONFIG 

#define PISERIAL Serial
#define NBPOSITIONS 2
#define FAILSAFE 250 // ms


// TTS 

#define TTSBUFFERSIZE 255  
uint8_t ttsBuffer[TTSBUFFERSIZE];
uint8_t ttsCurseur = 0;


// TX

#define TXFRAMESIZE (NBPOSITIONS * 4 + 17)

typedef struct {
 union {
  struct {
   uint8_t sync[4];               // 4
   Point positions[NBPOSITIONS];  // NBPOSITIONS * 4
   uint16_t val16[2];             // 2 * 2
   uint8_t choixCameras;          // 1
   Vitesses vitesses;             // 3
   uint8_t interrupteurs;         // 1
   uint8_t val8[4];               // 4
  };

  uint8_t bytes[TXFRAMESIZE];
 };
} TrameTx;


// RX

#define RXFRAMESIZE (NBPOSITIONS * 4 + 9)

typedef struct {
 union {
  struct {                       // Sizes
   uint8_t sync[4];              // 4
   Point positions[NBPOSITIONS]; // NBPOSITIONS * 4
   uint8_t choixCameras;         // 1
   Vitesses vitesses;            // 3
   uint8_t interrupteurs;        // 1
  };

  uint8_t bytes[RXFRAMESIZE];
 };
} TrameRx;


TrameTx trameTx;
TrameRx trameRx;

uint32_t lastTrameTimestamp = millis();

AccelStepper Xaxis(1, 2, 6);
AccelStepper Yaxis(1, 4, 7);

void setup() {
  PISERIAL.begin(115200);
  // add all your init here
  Xaxis.setMaxSpeed(400);
  Yaxis.setMaxSpeed(400);
  Xaxis.setSpeed(0);
  Yaxis.setSpeed(0);
}


void loop() {
  
  if(readPiSerial()) {
    // each time we receive a full trame run repeatedly:
    // use values inside trameRx to tell your robot how to move ...
    // trameRx.vitesses.x , trameRx.vitesses.y, trameRx.vitesses.z 
    // trameRx.positions[i].x trameRx.positions[i].y  etc.... 
    
    writePiSerial();
    lastTrameTimestamp = millis();
    updateSteppers();
  }

  if( millis() - lastTrameTimestamp > FAILSAFE ) {
    // Stop the robot in case the robot lost connection with the Pi
    stopSteppers();

  } else {
    // put your main code here, to run repeatedly:
    // avoid abstacle, run speed ...

    runSteppers();    
  }
}

bool readPiSerial() {
 uint8_t current;
 static uint8_t lastType = 0;
 static uint8_t n = 0;
 static uint8_t frame[RXFRAMESIZE];

 while(PISERIAL.available()) {
  current = PISERIAL.read();

  switch(n) {

   case 0:
    if(current == '$')
     n = 1;
    break;

   case 1:
    if(current != 'T' && lastType == 'T')
     writeTtsBuffer('\0');

    if(current == 'S' || current == 'T') {
     lastType = current;
     n = 2;
    } else
     n = 0;
    break;

    default:
    frame[n++] = current;

    if(n == RXFRAMESIZE) {

     if(lastType == 'T') {

      for(uint8_t i = 4; i < RXFRAMESIZE; i++) // Do not send the 4 sync data in tts
       writeTtsBuffer(frame[i]);

     } else if(lastType == 'S') {

      for(uint8_t p = 0; p < RXFRAMESIZE; p++)
       trameRx.bytes[p] = frame[p];

     }
     n = 0;
     return true;
    }

  }
 }

 return false;
}

void writePiSerial() {
 // Header, do not modify
 trameTx.sync[0] = '$';
 trameTx.sync[1] = 'R';
 trameTx.sync[2] = ' '; 
 trameTx.sync[3] = ' ';

 // modify the feedback according your need. By default we copy the trameRx content ... 
 for(uint8_t i = 0; i < NBPOSITIONS; i++) {
  trameTx.positions[i].x = trameRx.positions[i].x;
  trameTx.positions[i].y = trameRx.positions[i].y;
 }
 trameTx.val16[0] = 0;   // Voltage (will be updated by Raspberry pi)
 trameTx.val16[1] = 0;   // Percent (will be updated by Raspberry pi)
 trameTx.choixCameras = trameRx.choixCameras;
 trameTx.vitesses.x = trameRx.vitesses.x;
 trameTx.vitesses.y = trameRx.vitesses.y;
 trameTx.vitesses.z = trameRx.vitesses.z;
 trameTx.interrupteurs = trameRx.interrupteurs;
 trameTx.val8[0] = 0;   // CPU load (will be updated by Raspberry pi)
 trameTx.val8[1] = 0;   // Soc temp (will be updated by Raspberry pi)
 trameTx.val8[2] = 0;   // link (will be updated by Raspberry pi)
 trameTx.val8[3] = 0;   // RSSI (will be updated by Raspberry pi)

 for( uint8_t i = 0; i < TXFRAMESIZE; i++)
  PISERIAL.write(trameTx.bytes[i]);
}

void displayTtsBuffer (uint8_t * ttsBuffer, uint8_t bufferSize) {
  // you can modify this function to display text on a screen depending on your hardware...
  for( uint8_t i = 0; i < bufferSize; i++)
    Serial.write(ttsBuffer[i]);
  Serial.println("");
}

void writeTtsBuffer( uint8_t ttsChar) {
  static uint8_t ttsCurseur = 0;
  if( ttsCurseur < TTSBUFFERSIZE && ttsChar != '\0') {
    ttsBuffer[ttsCurseur] = ttsChar;
    ttsCurseur ++;
  }
  if( ttsCurseur == TTSBUFFERSIZE || ttsChar == '\0') {
    displayTtsBuffer (ttsBuffer, ttsCurseur);
    ttsCurseur = 0;
  }
}


void stopSteppers() {
  Xaxis.setSpeed(0);
  Yaxis.setSpeed(0);
  runSteppers();
}

void runSteppers() {
  Xaxis.runSpeed();
  Yaxis.runSpeed();
}


void updateSteppers() {
  Xaxis.setSpeed(trameTx.positions[0].x);
  Yaxis.setSpeed(trameTx.positions[0].y);
}

Bonjour a tous,

voila j'aurais besoin d'un coup de main. Je réalise une station météo avec un Arduino qui envoie ses données sur le port série @9600.

j'arrive à lire les valeurs sur le port série de l'Arduino IDE. Jusque la, pas de problème.

Maintenant j'utilise deux modules Dorji,un du coté de l'Arduino, un autre sur un serveur Debian avec adaptateur usb visible en /var/ttyUSB0 reglé en 9600 lié entre eux.

Coté arduino, la led rouge du module dorji s'allume lorsque le port série envoie quelque chose.

Coté serveur, la led bleu du module dorji s'allume signifiant qu'il à recu des données du module dorji de l'arduino

Mon problème est que je n'arrive pas ,du coté du serveur avec python, à lire le port /var/ttyUSB0.

Je vous met le code python(2.7) ainsi que le code Arduino.

#!/usr/bin/python
import serial 
import MySQLdb
import sys

#establish connection to MySQL.
dbConn = MySQLdb.connect("adress","login","pass","bdd_name") or die ("could not connect to database")
#open a cursor to the database
cursor = dbConn.cursor()

device = '/dev/ttyUSB0' # usually ttyUSB0 or ttyUSB1 for linux, or COM port number for windows
baudrate = 9600



def getSerialData():
 try:
  print "Trying...",device
  arduino = serial.Serial(device, baudrate) 
 except: 
  print "Failed to connect on",device    
 try:
     print "Trying to get data"
     next(arduino)
     data = arduino.readline()  #read the data from the arduino
     pieces = data.split("\t")  #split the data by the tab
     print "Data: %s" % data
     print "Piece 1: %s" % pieces[0]
     print "Piece 2: %s" % pieces[1]
     #Here we are going to insert the data into the Database
     try:
       print "Trying insertion..."
       cursor.execute("INSERT INTO data (temp,humidity) VALUES (%s,%s)", (pieces[0],pieces[1]))
       dbConn.commit() #commit the insert
       
     except MySQLdb.IntegrityError:
      print "failed to insert data"
     finally:
      print "closing cursor"
      
      del pieces[:]
 except:
  print "Failed to get data from Arduino!"
  sys.exit(1)


val = 0
while val == 0 :
 getSerialData()

#include <Wire.h>
#include "SparkFunHTU21D.h"

//Create an instance of the object
HTU21D myHumidity;

void setup()
{
  Serial.begin(9600);

  myHumidity.begin();
}

void loop()
{
  float humd = myHumidity.readHumidity();
  float temp = myHumidity.readTemperature();

 
  
  Serial.print(temp, 1); //HTU21D temperature (°C)
  Serial.print("\t"); 
  Serial.print(humd, 1); //HTU21D humidite (%)
  Serial.print("\t");

  delay(1000);
}

Merci pour l'aide que vous pourrez m'apporter.