24 mars 2012 - 10:47
) , je travaille aux Machines de l'Ile, et il est probable que je puisse assez facilement trouver un local où l'on pourrait se retrouver21 février 2012 - 12:16
Mon contenu
Homme
#include "URMSerial.h"
#include "Servo.h"
URMSerial urm;
Servo myservo; //objet servo controle un servo
int pos = 0; // variable to store the servo position
int distance;
void setup() {
Serial.begin(9600); // initialisation de la connexion Arduino / PC
urm.begin(9,10,9600); // initialisation du capteur sur les pattes 9 et 10 à la vitesse 9600
myservo.attach(11);
}
void loop()
{
// mise à jour de la distance
urm.requestMeasurementOrTimeout(1, distance);
// on en fait ce qu'on veut, l'afficher par exemple
Serial.print("Distance : ");
Serial.println(distance);
delay(50);
for(pos = 0; pos < 180; pos += 1) // goes from 0 degrees to 180 degrees
{ // in steps of 1 degree
myservo.write(pos); // tell servo to go to position in variable 'pos'
delay(15); // waits 15ms for the servo to reach the position
}
for(pos = 180; pos>=1; pos-=1) // goes from 180 degrees to 0 degrees
{
myservo.write(pos); // tell servo to go to position in variable 'pos'
delay(15); // waits 15ms for the servo to reach the position
}
}
//Standard PWM DC control
int E1 = 5; //M1 Speed Control
int E2 = 6; //M2 Speed Control
int M1 = 4; //M1 Direction Control
int M2 = 7; //M1 Direction Control
///For previous Romeo, please use these pins.
//int E1 = 6; //M1 Speed Control
//int E2 = 9; //M2 Speed Control
//int M1 = 7; //M1 Direction Control
//int M2 = 8; //M1 Direction Control
void stop(void) //Stop
{
digitalWrite(E1,LOW);
digitalWrite(E2,LOW);
}
void advance(char a,char <img src='http://www.robot-maker.com/forum/public/style_emoticons/<#EMO_DIR#>/cool.gif' class='bbc_emoticon' alt='B)' /> //Move forward
{
analogWrite (E1,a); //PWM Speed Control
digitalWrite(M1,HIGH);
analogWrite (E2,<img src='http://www.robot-maker.com/forum/public/style_emoticons/<#EMO_DIR#>/cool.gif' class='bbc_emoticon' alt='B)' />;
digitalWrite(M2,HIGH);
}
void back_off (char a,char <img src='http://www.robot-maker.com/forum/public/style_emoticons/<#EMO_DIR#>/cool.gif' class='bbc_emoticon' alt='B)' /> //Move backward
{
analogWrite (E1,a);
digitalWrite(M1,LOW);
analogWrite (E2,<img src='http://www.robot-maker.com/forum/public/style_emoticons/<#EMO_DIR#>/cool.gif' class='bbc_emoticon' alt='B)' />;
digitalWrite(M2,LOW);
}
void turn_L (char a,char <img src='http://www.robot-maker.com/forum/public/style_emoticons/<#EMO_DIR#>/cool.gif' class='bbc_emoticon' alt='B)' /> //Turn Left
{
analogWrite (E1,a);
digitalWrite(M1,LOW);
analogWrite (E2,<img src='http://www.robot-maker.com/forum/public/style_emoticons/<#EMO_DIR#>/cool.gif' class='bbc_emoticon' alt='B)' />;
digitalWrite(M2,HIGH);
}
void turn_R (char a,char <img src='http://www.robot-maker.com/forum/public/style_emoticons/<#EMO_DIR#>/cool.gif' class='bbc_emoticon' alt='B)' /> //Turn Right
{
analogWrite (E1,a);
digitalWrite(M1,HIGH);
analogWrite (E2,<img src='http://www.robot-maker.com/forum/public/style_emoticons/<#EMO_DIR#>/cool.gif' class='bbc_emoticon' alt='B)' />;
digitalWrite(M2,LOW);
}
void setup(void)
{
int i;
for(i=4;i<=7;i++)
pinMode(i, OUTPUT);
Serial.begin(9600); //Set Baud Rate
}
void loop(void)
{
char val = Serial.read();
if(val!=-1)
{
switch(val)
{
case '2'://Move Forward
advance (100,100); //move forward in max speed
break;
case '1'://Move Backward
back_off (100,100); //move back in max speed
break;
case '3'://Turn Left
turn_L (50,50);
break;
case '4'://Turn Right
turn_R (50,50);
break;
}
delay(500);
}
else stop();
}
