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moteur.ino
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#include <Chrono.h>
Chrono envoiMessage;
int Pin0D = 8;
int Pin1D = 9;
int Pin2D = 10;
int Pin3D = 11;
int _stepD = 1;
int positionBrasD = 0;
boolean dirD = true;
boolean etatCalibrationD = true;
boolean droiteFinitD= false;
boolean cycleCompletD = false;
int compterDroite = 0;
int Pin0G = 2;
int Pin1G = 3;
int Pin2G = 5;
int Pin3G = 6;
int _stepG = 1;
int positionBrasG = 0;
boolean dirG = true;
boolean etatCalibrationG = true;
boolean droiteFinitG= false;
boolean cycleCompletG = false;
int compterGauche = 0;
int marge = 125;
int seuil = 0;
void setup()
{
seuil = analogRead(1);
pinMode(Pin0D, OUTPUT);
pinMode(Pin1D, OUTPUT);
pinMode(Pin2D, OUTPUT);
pinMode(Pin3D, OUTPUT);
pinMode(Pin0G, OUTPUT);
pinMode(Pin1G, OUTPUT);
pinMode(Pin2G, OUTPUT);
pinMode(Pin3G
, OUTPUT);
Serial.begin(57600);
}
void loop()
{
if( etatCalibrationD == false){
moteurDroite();
moteurGauche();
delay(1);
} else{
calibrationDroite();
calibrationGauche();
if ( envoiMessage.metro(2000) ) {
}
delay(1);
}
//Serial.println(analogRead(1));
}
void moteurDroite(){
if( analogRead(1) < seuil - marge || cycleCompletD == true){
switch(_stepD){
case 0:
if( dirD == true){
compterDroite = 0;
cycleCompletD = true;
positionBrasD ++;
if( positionBrasD > 220){// tape la tete
dirD = false;
//positionBrasD = 178;
}
} else{
positionBrasD --;
if( positionBrasD < 80){
//positionBrasD = 102;
cycleCompletD = false;
dirD = true;
}
}
// Serial.println(positionBrasD);
digitalWrite(Pin0D, LOW);
digitalWrite(Pin1D, LOW);
digitalWrite(Pin2D, LOW);
digitalWrite(Pin3D, HIGH);
break;
case 1:
digitalWrite(Pin0D, LOW);
digitalWrite(Pin1D, LOW);
digitalWrite(Pin2D, HIGH);
digitalWrite(Pin3D, HIGH);
break;
case 2:
digitalWrite(Pin0D, LOW);
digitalWrite(Pin1D, LOW);
digitalWrite(Pin2D, HIGH);
digitalWrite(Pin3D, LOW);
break;
case 3:
digitalWrite(Pin0D, LOW);
digitalWrite(Pin1D, HIGH);
digitalWrite(Pin2D, HIGH);
digitalWrite(Pin3D, LOW);
break;
case 4:
digitalWrite(Pin0D, LOW);
digitalWrite(Pin1D, HIGH);
digitalWrite(Pin2D, LOW);
digitalWrite(Pin3D, LOW);
break;
case 5:
digitalWrite(Pin0D, HIGH);
digitalWrite(Pin1D, HIGH);
digitalWrite(Pin2D, LOW);
digitalWrite(Pin3D, LOW);
break;
case 6:
digitalWrite(Pin0D, HIGH);
digitalWrite(Pin1D, LOW);
digitalWrite(Pin2D, LOW);
digitalWrite(Pin3D, LOW);
break;
case 7:
if( dirD == true ){
cycleCompletD = false;
} else{
cycleCompletD = true;
}
digitalWrite(Pin0D, HIGH);
digitalWrite(Pin1D, LOW);
digitalWrite(Pin2D, LOW);
digitalWrite(Pin3D, HIGH);
break;
default:
digitalWrite(Pin0D, LOW);
digitalWrite(Pin1D, LOW);
digitalWrite(Pin2D, LOW);
digitalWrite(Pin3D, LOW);
break;
}
}else{
compterDroite ++;
if( compterDroite > 2000 && positionBrasD > -90){
dirD = false;
switch(_stepD){
case 0:
positionBrasD --;
Serial.println(positionBrasD);
// Serial.println(positionBrasD);
digitalWrite(Pin0D, LOW);
digitalWrite(Pin1D, LOW);
digitalWrite(Pin2D, LOW);
digitalWrite(Pin3D, HIGH);
break;
case 1:
digitalWrite(Pin0D, LOW);
digitalWrite(Pin1D, LOW);
digitalWrite(Pin2D, HIGH);
digitalWrite(Pin3D, HIGH);
break;
case 2:
digitalWrite(Pin0D, LOW);
digitalWrite(Pin1D, LOW);
digitalWrite(Pin2D, HIGH);
digitalWrite(Pin3D, LOW);
break;
case 3:
digitalWrite(Pin0D, LOW);
digitalWrite(Pin1D, HIGH);
digitalWrite(Pin2D, HIGH);
digitalWrite(Pin3D, LOW);
break;
case 4:
digitalWrite(Pin0D, LOW);
digitalWrite(Pin1D, HIGH);
digitalWrite(Pin2D, LOW);
digitalWrite(Pin3D, LOW);
break;
case 5:
digitalWrite(Pin0D, HIGH);
digitalWrite(Pin1D, HIGH);
digitalWrite(Pin2D, LOW);
digitalWrite(Pin3D, LOW);
break;
case 6:
digitalWrite(Pin0D, HIGH);
digitalWrite(Pin1D, LOW);
digitalWrite(Pin2D, LOW);
digitalWrite(Pin3D, LOW);
break;
case 7:
if( dirD == true ){
cycleCompletD = false;
} else{
cycleCompletD = true;
}
digitalWrite(Pin0D, HIGH);
digitalWrite(Pin1D, LOW);
digitalWrite(Pin2D, LOW);
digitalWrite(Pin3D, HIGH);
break;
default:
digitalWrite(Pin0D, LOW);
digitalWrite(Pin1D, LOW);
digitalWrite(Pin2D, LOW);
digitalWrite(Pin3D, LOW);
break;
}
}
}
if(dirD){
_stepD++;
}else{
_stepD--;
}
if(_stepD>7){
_stepD=0;
}
if(_stepD<0){
_stepD=7;
// Serial.println(positionBrasD);
}
}
void moteurGauche(){
if( analogRead(1) < seuil - marge || cycleCompletG == true ){
switch(_stepG){
case 0:
if( dirG == true){
cycleCompletG = true;
positionBrasG ++;
if( positionBrasG > 140){
dirG = false;
compterGauche = 0;
//positionBrasG = 98;
}
} else{
positionBrasG --;
if( positionBrasG < 0){//tape la tete
positionBrasG = 2;
//positionBrasG = 3;
dirG = true;
cycleCompletG = false;
}
}
// Serial.println(positionBrasD);
digitalWrite(Pin0G, LOW);
digitalWrite(Pin1G, LOW);
digitalWrite(Pin2G, LOW);
digitalWrite(Pin3G, HIGH);
break;
case 1:
digitalWrite(Pin0G, LOW);
digitalWrite(Pin1G, LOW);
digitalWrite(Pin2G, HIGH);
digitalWrite(Pin3G, HIGH);
break;
case 2:
digitalWrite(Pin0G, LOW);
digitalWrite(Pin1G, LOW);
digitalWrite(Pin2G, HIGH);
digitalWrite(Pin3G, LOW);
break;
case 3:
digitalWrite(Pin0G, LOW);
digitalWrite(Pin1G, HIGH);
digitalWrite(Pin2G, HIGH);
digitalWrite(Pin3G, LOW);
break;
case 4:
digitalWrite(Pin0G, LOW);
digitalWrite(Pin1G, HIGH);
digitalWrite(Pin2G, LOW);
digitalWrite(Pin3G, LOW);
break;
case 5:
digitalWrite(Pin0G, HIGH);
digitalWrite(Pin1G, HIGH);
digitalWrite(Pin2G, LOW);
digitalWrite(Pin3G, LOW);
break;
case 6:
digitalWrite(Pin0G, HIGH);
digitalWrite(Pin1G, LOW);
digitalWrite(Pin2G, LOW);
digitalWrite(Pin3G, LOW);
break;
case 7:
digitalWrite(Pin0G, HIGH);
digitalWrite(Pin1G, LOW);
digitalWrite(Pin2G, LOW);
digitalWrite(Pin3G, HIGH);
if( dirG == true ){
cycleCompletG = false;
} else{
cycleCompletG = true;
}
break;
default:
digitalWrite(Pin0G, LOW);
digitalWrite(Pin1G, LOW);
digitalWrite(Pin2G, LOW);
digitalWrite(Pin3G, LOW);
break;
}
}else{
compterGauche ++;
if( compterGauche > 2000 && positionBrasG < 270){
dirG = true;
switch(_stepG){
case 0:
positionBrasG ++;
Serial.println(positionBrasG);
// Serial.println(positionBrasD);
digitalWrite(Pin0G, LOW);
digitalWrite(Pin1G, LOW);
digitalWrite(Pin2G, LOW);
digitalWrite(Pin3G, HIGH);
break;
case 1:
digitalWrite(Pin0G, LOW);
digitalWrite(Pin1G, LOW);
digitalWrite(Pin2G, HIGH);
digitalWrite(Pin3G, HIGH);
break;
case 2:
digitalWrite(Pin0G, LOW);
digitalWrite(Pin1G, LOW);
digitalWrite(Pin2G, HIGH);
digitalWrite(Pin3G, LOW);
break;
case 3:
digitalWrite(Pin0G, LOW);
digitalWrite(Pin1G, HIGH);
digitalWrite(Pin2G, HIGH);
digitalWrite(Pin3G, LOW);
break;
case 4:
digitalWrite(Pin0G, LOW);
digitalWrite(Pin1G, HIGH);
digitalWrite(Pin2G, LOW);
digitalWrite(Pin3G, LOW);
break;
case 5:
digitalWrite(Pin0G, HIGH);
digitalWrite(Pin1G, HIGH);
digitalWrite(Pin2G, LOW);
digitalWrite(Pin3G, LOW);
break;
case 6:
digitalWrite(Pin0G, HIGH);
digitalWrite(Pin1G, LOW);
digitalWrite(Pin2G, LOW);
digitalWrite(Pin3G, LOW);
break;
case 7:
if( dirG == true ){
cycleCompletG = false;
} else{
cycleCompletG = true;
}
digitalWrite(Pin0G, HIGH);
digitalWrite(Pin1G, LOW);
digitalWrite(Pin2G, LOW);
digitalWrite(Pin3G, HIGH);
break;
default:
digitalWrite(Pin0G, LOW);
digitalWrite(Pin1G, LOW);
digitalWrite(Pin2G, LOW);
digitalWrite(Pin3G, LOW);
break;
}
}
}
if(dirG){
_stepG++;
}else{
_stepG--;
}
if(_stepG>7){
_stepG=0;
}
if(_stepG<0){
_stepG=7;
// Serial.println(positionBrasD);
}
}
void calibrationDroite(){
switch(_stepD){
case 0:
if( dirD == true){
positionBrasD ++;
if( positionBrasD > 210){
dirD = false;
}
} else{
positionBrasD --;
if( positionBrasD < 0){
dirD = true;
etatCalibrationD = false;
}
}
// Serial.println(positionBrasD);
digitalWrite(Pin0D, LOW);
digitalWrite(Pin1D, LOW);
digitalWrite(Pin2D, LOW);
digitalWrite(Pin3D, HIGH);
break;
case 1:
digitalWrite(Pin0D, LOW);
digitalWrite(Pin1D, LOW);
digitalWrite(Pin2D, HIGH);
digitalWrite(Pin3D, HIGH);
break;
case 2:
digitalWrite(Pin0D, LOW);
digitalWrite(Pin1D, LOW);
digitalWrite(Pin2D, HIGH);
digitalWrite(Pin3D, LOW);
break;
case 3:
digitalWrite(Pin0D, LOW);
digitalWrite(Pin1D, HIGH);
digitalWrite(Pin2D, HIGH);
digitalWrite(Pin3D, LOW);
break;
case 4:
digitalWrite(Pin0D, LOW);
digitalWrite(Pin1D, HIGH);
digitalWrite(Pin2D, LOW);
digitalWrite(Pin3D, LOW);
break;
case 5:
digitalWrite(Pin0D, HIGH);
digitalWrite(Pin1D, HIGH);
digitalWrite(Pin2D, LOW);
digitalWrite(Pin3D, LOW);
break;
case 6:
digitalWrite(Pin0D, HIGH);
digitalWrite(Pin1D, LOW);
digitalWrite(Pin2D, LOW);
digitalWrite(Pin3D, LOW);
break;
case 7:
digitalWrite(Pin0D, HIGH);
digitalWrite(Pin1D, LOW);
digitalWrite(Pin2D, LOW);
digitalWrite(Pin3D, HIGH);
break;
default:
digitalWrite(Pin0D, LOW);
digitalWrite(Pin1D, LOW);
digitalWrite(Pin2D, LOW);
digitalWrite(Pin3D, LOW);
break;
}
if(dirD){
_stepD++;
}else{
_stepD--;
}
if(_stepD>7){
_stepD=0;
}
if(_stepD<0){
_stepD=7;
// Serial.println(positionBrasD);
}
}
void calibrationGauche(){
switch(_stepG){
case 0:
if( dirG == true){
positionBrasG ++;
if( positionBrasG > 200){
dirG = false;
}
} else{
positionBrasG --;
if( positionBrasG < 0){
dirG = true;
etatCalibrationG = false;
}
}
// Serial.println(positionBrasD);
digitalWrite(Pin0G, LOW);
digitalWrite(Pin1G, LOW);
digitalWrite(Pin2G, LOW);
digitalWrite(Pin3G, HIGH);
break;
case 1:
digitalWrite(Pin0G, LOW);
digitalWrite(Pin1G, LOW);
digitalWrite(Pin2G, HIGH);
digitalWrite(Pin3G, HIGH);
break;
case 2:
digitalWrite(Pin0G, LOW);
digitalWrite(Pin1G, LOW);
digitalWrite(Pin2G, HIGH);
digitalWrite(Pin3G, LOW);
break;
case 3:
digitalWrite(Pin0G, LOW);
digitalWrite(Pin1G, HIGH);
digitalWrite(Pin2G, HIGH);
digitalWrite(Pin3G, LOW);
break;
case 4:
digitalWrite(Pin0G, LOW);
digitalWrite(Pin1G, HIGH);
digitalWrite(Pin2G, LOW);
digitalWrite(Pin3G, LOW);
break;
case 5:
digitalWrite(Pin0G, HIGH);
digitalWrite(Pin1G, HIGH);
digitalWrite(Pin2G, LOW);
digitalWrite(Pin3G, LOW);
break;
case 6:
digitalWrite(Pin0G, HIGH);
digitalWrite(Pin1G, LOW);
digitalWrite(Pin2G, LOW);
digitalWrite(Pin3G, LOW);
break;
case 7:
digitalWrite(Pin0G, HIGH);
digitalWrite(Pin1G, LOW);
digitalWrite(Pin2G, LOW);
digitalWrite(Pin3G, HIGH);
break;
default:
digitalWrite(Pin0G, LOW);
digitalWrite(Pin1G, LOW);
digitalWrite(Pin2G, LOW);
digitalWrite(Pin3G, LOW);
break;
}
if(dirG){
_stepG++;
}else{
_stepG--;
}
if(_stepG>7){
_stepG=0;
}
if(_stepG<0){
_stepG=7;
// Serial.println(positionBrasD);
}
}
void retourNormal(){
}