Différences

Ci-dessous, les différences entre deux révisions de la page.

--- projets:2019:stageavrilubo [2019/04/16 20:13] – [Contacts] christian.jacolot
+++ projets:2019:stageavrilubo [2024/04/16 22:26] (Version actuelle) – modification externe 127.0.0.1
@@ Ligne 229: / Ligne 229: @@
-Code
+Pour récupérer le code du robot adapté:
+<code>
+$ git clone https://git.archieri.fr/simon/SimpleBotArduino.git
+</code>
+Android APK pour le robot Arduino:
+https://cloud.archieri.fr/s/WzxmeGBmEKow5co
+Test Servo
+<code>
+# include <Servo.h>
+Servo servoLeft;
+Servo servoRight;
+void setup() {
+  servoLeft.attach(11);
+  servoRight.attach(10);
+  Serial.begin(9600);
+}
+void loop() {
+  servoLeft.write(90); // 0 => sens, 180 => autre sens
+  servoRight.write(90); //
+}
+void stop() {
+  servoLeft.write(90); // 0 => sens, 180 => autre sens
+  servoRight.write(90); //
+}
+void avancer() {
+  servoLeft.write( xx  ); // 0 => sens, 180 => autre sens
+  servoRight.write( xx ); //
+}
+void reculer() {
+  servoLeft.write( xx  ); // 0 => sens, 180 => autre sens
+  servoRight.write( xx ); //
+}
+void tourner() {
+  servoLeft.write( xx  ); // 0 => sens, 180 => autre sens
+  servoRight.write( xx ); //
+}
+</code>
+Avec le sonar
+<code>
+#include <NewPing.h>
+#include <Servo.h>
+Servo servoLeft;
+Servo servoRight;
+NewPing sonar(7, 6, 200);
+void setup() {
+  servoLeft.attach(11);
+  servoRight.attach(10);
+  Serial.begin(9600);
+}
+void loop() {
+  gestionSonar();
+}
+void gestionSonar() {
+  int distance = sonar.ping_cm();
+  avancer();
+  if (distance < 10) {
+    reculer();
+    tournerGauche();
+  }
+}
+void stop() {
+  servoLeft.write(90); // 0 => sens, 180 => autre sens
+  servoRight.write(90); //
+}
+void avancer() {
+  servoLeft.write( 0  ); // 0 => sens, 180 => autre sens
+  servoRight.write( 180 ); //
+}
+void reculer() {
+  servoLeft.write( 180  ); // 0 => sens, 180 => autre sens
+  servoRight.write( 0 ); //
+}
+void tournerGauche() {
+  servoLeft.write(45); // 0 => sens, 180 => autre sens
+  servoRight.write(45); //
+}
+void tournerDroite() {
+  servoLeft.write(135); // 0 => sens, 180 => autre sens
+  servoRight.write(135); //
+}
+</code>
+Avec le bluetooth (message provenant du robot):
+<code>
+#include <NewPing.h>
+#include <Servo.h>
+#include <SoftwareSerial.h>
+Servo servoLeft;
+Servo servoRight;
+NewPing sonar(7, 6, 200);
+SoftwareSerial BTSerial(4, 8); // TX, RX
+void setup() {
+  servoLeft.attach(11);
+  servoRight.attach(10);
+  //Serial.begin(9600);
+  BTSerial.begin(9600);
+}
+void loop() {
+  gestionSonar();
+}
+void gestionSonar() {
+  int distance = sonar.ping_cm();
+  avancer();
+  if (distance > 0 && distance < 10) {
+    BTSerial.println("obstacle < 10cm");
+    reculer();
+    tournerGauche();
+  }
+}
+void stop() {
+  servoLeft.write(90); // 0 => sens, 180 => autre sens
+  servoRight.write(90); //
+  BTSerial.println("stop");
+}
+void avancer() {
+  servoLeft.write( 0  ); // 0 => sens, 180 => autre sens
+  servoRight.write( 180 ); //
+  BTSerial.println("avance");
+}
+void reculer() {
+  servoLeft.write( 180  ); // 0 => sens, 180 => autre sens
+  servoRight.write( 0 ); //
+  BTSerial.println("recule");
+}
+void tournerGauche() {
+  servoLeft.write(45); // 0 => sens, 180 => autre sens
+  servoRight.write(45); //
+  BTSerial.println("gauche");
+}
+void tournerDroite() {
+  servoLeft.write(135); // 0 => sens, 180 => autre sens
+  servoRight.write(135); //
+  BTSerial.println("droite");
+}
+</code>
+Avec le bluetooth (piloter le robot):
+<code>
+#include <NewPing.h>
+#include <Servo.h>
+#include <SoftwareSerial.h>
+Servo servoLeft;
+Servo servoRight;
+NewPing sonar(7, 6, 200);
+SoftwareSerial BTSerial(4, 8); // TX, RX
+String message;
+void setup() {
+  servoLeft.attach(11);
+  servoRight.attach(10);
+  //Serial.begin(9600);
+  BTSerial.begin(9600);
+}
+void loop() {
+  gestionSonar();
+  readBTSerial();
+}
+String readBTSerial() {
+  while (BTSerial.available()) {
+    message = BTSerial.readString();
+  }
+  if (message == "av\r\n") {
+    avancer();
+  } else if (message == "ar\r\n") {
+    reculer();
+  } else if (message == "g\r\n") {
+    tournerGauche();
+  } else if (message == "d\r\n") {
+    tournerDroite();
+  }
+}
+void gestionSonar() {
+  int distance = sonar.ping_cm();
+  avancer();
+  if (distance > 0 && distance < 10) {
+    BTSerial.println("obstacle < 10cm");
+    reculer();
+    tournerGauche();
+  }
+}
+void stop() {
+  servoLeft.write(90); // 0 => sens, 180 => autre sens
+  servoRight.write(90); //
+  BTSerial.println("stop");
+}
+void avancer() {
+  servoLeft.write( 0  ); // 0 => sens, 180 => autre sens
+  servoRight.write( 180 ); //
+  BTSerial.println("avance");
+}
+void reculer() {
+  servoLeft.write( 180  ); // 0 => sens, 180 => autre sens
+  servoRight.write( 0 ); //
+  BTSerial.println("recule");
+}
+void tournerGauche() {
+  servoLeft.write(45); // 0 => sens, 180 => autre sens
+  servoRight.write(45); //
+  BTSerial.println("gauche");
+}
+void tournerDroite() {
+  servoLeft.write(135); // 0 => sens, 180 => autre sens
+  servoRight.write(135); //
+  BTSerial.println("droite");
+}
+</code>