Ajout des bibliotheques et des tests arduino pour BigMax v1

informatique/code source/sketch_bigmax/sketch_bigmax.ino

@@ -6,43 +6,67 @@
 #define TIMEOUT       2500  // waits for 2500 microseconds for sensor outputs to go low
 #define EMITTER_PIN   2     // emitter is controlled by digital pin 2
 
-// sensors 0 through 7 are connected to digital pins 3 through 10, respectively
-QTRSensorsRC qtrrc((unsigned char[]) {
-  A6, A7
-},
-NUM_SENSORS, TIMEOUT, EMITTER_PIN);
+#define motorRightC1  2
+#define motorRightC2  7
+#define motorLeftC1   3
+#define motorLeftC2   8
+
+// right motor position
+volatile unsigned int motorRightPos = 0;
+unsigned int tmpR = 0;
+
+// left motor position
+volatile unsigned int motorLeftPos = 0;
+unsigned int tmpL = 0;
+
+// right motor encoder
+unsigned int oldRC1 = 0;
+unsigned int newRC1 = 0;
+unsigned int RC2 = 0;
+
+// left motor encoder
+unsigned int oldLC1 = 0;
+unsigned int newLC1 = 0;
+unsigned int LC2 = 0;
+
+// sensors right and left connected to analog pins A6 and A7, respectively
+QTRSensorsRC qtrrc((unsigned char[]){A6,A7}, NUM_SENSORS, TIMEOUT, EMITTER_PIN);
 unsigned int sensorValues[NUM_SENSORS];
 
+// Distance sensor
 VL53L0X sensor;
 
 //Motor A
-const int motorPin1 = 6;  // Pin 14 of L293
-const int motorPin2 = 9;  // Pin 10 of L293
+const int motorPin1 = 6;
+const int motorPin2 = 9;
 
 //Motor B
-const int motorPin3 = 10; // Pin  7 of L293
-const int motorPin4 = 11;  // Pin  2 of L293
+const int motorPin3 = 10;
+const int motorPin4 = 11;
 
 void setup() {
-  // initialize serial and digital pin LED_BUILTIN as an output.
-  Serial.begin(9600);
-  //pinMode(LED_BUILTIN, OUTPUT);
+  // initialize serial
+  Serial.begin(115200);
 
-  //setup_VL53L0X();
-  //setup_QTRRC();
+  // initialize digital pin LED_BUILTIN as an output.
+  pinMode(LED_BUILTIN, OUTPUT);
+
+  setup_VL53L0X();
+  setup_QTRRC();
   setup_motor();
+  setup_encoder();
 }
 
 void loop() {
-  //loop_VL53L0X();
-  //loop_QTRRC();
+  loop_VL53L0X();
+  loop_QTRRC();
   loop_motor();
-
+  loop_encoder();
 
   digitalWrite(LED_BUILTIN, HIGH);   // turn the LED on (HIGH is the voltage level)
   delay(1000);                       // wait for a second
   digitalWrite(LED_BUILTIN, LOW);    // turn the LED off by making the voltage LOW
-  delay(1000);                       // wait for a second
+  //delay(1000);                       // wait for a second
 }
 
 void setup_VL53L0X()
@@ -90,6 +114,14 @@ void setup_motor() {
   pinMode(motorPin4, OUTPUT);
 }
 
+void setup_encoder() {
+  pinMode(motorRightC1, INPUT);
+  pinMode(motorLeftC1, INPUT);
+  // encoder pin on interrupt 0 (pin 2)
+  attachInterrupt(0, doEncoderRight, CHANGE);
+  // encoder pin on interrupt 1 (pin 3)
+  attachInterrupt(1, doEncoderLeft, CHANGE);
+}
 
 void loop_QTRRC()
 {
@@ -120,12 +152,87 @@ void loop_VL53L0X()
 }
 
 void loop_motor() {
-  //Motor Control - Motor A: motorPin1,motorpin2 & Motor B: motorpin3,motorpin4
-
-  //This code will turn Motor B counter-clockwise for 2 sec.
-  analogWrite(motorPin1, 250);
+  // Motor Control - Motor A: motorPin1,motorpin2 & Motor B: motorpin3,motorpin4
+
+  // This code will turn Motor A clockwise for 2 sec.
+  analogWrite(motorPin1, 180);
+  analogWrite(motorPin2, 0);
+  analogWrite(motorPin3, 180);
+  analogWrite(motorPin4, 0);
+  delay(1000);
+  // This code will turn Motor A counter-clockwise for 2 sec.
+  analogWrite(motorPin1, 0);
+  analogWrite(motorPin2, 180);
+  analogWrite(motorPin3, 0);
+  analogWrite(motorPin4, 180);
+  delay(1000);
+  // This code will turn Motor B clockwise for 2 sec.
+  analogWrite(motorPin1, 0);
+  analogWrite(motorPin2, 180);
+  analogWrite(motorPin3, 180);
+  analogWrite(motorPin4, 0);
+  delay(1000);
+  // This code will turn Motor B counter-clockwise for 2 sec.
+  analogWrite(motorPin1, 180);
+  analogWrite(motorPin2, 0);
+  analogWrite(motorPin3, 0);
+  analogWrite(motorPin4, 180);
+  delay(1000);
+  // And this code will stop motors
+  analogWrite(motorPin1, 0);
   analogWrite(motorPin2, 0);
   analogWrite(motorPin3, 0);
-  analogWrite(motorPin4, 250);
-  delay(30000);
+  analogWrite(motorPin4, 0);
+}
+
+void loop_encoder() {
+  //Check each changes in position
+  if (tmpR != motorRightPos) {
+    Serial.println(motorRightPos, DEC);
+    tmpR = motorRightPos;
+  }
+   //Check each changes in position
+  if (tmpL != motorLeftPos) {
+    Serial.println(motorLeftPos, DEC);
+    tmpL = motorLeftPos;
+  }
+}
+
+// Interrupt on Right changing state
+void doEncoderRight() {
+  delay(1);
+  newRC1 = digitalRead(motorRightC1);
+  RC2 = digitalRead(motorLeftC2);
+  if (oldRC1 == LOW && newRC1 == HIGH && RC2 == LOW){
+    motorRightPos++;
+  }
+  else if (oldRC1 == HIGH && newRC1 == LOW && RC2 == HIGH){
+    motorRightPos++;
+  }
+  else
+  {
+    motorRightPos--;
+  }
+  oldRC1 = newRC1;
+}
+
+// Interrupt on Left changing state
+void doEncoderLeft() {
+  delay(1);
+  newLC1 = digitalRead(motorLeftC1);
+  LC2 = digitalRead(motorLeftC2);
+  if (oldLC1 == LOW && newLC1 == HIGH && LC2 == HIGH){
+    motorLeftPos++;
+  }
+  else if (oldLC1 == HIGH && newLC1 == LOW && LC2 == LOW){
+    motorRightPos++;
+  }
+  else
+  {
+    motorLeftPos--;
+  }
+  oldLC1 = newLC1;
+
+  //LC1new = digitalRead(encoder0PinB);
+  //LC1new^LC2old ? encoder0Pos++ : encoder0Pos--;
 }

informatique/libraries/Adafruit_VL53L0X-master/.gitignore

@@ -0,0 +1,4 @@
+*.c~
+*.cpp~
+*.h~
+.DS_Store

informatique/libraries/Adafruit_VL53L0X-master/.travis.yml

@@ -0,0 +1,27 @@
+language: c
+sudo: false
+
+# Blacklist
+branches:
+  except:
+    - gh-pages
+
+env:
+  global:
+    - PRETTYNAME="Adafruit VL53L0X Arduino Library"
+    - DOXYFILE: $TRAVIS_BUILD_DIR/doxyfile
+
+
+before_install:
+   - source <(curl -SLs https://raw.githubusercontent.com/adafruit/travis-ci-arduino/master/install.sh)
+
+install:
+   - arduino --install-library "Adafruit SSD1306","Adafruit GFX Library"
+
+script:
+   - build_main_platforms
+
+# Generate and deploy documentation
+after_success:
+  - source <(curl -SLs  https://raw.githubusercontent.com/adafruit/travis-ci-arduino/master/library_check.sh)
+  - source <(curl -SLs  https://raw.githubusercontent.com/adafruit/travis-ci-arduino/master/doxy_gen_and_deploy.sh)

informatique/libraries/Adafruit_VL53L0X-master/README.md

@@ -0,0 +1,13 @@
+# Adafruit VL53L0X Library [![Build Status](https://travis-ci.org/adafruit/Adafruit_VL53L0X.svg?branch=master)](https://travis-ci.org/adafruit/Adafruit_VL53L0X)
+
+<img src="https://cdn-shop.adafruit.com/970x728/3317-03.jpg" height="300"/>
+
+This is a library for the Adafruit VL53L0X time-of-flight breakout:
+  * https://www.adafruit.com/products/3317
+
+Check out the links above for our tutorials and wiring diagrams. This chip uses I2C to communicate
+
+Adafruit invests time and resources providing this open source code, please support Adafruit and open-source hardware by purchasing products from Adafruit!
+
+Written by Limor Fried/Ladyada for Adafruit Industries.
+MIT license, all text above must be included in any redistribution