{"id":714,"date":"2011-03-14T21:29:13","date_gmt":"2011-03-14T21:29:13","guid":{"rendered":"http:\/\/blog.ensci.com\/fablab\/?p=714"},"modified":"2011-03-16T22:30:30","modified_gmt":"2011-03-16T22:30:30","slug":"codes-arduino","status":"publish","type":"post","link":"https:\/\/blog.ensci.com\/fablab\/2011\/03\/14\/codes-arduino\/","title":{"rendered":"Codes Arduino"},"content":{"rendered":"

\"\"<\/a>Version des codes Alpha (encore pas mal de bugs)<\/span><\/p>\n

#include <Stepper.h><\/p>\n

 <\/p>\n

 <\/p>\n

#define RAZ 12<\/p>\n

 <\/p>\n

#define PROXY_SENSOR 0<\/p>\n

 <\/p>\n

 <\/p>\n

const int mem[29] = { \/\/ 0-29cm<\/p>\n

621, \/\/0<\/p>\n

603, \/\/1<\/p>\n

594, \/\/2<\/p>\n

585, \/\/3<\/p>\n

576, \/\/4<\/p>\n

552, \/\/5<\/p>\n

525, \/\/6<\/p>\n

478, \/\/7<\/p>\n

417, \/\/8<\/p>\n

367, \/\/9<\/p>\n

335, \/\/10<\/p>\n

280, \/\/11<\/p>\n

267, \/\/12<\/p>\n

230, \/\/13<\/p>\n

210, \/\/14<\/p>\n

190, \/\/15<\/p>\n

173, \/\/16<\/p>\n

157, \/\/17<\/p>\n

144, \/\/18<\/p>\n

130, \/\/19<\/p>\n

120, \/\/20<\/p>\n

112, \/\/21<\/p>\n

100, \/\/22<\/p>\n

95, \/\/23<\/p>\n

85, \/\/24<\/p>\n

77, \/\/25<\/p>\n

70, \/\/26<\/p>\n

60, \/\/27<\/p>\n

58 \u00a0\/\/28<\/p>\n

};<\/p>\n

 <\/p>\n

unsigned long val = 0;<\/p>\n

int res = 0; \/\/ resultat<\/p>\n

int cnt = 0;<\/p>\n

 <\/p>\n

\/\/ Les X et Y filtr\u00c8s de l’image pr\u00c8c\u00c8dente<\/p>\n

int ofx;<\/p>\n

 <\/p>\n

\/\/ Les X et Y filtr\u00c8s<\/p>\n

int fx;<\/p>\n

 <\/p>\n

\/\/ La cible \u2021 atteindre<\/p>\n

int nx;<\/p>\n

 <\/p>\n

 <\/p>\n

\/\/ Vitesse d’\u00c8volution<\/p>\n

float sx;<\/p>\n

 <\/p>\n

\/\/ damp = frictions (1 = pas de frictions)<\/p>\n

const float damp = 0.3;<\/p>\n

 <\/p>\n

 <\/p>\n

\/\/ k = konstante de vitesse du filtre de mouvement<\/p>\n

const float k = 0.3;<\/p>\n

 <\/p>\n

 <\/p>\n

\/\/\/ 4460x 180\u00b0<\/p>\n

\/\/ 2270y \u00a0360\u00b0<\/p>\n

\/\/ initialize of the Stepper library:<\/p>\n

Stepper tete(200, 2,3, 4,5);<\/p>\n

Stepper rouleau(200, 6, 7,8,9);<\/p>\n

\/\/Stepper rouleau(400, 2,3, 4,5);<\/p>\n

 <\/p>\n

\/\/ stock position (actuelle) de la pointe sur le mat\u00e9riau<\/p>\n

int positionX = 0;<\/p>\n

int positionY = 0;<\/p>\n

 <\/p>\n

\/\/ position voulue<\/p>\n

int targetX = 0;<\/p>\n

int targetY = 0;<\/p>\n

 <\/p>\n

\/\/ r\u00e9ception depuis le port s\u00e9rie<\/p>\n

char sInput[5];<\/p>\n

int serInputByte = 0;<\/p>\n

 <\/p>\n

\/\/ capteur si nous sommes arriv\u00e9s<\/p>\n

boolean isArrived = false;<\/p>\n

 <\/p>\n

void setup() {<\/p>\n

 <\/p>\n

\/\/ set the motor speed<\/p>\n

tete.setSpeed(45);<\/p>\n

rouleau.setSpeed(45);<\/p>\n

\/\/ Initialize the Serial port:<\/p>\n

Serial.begin(9600);<\/p>\n

 <\/p>\n

 <\/p>\n

ofx = fx = 0;<\/p>\n

sx = 0;<\/p>\n

 <\/p>\n

val = 0;<\/p>\n

for (int i=0; i<10; i++) {<\/p>\n

val+=analogRead(0);<\/p>\n

delayMicroseconds(360);<\/p>\n

}<\/p>\n

val = val\/10;<\/p>\n

 <\/p>\n

\/\/ raz();<\/p>\n

}<\/p>\n

 <\/p>\n

void loop() {<\/p>\n

 <\/p>\n

 <\/p>\n

if (Serial.available()>0) {<\/p>\n

 <\/p>\n

 <\/p>\n

char val = Serial.read();<\/p>\n

 <\/p>\n

if ((val!=’x’) && (val!=’y’)) {<\/p>\n

sInput[serInputByte] = val;<\/p>\n

 <\/p>\n

if (serInputByte<5) {<\/p>\n

serInputByte++;<\/p>\n

}<\/p>\n

else {<\/p>\n

serInputByte = 0;<\/p>\n

Serial.println(\u00ab\u00a0ERROR MORE THAN 4 BYTES IN COMMUNICATION!\u00a0\u00bb);<\/p>\n

}<\/p>\n

 <\/p>\n

}<\/p>\n

else {<\/p>\n

int number = atoi(sInput);<\/p>\n

 <\/p>\n

if (val==’x’) targetX = number;<\/p>\n

else<\/p>\n

targetY = number;<\/p>\n

 <\/p>\n

isArrived = false;<\/p>\n

 <\/p>\n

serInputByte = 0;<\/p>\n

sInput[0] = 0;<\/p>\n

sInput[1] = 0;<\/p>\n

sInput[2] = 0;<\/p>\n

sInput[3] = 0;<\/p>\n

sInput[4] = 0;<\/p>\n

}<\/p>\n

}<\/p>\n

 <\/p>\n

 <\/p>\n

 <\/p>\n

 <\/p>\n

\/\/\/ multitache pilotage des moteurs<\/p>\n

 <\/p>\n

int xTarg = targetX-positionX;<\/p>\n

int yTarg = targetY-positionY;<\/p>\n

 <\/p>\n

 <\/p>\n

if (xTarg!=0) {<\/p>\n

 <\/p>\n

if (xTarg>0) { \/\/ avance si plus petit<\/p>\n

 <\/p>\n

 <\/p>\n

tete.step(1);<\/p>\n

positionX++;<\/p>\n

}<\/p>\n

else { \/\/\/ recule si plus grand<\/p>\n

 <\/p>\n

 <\/p>\n

tete.step(-1);<\/p>\n

positionX–;<\/p>\n

 <\/p>\n

}<\/p>\n

 <\/p>\n

}<\/p>\n

 <\/p>\n

 <\/p>\n

if (yTarg!=0) {<\/p>\n

 <\/p>\n

if (yTarg>0) {<\/p>\n

 <\/p>\n

rouleau.step(1);<\/p>\n

positionY++;<\/p>\n

}<\/p>\n

else {<\/p>\n

rouleau.step(-1);<\/p>\n

positionY–;<\/p>\n

}<\/p>\n

}<\/p>\n

 <\/p>\n

\/\/\/ sync avec l’ordi, \u00e7a y est je suis arriv\u00e9<\/p>\n

if ((xTarg==0)&&(yTarg==0)) {<\/p>\n

if (isArrived!=true) {<\/p>\n

\/\/ \u00a0Serial.println(‘o’);<\/p>\n

readAndSendSensorData();<\/p>\n

}<\/p>\n

 <\/p>\n

isArrived = true;<\/p>\n

}<\/p>\n

 <\/p>\n

\/\/\/\/\/\/\/\/\/<\/p>\n

 <\/p>\n

 <\/p>\n

 <\/p>\n

if (cnt<20) {<\/p>\n

cnt++;<\/p>\n

}<\/p>\n

else {<\/p>\n

 <\/p>\n

val = 0;<\/p>\n

for (int i=0; i<10; i++) {<\/p>\n

val+=analogRead(0);<\/p>\n

delayMicroseconds(360);<\/p>\n

}<\/p>\n

val = val\/10;<\/p>\n

 <\/p>\n

nx = val;<\/p>\n

cnt = 0;<\/p>\n

res = getMM();<\/p>\n

 <\/p>\n

\/\/Serial.println(res);<\/p>\n

sx = 0;<\/p>\n

}<\/p>\n

 <\/p>\n

sx += (nx – fx) * k;<\/p>\n

sx *= damp;<\/p>\n

fx += sx;<\/p>\n

 <\/p>\n

ofx = fx;<\/p>\n

 <\/p>\n

 <\/p>\n

 <\/p>\n

 <\/p>\n

\/\/ \u00a0Serial.println(proxy); \/\/\/ gimme height info<\/p>\n

 <\/p>\n

}<\/p>\n

\/\/\/1170<\/p>\n

 <\/p>\n

void readAndSendSensorData() {<\/p>\n

 <\/p>\n

Serial.println(res);<\/p>\n

 <\/p>\n

}<\/p>\n

 <\/p>\n

 <\/p>\n

int getMM() {<\/p>\n

 <\/p>\n

int minA = 0;<\/p>\n

int maxB = 0;<\/p>\n

int minCm = 0;<\/p>\n

int maxCm = 0;<\/p>\n

 <\/p>\n

for (int i=0; i<29; i++) {<\/p>\n

 <\/p>\n

int t = mem[i];<\/p>\n

 <\/p>\n

if (t<fx) {<\/p>\n

 <\/p>\n

maxB = t;<\/p>\n

if (i>0) {<\/p>\n

minA = mem[i-1];<\/p>\n

minCm = i-1;<\/p>\n

maxCm = i;<\/p>\n

}<\/p>\n

i = 29;<\/p>\n

 <\/p>\n

}<\/p>\n

}<\/p>\n

 <\/p>\n

float result = mapF(fx, minA, maxB, minCm, maxCm);<\/p>\n

 <\/p>\n

return int(result*10.0);<\/p>\n

 <\/p>\n

}<\/p>\n

 <\/p>\n

 <\/p>\n

float mapF(float value,<\/p>\n

float istart, float istop,<\/p>\n

float ostart, float ostop) {<\/p>\n

return ostart + (ostop – ostart) * ((value – istart) \/ (istop – istart));<\/p>\n

}<\/p>\n

 <\/p>\n


\n<\/span><\/p>\n","protected":false},"excerpt":{"rendered":"

Version des codes Alpha (encore pas mal de bugs) #include <Stepper.h>     #define RAZ 12   #define PROXY_SENSOR 0     const int mem[29] = { \/\/ 0-29cm 621, \/\/0 603, \/\/1 594, \/\/2 585, \/\/3 576, \/\/4 552, \/\/5 525, \/\/6 478, \/\/7 417, \/\/8 367, \/\/9 335, \/\/10 280, \/\/11 267, \/\/12 […]<\/p>\n","protected":false},"author":4,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":"","_links_to":"","_links_to_target":""},"categories":[75,68],"tags":[],"class_list":["post-714","post","type-post","status-publish","format-standard","hentry","category-fabrication","category-scanner3d"],"jetpack_featured_media_url":"","_links":{"self":[{"href":"https:\/\/blog.ensci.com\/fablab\/wp-json\/wp\/v2\/posts\/714","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/blog.ensci.com\/fablab\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/blog.ensci.com\/fablab\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/blog.ensci.com\/fablab\/wp-json\/wp\/v2\/users\/4"}],"replies":[{"embeddable":true,"href":"https:\/\/blog.ensci.com\/fablab\/wp-json\/wp\/v2\/comments?post=714"}],"version-history":[{"count":4,"href":"https:\/\/blog.ensci.com\/fablab\/wp-json\/wp\/v2\/posts\/714\/revisions"}],"predecessor-version":[{"id":718,"href":"https:\/\/blog.ensci.com\/fablab\/wp-json\/wp\/v2\/posts\/714\/revisions\/718"}],"wp:attachment":[{"href":"https:\/\/blog.ensci.com\/fablab\/wp-json\/wp\/v2\/media?parent=714"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/blog.ensci.com\/fablab\/wp-json\/wp\/v2\/categories?post=714"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/blog.ensci.com\/fablab\/wp-json\/wp\/v2\/tags?post=714"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}