mirror of
https://forge.apps.education.fr/blender-edutech/jumeaux-numeriques.git
synced 2024-01-27 06:56:18 +01:00
92 lines
2.8 KiB
Arduino
92 lines
2.8 KiB
Arduino
|
#include "Wire.h"
|
||
|
|
#include "Grove_Motor_Driver_TB6612FNG.h"
|
||
|
|
#include <stdlib.h>
|
||
|
|
|
||
|
|
/******************************************************************************
|
||
|
|
* porcou-arduino.ino
|
||
|
|
* @title: Programme pour la carte Arduino
|
||
|
|
* @project: Blender-EduTech - Jumeau numérique - Portail coulissant
|
||
|
|
* @lang: fr
|
||
|
|
* @authors: Philippe Roy <philippe.roy@ac-grenoble.fr>
|
||
|
|
* @copyright: Copyright (C) 2024 Philippe Roy
|
||
|
|
* @license: GNU GPL
|
||
|
|
******************************************************************************/
|
||
|
|
|
||
|
|
/******************************************************************************
|
||
|
|
* Précautions :
|
||
|
|
* - Régler l'alimentation à 12V DC - 3 A maxi
|
||
|
|
******************************************************************************/
|
||
|
|
|
||
|
|
/******************************************************************************
|
||
|
|
* Communication serie
|
||
|
|
******************************************************************************/
|
||
|
|
|
||
|
|
String serial_msg = ""; // Message
|
||
|
|
bool serial_msg_complet = false; // Flag de message complet
|
||
|
|
|
||
|
|
/******************************************************************************
|
||
|
|
* Initialisation
|
||
|
|
******************************************************************************/
|
||
|
|
|
||
|
|
void setup() {
|
||
|
|
|
||
|
|
// Liaison série
|
||
|
|
Serial.begin(115200);
|
||
|
|
}
|
||
|
|
|
||
|
|
/******************************************************************************
|
||
|
|
* Boucle principale
|
||
|
|
******************************************************************************/
|
||
|
|
|
||
|
|
void loop() {
|
||
|
|
|
||
|
|
/*****
|
||
|
|
* Lecture des capteur/boutons
|
||
|
|
*****/
|
||
|
|
|
||
|
|
/* accelgyro.getMotion9(&ax, &ay, &az, &gx, &gy, &gz, &mx, &my, &mz); */
|
||
|
|
/* Axyz[0] = (double) ax / 16384; */
|
||
|
|
/* Axyz[1] = (double) ay / 16384; */
|
||
|
|
/* Axyz[2] = (double) az / 16384; */
|
||
|
|
/* roll = asin(-Axyz[0]); */
|
||
|
|
/* roll_deg = roll*57.3; */
|
||
|
|
/* roll_txt = String(roll_deg); */
|
||
|
|
/* pitch = -asin(Axyz[1]/cos(roll)); // position capteur (X vers la gauche, Y vers l'arriere, Z vers le haut) */
|
||
|
|
/* pitch_deg = pitch*57.3; */
|
||
|
|
/* pitch_txt = String(pitch_deg); */
|
||
|
|
|
||
|
|
/*****
|
||
|
|
* Capteur / boutons : Arduino -> UPBGE
|
||
|
|
*****/
|
||
|
|
|
||
|
|
Serial.print(roll_txt);
|
||
|
|
Serial.print(",");
|
||
|
|
Serial.print(pitch_txt);
|
||
|
|
Serial.println();
|
||
|
|
|
||
|
|
/*****
|
||
|
|
* Moteur / Led : UPBGE -> Arduino
|
||
|
|
*****/
|
||
|
|
|
||
|
|
if (serial_msg_complet) {
|
||
|
|
int xy= serial_msg.toInt(); // Message par chiffre : XY
|
||
|
|
|
||
|
|
serial_msg = "";
|
||
|
|
serial_msg_complet = false;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
/******************************************************************************
|
||
|
|
* Évènement provoqué par UPBGE (via la liaison série)
|
||
|
|
******************************************************************************/
|
||
|
|
|
||
|
|
void serialEvent() {
|
||
|
|
while (Serial.available()) {
|
||
|
|
char inChar = (char)Serial.read();
|
||
|
|
serial_msg += inChar;
|
||
|
|
if (inChar == '\n') {
|
||
|
|
serial_msg_complet = true;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|