Portail coulissant : test du shield moteur

portail_coulissant/porcou.py

@@ -124,11 +124,11 @@ def get_public_vars():
 
 # Pour la commande du moteur de la variante 1 version Grove , le brochage du  shield moteur CC 4 x 1,2 A DRI0039 (DFROBOT) est fixe,
 # il doit respecter le tableau suivant : 
-# Motor # Direction pin (Forward/Backward) # Speed pin # Speed range (PWM)
-# M1 	  #    4 	LOW 	HIGH 	                                    #   3                   # 0-255
-# M2 	  #  12 	HIGH 	LOW 	                                    # 11 	                # 0-255
-# M3      #    8 	LOW 	HIGH 	                                   #   5                    # 0-255
-# M4	   #   7 	HIGH 	LOW 	                                    #   6 	                # 0-255
+# Motor Direction(Forward/Backward)	Speed Speed range
+# M1 	4 	LOW 	HIGH 	        3 	0-255
+# M2 	12 	HIGH 	LOW 	        11 	0-255
+# M3 	8 	LOW 	HIGH 	        5 	0-255
+# M4	7 	HIGH 	LOW 	        6 	0-255
 
 ##
 # Moteur et portail

portail_coulissant/porcou_cmd.py

@@ -52,7 +52,7 @@ from porcou_lib import * # Bibliothèque utilisateur du portail coulissant
 brochage={
     'bp_ext' : ['d',6,'i'],'bp_int' : ['d',5,'i'],
     'fdc_o' : ['a',1,'i'],'fdc_f' : ['a',0,'i'],
-    'mot_s' : ['d',4,'o'],'mot_v' : ['d',3,'o'],
+    'mot_v' : ['d',3,'o'], 'mot_s' : ['d',4,'o'],
     'gyr' : ['d',2,'o'],
     'ir_emet' : ['d',7,'o'],'ir_recep' : ['d',8,'i']}
 
@@ -102,12 +102,6 @@ def ouvrir():
 
 def commandes():
 
-    # jumeau(brochage)
-
-    # while True :    
-    #     gyr(True)
-    #     tempo(0.1) # Donne du temps à communication avec le jumeau réel
-
     # Mise en place : Fermeture
     print ("Version avec sécurité : avec réouverture si bouton ou capteur barrage")
     print ("Mise en place : Fermeture")
@@ -116,7 +110,7 @@ def commandes():
 
     # Jumelage
     print ("Attente")
-    # jumeau(brochage)
+    jumeau(brochage)
 
     # Fonctionnement normal
     while True :

portail_coulissant/test/porcou-arduino-i2c/StandardFirmata/StandardFirmata.ino

@@ -27,20 +27,20 @@
 #include <Wire.h>
 #include <Firmata.h>
 
-#define I2C_WRITE                   B00000000
-#define I2C_READ                    B00001000
-#define I2C_READ_CONTINUOUSLY       B00010000
-#define I2C_STOP_READING            B00011000
-#define I2C_READ_WRITE_MODE_MASK    B00011000
+#define I2C_WRITE B00000000
+#define I2C_READ B00001000
+#define I2C_READ_CONTINUOUSLY B00010000
+#define I2C_STOP_READING B00011000
+#define I2C_READ_WRITE_MODE_MASK B00011000
 #define I2C_10BIT_ADDRESS_MODE_MASK B00100000
-#define I2C_END_TX_MASK             B01000000
-#define I2C_STOP_TX                 1
-#define I2C_RESTART_TX              0
-#define I2C_MAX_QUERIES             8
-#define I2C_REGISTER_NOT_SPECIFIED  -1
+#define I2C_END_TX_MASK B01000000
+#define I2C_STOP_TX 1
+#define I2C_RESTART_TX 0
+#define I2C_MAX_QUERIES 8
+#define I2C_REGISTER_NOT_SPECIFIED -1
 
 // the minimum interval for sampling analog input
-#define MINIMUM_SAMPLING_INTERVAL   1
+#define MINIMUM_SAMPLING_INTERVAL 1
 
 
 /*==============================================================================
@@ -52,19 +52,19 @@ SerialFirmata serialFeature;
 #endif
 
 /* analog inputs */
-int analogInputsToReport = 0; // bitwise array to store pin reporting
+int analogInputsToReport = 0;  // bitwise array to store pin reporting
 
 /* digital input ports */
-byte reportPINs[TOTAL_PORTS];       // 1 = report this port, 0 = silence
-byte previousPINs[TOTAL_PORTS];     // previous 8 bits sent
+byte reportPINs[TOTAL_PORTS];    // 1 = report this port, 0 = silence
+byte previousPINs[TOTAL_PORTS];  // previous 8 bits sent
 
 /* pins configuration */
-byte portConfigInputs[TOTAL_PORTS]; // each bit: 1 = pin in INPUT, 0 = anything else
+byte portConfigInputs[TOTAL_PORTS];  // each bit: 1 = pin in INPUT, 0 = anything else
 
 /* timer variables */
-unsigned long currentMillis;        // store the current value from millis()
-unsigned long previousMillis;       // for comparison with currentMillis
-unsigned int samplingInterval = 19; // how often to run the main loop (in ms)
+unsigned long currentMillis;         // store the current value from millis()
+unsigned long previousMillis;        // for comparison with currentMillis
+unsigned int samplingInterval = 19;  // how often to run the main loop (in ms)
 
 /* i2c data */
 struct i2c_device_info {
@@ -95,11 +95,10 @@ boolean isResetting = false;
 // of the Arduino IDE.
 void setPinModeCallback(byte, int);
 void reportAnalogCallback(byte analogPin, int value);
-void sysexCallback(byte, byte, byte*);
+void sysexCallback(byte, byte, byte *);
 
 /* utility functions */
-void wireWrite(byte data)
-{
+void wireWrite(byte data) {
 #if ARDUINO >= 100
   Wire.write((byte)data);
 #else
@@ -107,8 +106,7 @@ void wireWrite(byte data)
 #endif
 }
 
-byte wireRead(void)
-{
+byte wireRead(void) {
 #if ARDUINO >= 100
   return Wire.read();
 #else
@@ -120,8 +118,7 @@ byte wireRead(void)
  * FUNCTIONS
  *============================================================================*/
 
-void attachServo(byte pin, int minPulse, int maxPulse)
-{
+void attachServo(byte pin, int minPulse, int maxPulse) {
   if (servoCount < MAX_SERVOS) {
     // reuse indexes of detached servos until all have been reallocated
     if (detachedServoCount > 0) {
@@ -141,8 +138,7 @@ void attachServo(byte pin, int minPulse, int maxPulse)
   }
 }
 
-void detachServo(byte pin)
-{
+void detachServo(byte pin) {
   servos[servoPinMap[pin]].detach();
   // if we're detaching the last servo, decrement the count
   // otherwise store the index of the detached servo
@@ -158,8 +154,7 @@ void detachServo(byte pin)
   servoPinMap[pin] = 255;
 }
 
-void enableI2CPins()
-{
+void enableI2CPins() {
   byte i;
   // is there a faster way to do this? would probaby require importing
   // Arduino.h to get SCL and SDA pins
@@ -189,7 +184,7 @@ void readAndReportData(byte address, int theRegister, byte numBytes, byte stopTX
   if (theRegister != I2C_REGISTER_NOT_SPECIFIED) {
     Wire.beginTransmission(address);
     wireWrite((byte)theRegister);
-    Wire.endTransmission(stopTX); // default = true
+    Wire.endTransmission(stopTX);  // default = true
     // do not set a value of 0
     if (i2cReadDelayTime > 0) {
       // delay is necessary for some devices such as WiiNunchuck
@@ -220,8 +215,7 @@ void readAndReportData(byte address, int theRegister, byte numBytes, byte stopTX
   Firmata.sendSysex(SYSEX_I2C_REPLY, numBytes + 2, i2cRxData);
 }
 
-void outputPort(byte portNumber, byte portValue, byte forceSend)
-{
+void outputPort(byte portNumber, byte portValue, byte forceSend) {
   // pins not configured as INPUT are cleared to zeros
   portValue = portValue & portConfigInputs[portNumber];
   // only send if the value is different than previously sent
@@ -234,8 +228,7 @@ void outputPort(byte portNumber, byte portValue, byte forceSend)
 /* -----------------------------------------------------------------------------
  * check all the active digital inputs for change of state, then add any events
  * to the Serial output queue using Serial.print() */
-void checkDigitalInputs(void)
-{
+void checkDigitalInputs(void) {
   /* Using non-looping code allows constants to be given to readPort().
    * The compiler will apply substantial optimizations if the inputs
    * to readPort() are compile-time constants. */
@@ -261,8 +254,7 @@ void checkDigitalInputs(void)
 /* sets the pin mode to the correct state and sets the relevant bits in the
  * two bit-arrays that track Digital I/O and PWM status
  */
-void setPinModeCallback(byte pin, int mode)
-{
+void setPinModeCallback(byte pin, int mode) {
   if (Firmata.getPinMode(pin) == PIN_MODE_IGNORE)
     return;
 
@@ -277,7 +269,7 @@ void setPinModeCallback(byte pin, int mode)
     }
   }
   if (IS_PIN_ANALOG(pin)) {
-    reportAnalogCallback(PIN_TO_ANALOG(pin), mode == PIN_MODE_ANALOG ? 1 : 0); // turn on/off reporting
+    reportAnalogCallback(PIN_TO_ANALOG(pin), mode == PIN_MODE_ANALOG ? 1 : 0);  // turn on/off reporting
   }
   if (IS_PIN_DIGITAL(pin)) {
     if (mode == INPUT || mode == PIN_MODE_PULLUP) {
@@ -291,10 +283,10 @@ void setPinModeCallback(byte pin, int mode)
     case PIN_MODE_ANALOG:
       if (IS_PIN_ANALOG(pin)) {
         if (IS_PIN_DIGITAL(pin)) {
-          pinMode(PIN_TO_DIGITAL(pin), INPUT);    // disable output driver
+          pinMode(PIN_TO_DIGITAL(pin), INPUT);  // disable output driver
 #if ARDUINO <= 100
           // deprecated since Arduino 1.0.1 - TODO: drop support in Firmata 2.6
-          digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups
+          digitalWrite(PIN_TO_DIGITAL(pin), LOW);  // disable internal pull-ups
 #endif
         }
         Firmata.setPinMode(pin, PIN_MODE_ANALOG);
@@ -302,10 +294,10 @@ void setPinModeCallback(byte pin, int mode)
       break;
     case INPUT:
       if (IS_PIN_DIGITAL(pin)) {
-        pinMode(PIN_TO_DIGITAL(pin), INPUT);    // disable output driver
+        pinMode(PIN_TO_DIGITAL(pin), INPUT);  // disable output driver
 #if ARDUINO <= 100
         // deprecated since Arduino 1.0.1 - TODO: drop support in Firmata 2.6
-        digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups
+        digitalWrite(PIN_TO_DIGITAL(pin), LOW);  // disable internal pull-ups
 #endif
         Firmata.setPinMode(pin, INPUT);
       }
@@ -357,7 +349,7 @@ void setPinModeCallback(byte pin, int mode)
 #endif
       break;
     default:
-      Firmata.sendString("Unknown pin mode"); // TODO: put error msgs in EEPROM
+      Firmata.sendString("Unknown pin mode");  // TODO: put error msgs in EEPROM
   }
   // TODO: save status to EEPROM here, if changed
 }
@@ -368,8 +360,7 @@ void setPinModeCallback(byte pin, int mode)
  * Can only be used on pins configured as OUTPUT.
  * Cannot be used to enable pull-ups on Digital INPUT pins.
  */
-void setPinValueCallback(byte pin, int value)
-{
+void setPinValueCallback(byte pin, int value) {
   if (pin < TOTAL_PINS && IS_PIN_DIGITAL(pin)) {
     if (Firmata.getPinMode(pin) == OUTPUT) {
       Firmata.setPinState(pin, value);
@@ -378,8 +369,7 @@ void setPinValueCallback(byte pin, int value)
   }
 }
 
-void analogWriteCallback(byte pin, int value)
-{
+void analogWriteCallback(byte pin, int value) {
   if (pin < TOTAL_PINS) {
     switch (Firmata.getPinMode(pin)) {
       case PIN_MODE_SERVO:
@@ -396,8 +386,7 @@ void analogWriteCallback(byte pin, int value)
   }
 }
 
-void digitalWriteCallback(byte port, int value)
-{
+void digitalWriteCallback(byte port, int value) {
   byte pin, lastPin, pinValue, mask = 1, pinWriteMask = 0;
 
   if (port < TOTAL_PORTS) {
@@ -436,11 +425,10 @@ void digitalWriteCallback(byte port, int value)
  */
 //void FirmataClass::setAnalogPinReporting(byte pin, byte state) {
 //}
-void reportAnalogCallback(byte analogPin, int value)
-{
+void reportAnalogCallback(byte analogPin, int value) {
   if (analogPin < TOTAL_ANALOG_PINS) {
     if (value == 0) {
-      analogInputsToReport = analogInputsToReport & ~ (1 << analogPin);
+      analogInputsToReport = analogInputsToReport & ~(1 << analogPin);
     } else {
       analogInputsToReport = analogInputsToReport | (1 << analogPin);
       // prevent during system reset or all analog pin values will be reported
@@ -456,8 +444,7 @@ void reportAnalogCallback(byte analogPin, int value)
   // TODO: save status to EEPROM here, if changed
 }
 
-void reportDigitalCallback(byte port, int value)
-{
+void reportDigitalCallback(byte port, int value) {
   if (port < TOTAL_PORTS) {
     reportPINs[port] = (byte)value;
     // Send port value immediately. This is helpful when connected via
@@ -477,8 +464,7 @@ void reportDigitalCallback(byte port, int value)
  * SYSEX-BASED commands
  *============================================================================*/
 
-void sysexCallback(byte command, byte argc, byte *argv)
-{
+void sysexCallback(byte command, byte argc, byte *argv) {
   byte mode;
   byte stopTX;
   byte slaveAddress;
@@ -492,8 +478,7 @@ void sysexCallback(byte command, byte argc, byte *argv)
       if (argv[1] & I2C_10BIT_ADDRESS_MODE_MASK) {
         Firmata.sendString("10-bit addressing not supported");
         return;
-      }
-      else {
+      } else {
         slaveAddress = argv[0];
       }
 
@@ -501,9 +486,8 @@ void sysexCallback(byte command, byte argc, byte *argv)
       // libraries that have not updated to add support for restart tx
       if (argv[1] & I2C_END_TX_MASK) {
         stopTX = I2C_RESTART_TX;
-      }
-      else {
-        stopTX = I2C_STOP_TX; // default
+      } else {
+        stopTX = I2C_STOP_TX;  // default
       }
 
       switch (mode) {
@@ -521,8 +505,7 @@ void sysexCallback(byte command, byte argc, byte *argv)
             // a slave register is specified
             slaveRegister = argv[2] + (argv[3] << 7);
             data = argv[4] + (argv[5] << 7);  // bytes to read
-          }
-          else {
+          } else {
             // a slave register is NOT specified
             slaveRegister = I2C_REGISTER_NOT_SPECIFIED;
             data = argv[2] + (argv[3] << 7);  // bytes to read
@@ -539,8 +522,7 @@ void sysexCallback(byte command, byte argc, byte *argv)
             // a slave register is specified
             slaveRegister = argv[2] + (argv[3] << 7);
             data = argv[4] + (argv[5] << 7);  // bytes to read
-          }
-          else {
+          } else {
             // a slave register is NOT specified
             slaveRegister = (int)I2C_REGISTER_NOT_SPECIFIED;
             data = argv[2] + (argv[3] << 7);  // bytes to read
@@ -644,7 +626,7 @@ void sysexCallback(byte command, byte argc, byte *argv)
         }
         if (IS_PIN_ANALOG(pin)) {
           Firmata.write(PIN_MODE_ANALOG);
-          Firmata.write(10); // 10 = 10-bit resolution
+          Firmata.write(10);  // 10 = 10-bit resolution
         }
         if (IS_PIN_PWM(pin)) {
           Firmata.write(PIN_MODE_PWM);
@@ -701,8 +683,7 @@ void sysexCallback(byte command, byte argc, byte *argv)
  * SETUP()
  *============================================================================*/
 
-void systemResetCallback()
-{
+void systemResetCallback() {
   isResetting = true;
 
   // initialize a defalt state
@@ -753,8 +734,7 @@ void systemResetCallback()
   isResetting = false;
 }
 
-void setup()
-{
+void setup() {
   Firmata.setFirmwareVersion(FIRMATA_FIRMWARE_MAJOR_VERSION, FIRMATA_FIRMWARE_MINOR_VERSION);
 
   Firmata.attach(ANALOG_MESSAGE, analogWriteCallback);
@@ -774,7 +754,7 @@ void setup()
 
   Firmata.begin(57600);
   while (!Serial) {
-    ; // wait for serial port to connect. Needed for ATmega32u4-based boards and Arduino 101
+    ;  // wait for serial port to connect. Needed for ATmega32u4-based boards and Arduino 101
   }
 
   systemResetCallback();  // reset to default config
@@ -783,8 +763,7 @@ void setup()
 /*==============================================================================
  * LOOP()
  *============================================================================*/
-void loop()
-{
+void loop() {
   byte pin, analogPin;
 
   /* DIGITALREAD - as fast as possible, check for changes and output them to the

portail_coulissant/test/shield_motor-test.py

@@ -0,0 +1,47 @@
+import pyfirmata
+import time
+
+###############################################################################
+# shield_motor-test :
+# @title:  Test de pilotage du moteur en pyFirmata par le shield moteur Arduino CC 4 x 1,2 A DRI0039 (DFROBOT)
+# @project: Blender-EduTech
+# @lang: fr
+# @authors: Philippe Roy <philippe.roy@ac-grenoble.fr>
+# @copyright: Copyright (C) 2024 Philippe Roy
+# @license: GNU GPL
+###############################################################################
+
+# Communication avec la carte Arduino
+# carte = pyfirmata.Arduino('COM3') # Windows
+carte = pyfirmata.Arduino('/dev/ttyACM0') # GNU/Linux
+print("Communication Carte Arduino établie")
+
+# Motor Direction(Forward/Backward)	Speed Speed range
+# M1 	4 	LOW 	HIGH 	        3 	0-255
+# M2 	12 	HIGH 	LOW 	        11 	0-255
+# M3 	8 	LOW 	HIGH 	        5 	0-255
+# M4	7 	HIGH 	LOW 	        6 	0-255
+
+mot_v = carte.get_pin('d:3:p') # Vitesse du M1 sur la broche D3 en PWM
+mot_s = carte.get_pin('d:4:o') # Sens du M1 sur la broche D4
+
+try :
+    while True: # Boucle infinie
+        print ("Moteur M1 sens LOW vitesse 255")
+        mot_s.write(0)
+        mot_v.write(1)
+        time.sleep(1)
+        print ("Moteur M1 sens LOW vitesse 0")
+        mot_s.write(0)
+        mot_v.write(0)
+        time.sleep(1)
+        print ("Moteur M1 sens HIGH vitesse 255/2")
+        mot_s.write(1)
+        mot_v.write(0.5)
+        time.sleep(1)
+        print ("Moteur M1 sens HIGH vitesse 0")
+        mot_s.write(0)
+        mot_v.write(0)
+        time.sleep(1)
+except :
+    carte.exit()