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https://forge.apps.education.fr/blender-edutech/ropy.git
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Jumeau numérique Maqueen configurable depuis Ropy
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11
rp_cmd.py
11
rp_cmd.py
@ -30,14 +30,15 @@ def commandes():
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# Ecrire votre code ici ...
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rp_jumeau('/dev/ttyACM0', 115200)
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# rp_jumeau_config("50", "50", "90") # (vitesse, temps_avancer, temps_rotation)
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rp_jumeau_config(50, 20, 90) # (vitesse, temps_avancer, temps_rotation)
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rp_tempo(1)
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rp_gauche()
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rp_marquer()
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# rp_marquer()
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rp_avancer()
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rp_marquer()
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rp_avancer()
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rp_marquer()
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# rp_marquer()
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# rp_avancer()
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# rp_marquer()
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rp_fin() # A garder
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29
rp_lib.py
29
rp_lib.py
@ -1106,6 +1106,7 @@ def rp_jumeau(port, speed):
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twins_serial = getSerialOrNone(port,speed)
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if twins_serial is not None:
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# twins_serial.set_buffer_size(rx_size = 12800, tx_size = 12800)
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scene.objects['Commands']['twins'] = True
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scene.objects['Commands']['twins_port'] = port
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scene.objects['Commands']['twins_speed'] = speed
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@ -1125,7 +1126,8 @@ def rp_jumeau(port, speed):
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def getSerialOrNone(port,speed):
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try:
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return serial.Serial(port,speed)
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# return serial.Serial(port,speed, bytesize=100)
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return serial.Serial(port,speed)
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except:
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return None
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@ -1135,12 +1137,29 @@ def rp_jumeau_close():
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scene.objects['Commands']['twins'] = False
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scene.objects['Points-Twins-text']['Text'] = "Connection\nfermée"
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# Configuration de la vitesse et des temps (deux caractères (0-99))
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def rp_jumeau_config(speed, temps_avancer, temps_rotation):
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# Configuration de la vitesse et des temps
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def rp_jumeau_config(speed, temps_avancer, temps_tourner):
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global twins_serial
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if scene.objects['Commands']['twins']:
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serial_msg = "CF"+str(speed)+str(temps_avancer)+str(temps_tourner)+"\n"
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twins_serial.write(serial_msg.encode())
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serial_msg1 = "CF\n"
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# print (serial_msg1)
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twins_serial.write(serial_msg1.encode())
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rp_tempo (1)
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serial_msg2 = str(speed)+"\n"
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# print (serial_msg2)
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twins_serial.write(serial_msg2.encode())
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rp_tempo (1)
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serial_msg2 = str(temps_avancer)+"\n"
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# print (serial_msg2)
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twins_serial.write(serial_msg2.encode())
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rp_tempo (1)
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serial_msg2 = str(temps_tourner)+"\n"
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# print (serial_msg2)
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twins_serial.write(serial_msg2.encode())
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rp_tempo (1)
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serial_msg1 = "FC\n"
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# print (serial_msg1)
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twins_serial.write(serial_msg1.encode())
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def rp_serie_msg(text):
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global twins_serial
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@ -19,7 +19,7 @@ import radio
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attente_image = Image("00000:00000:00300:00000:00000")
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display.show(attente_image) # Témoin de fonctionnement
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balise_image = Image("00300:03630:36963:03630:00300")
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radio.config(group=1, queue=1, length=8)
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radio.config(group=1, queue=4, length=8)
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radio.on()
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uart.init(baudrate= 115200) # Initialisation du port série
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@ -87,11 +87,21 @@ while True:
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# Configuration : CF
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if msg[0] ==67 and msg[1] ==70 : # Code ASCII : 67 (C) puis 70 (F)
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# display.scroll ("Configuration :", msg[2],msg[3], msg[4],msg[5], msg[6],msg[7])
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display.scroll ("Configuration :", msg[2:-1])
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radio.send(msg[:-1])
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sleep(10)
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# FIXME
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display.scroll ("CF")
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radio.send("CF")
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# Boucle d'écoute spécifique à la configuration
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while True:
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while not uart.any(): # Attente d'un message
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pass
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display.show(' ')
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msg = uart.readline()
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if msg[0] ==70 and msg[1] ==67 : # Code ASCII : 70 (F) puis 67 (C) -> sortie de la configuration
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break
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# display.scroll (msg[:-1])
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radio.send(str(msg[:-1]))
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# display.scroll ("FC")
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radio.send("FC")
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# Fin : FI
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if msg[0] ==70 and msg[1] ==73 : # Code ASCII : 70 (F) puis 73 (I)
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@ -2,6 +2,8 @@ from microbit import *
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from machine import *
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import music
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import radio
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import math
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import time
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###############################################################################
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# rp_maqueen-robot.py
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@ -19,97 +21,183 @@ import radio
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attente_image = Image("00000:00000:00900:00000:00000")
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display.show(attente_image) # Témoin de fonctionnement
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radio.config(group=1, queue=1, length=8)
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radio.config(group=1, queue=4, length=8)
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radio.on()
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# ###############################################################################
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# Boucle principale
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# ###############################################################################
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vitesse = 50
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distance = 50
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angle = 90
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v_avancer = 50
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v_tourner = 50
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v_tourner_faible = 25
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vmax_roue = 85.5 # Vitesse maxi des roues en tr/min
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diam_roue = 43 # Diamètre des roues en mm
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dist_essieu = 70 # Distance entre les roues en mm
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# ###############################################################################
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# Boucle principale
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# ###############################################################################
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while True:
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# Lecture de l'ordre
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ordre=radio.receive()
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# Avancer
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# Configuration
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if ordre=="CF":
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display.scroll("CF")
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i=1
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while True:
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conf=radio.receive()
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if conf=="FC": # Fin de la configuration
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# display.show(attente_image) # Témoin de fonctionnement
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break
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if conf is not None:
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if i != 1:
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text = str(i) + " : "+str(conf[2:-1])
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# display.scroll(text)
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if i == 2: # Configuration de la vitesse
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vitesse = int(str(conf[2:-1]))
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if i == 3: # Configuration de la distance
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distance = int(str(conf[2:-1]))
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if i == 4: # Configuration de l'angle
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angle = int(str(conf[2:-1]))
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i+=1
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# Avancer d'un pas
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if ordre=="AV":
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display.show(Image.ARROW_N)
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display.show(Image.ARROW_N) # Afficher flèche avancer
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pin8.write_digital(1) # Led avant gauche
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pin12.write_digital(1) # Led avant gauche
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i2c.write(0x10, bytearray([0x00, 0x0, v_avancer])) # Moteur gauche
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i2c.write(0x10, bytearray([0x02, 0x0, v_avancer])) # Moteur droit
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i2c.write(0x10, bytearray([0x00, 0x0, vitesse])) # Avance moteur gauche
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i2c.write(0x10, bytearray([0x02, 0x0, vitesse])) # Avance moteur droit
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v_roue=(vmax_roue/255)*vitesse
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v_lin = ((v_roue/60)*2*math.pi)*(diam_roue/2) # Vitesse linéaire
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time.sleep(distance/v_lin)
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i2c.write(0x10, bytearray([0x00, 0x0, 0])) # Stop moteur gauche
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i2c.write(0x10, bytearray([0x02, 0x0, 0])) # Stop moteur droit
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pin8.write_digital(0) # Led avant gauche
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pin12.write_digital(0) # Led avant gauche
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display.clear() # Effacer matrice de leds
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# display.show(Image.ARROW_N)
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# pin8.write_digital(1) # Led avant gauche
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# pin12.write_digital(1) # Led avant gauche
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# i2c.write(0x10, bytearray([0x00, 0x0, v_avancer])) # Moteur gauche
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# i2c.write(0x10, bytearray([0x02, 0x0, v_avancer])) # Moteur droit
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# Reculer
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if ordre=="RE":
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display.show(Image.ARROW_S)
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display.show(Image.ARROW_S) # Afficher flèche reculer
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pin8.write_digital(1) # Led avant gauche
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pin12.write_digital(1) # Led avant gauche
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i2c.write(0x10, bytearray([0x00, 0x1, v_avancer])) # Moteur gauche
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i2c.write(0x10, bytearray([0x02, 0x1, v_avancer])) # Moteur droit
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i2c.write(0x10, bytearray([0x00, 0x1, vitesse])) # Avance moteur gauche
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i2c.write(0x10, bytearray([0x02, 0x1, vitesse])) # Avance moteur droit
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v_roue=(vmax_roue/255)*vitesse
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v_lin = ((v_roue/60)*2*math.pi)*(diam_roue/2) # Vitesse linéaire
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time.sleep(distance/v_lin)
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i2c.write(0x10, bytearray([0x00, 0x0, 0])) # Stop moteur gauche
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i2c.write(0x10, bytearray([0x02, 0x0, 0])) # Stop moteur droit
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pin8.write_digital(0) # Led avant gauche
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pin12.write_digital(0) # Led avant gauche
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display.clear() # Effacer matrice de leds
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# display.show(Image.ARROW_S)
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# pin8.write_digital(1) # Led avant gauche
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# pin12.write_digital(1) # Led avant gauche
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# i2c.write(0x10, bytearray([0x00, 0x1, v_avancer])) # Moteur gauche
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# i2c.write(0x10, bytearray([0x02, 0x1, v_avancer])) # Moteur droit
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# Gauche
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if ordre=="GA":
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display.show(Image.ARROW_W)
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display.show(Image.ARROW_E)
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pin8.write_digital(1) # Led avant gauche
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pin12.write_digital(0) # Led avant droit
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i2c.write(0x10, bytearray([0x00, 0x0, 0])) # Moteur gauche
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i2c.write(0x10, bytearray([0x02, 0x0, v_tourner])) # Moteur droit
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i2c.write(0x10, bytearray([0x00, 0x1, vitesse])) # Avance moteur gauche
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i2c.write(0x10, bytearray([0x02, 0x0, vitesse])) # Avance moteur droit
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v_roue=(vmax_roue/255)*vitesse
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v_lin = ((v_roue/60)*2*math.pi)*(diam_roue/2) # Vitesse linéaire
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angle2=(angle/4)*(2*math.pi/360)
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time.sleep((dist_essieu*angle2)/v_lin)
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i2c.write(0x10, bytearray([0x00, 0x0, 0])) # Stop moteur gauche
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i2c.write(0x10, bytearray([0x02, 0x0, 0])) # Stop moteur droit
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pin8.write_digital(0) # Led avant gauche
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display.clear() # Effacer matrice de leds
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# display.show(Image.ARROW_W)
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# pin8.write_digital(1) # Led avant gauche
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# pin12.write_digital(0) # Led avant droit
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# i2c.write(0x10, bytearray([0x00, 0x0, 0])) # Moteur gauche
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# i2c.write(0x10, bytearray([0x02, 0x0, v_tourner])) # Moteur droit
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# Avancer + gauche
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if ordre=="AG":
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display.show(Image.ARROW_W)
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pin8.write_digital(1) # Led avant gauche
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pin12.write_digital(0) # Led avant droit
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i2c.write(0x10, bytearray([0x00, 0x0, v_tourner_faible])) # Moteur gauche
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i2c.write(0x10, bytearray([0x02, 0x0, v_tourner])) # Moteur droit
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# if ordre=="AG":
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# display.show(Image.ARROW_W)
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# pin8.write_digital(1) # Led avant gauche
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# pin12.write_digital(0) # Led avant droit
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# i2c.write(0x10, bytearray([0x00, 0x0, v_tourner_faible])) # Moteur gauche
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# i2c.write(0x10, bytearray([0x02, 0x0, v_tourner])) # Moteur droit
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# Reculer + gauche
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if ordre=="RG":
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display.show(Image.ARROW_W)
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pin8.write_digital(1) # Led avant gauche
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pin12.write_digital(0) # Led avant droit
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i2c.write(0x10, bytearray([0x00, 0x1, v_tourner_faible])) # Moteur gauche
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i2c.write(0x10, bytearray([0x02, 0x1, v_tourner])) # Moteur droit
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# if ordre=="RG":
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# display.show(Image.ARROW_W)
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# pin8.write_digital(1) # Led avant gauche
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# pin12.write_digital(0) # Led avant droit
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# i2c.write(0x10, bytearray([0x00, 0x1, v_tourner_faible])) # Moteur gauche
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# i2c.write(0x10, bytearray([0x02, 0x1, v_tourner])) # Moteur droit
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# Droite
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if ordre=="DR":
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display.show(Image.ARROW_E)
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pin8.write_digital(0) # Led avant gauche
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display.show(Image.ARROW_W)
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pin12.write_digital(1) # Led avant droit
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i2c.write(0x10, bytearray([0x00, 0x0, v_tourner])) # Moteur gauche
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i2c.write(0x10, bytearray([0x02, 0x0, 0])) # Moteur droit
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i2c.write(0x10, bytearray([0x00, 0x0, vitesse])) # Avance moteur gauche
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i2c.write(0x10, bytearray([0x02, 0x1, vitesse])) # Avance moteur droit
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v_roue=(vmax_roue/255)*vitesse
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v_lin = ((v_roue/60)*2*math.pi)*(diam_roue/2) # Vitesse linéaire
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angle2=(angle/4)*(2*math.pi/360)
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time.sleep((dist_essieu*angle2)/v_lin)
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i2c.write(0x10, bytearray([0x00, 0x0, 0])) # Stop moteur gauche
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i2c.write(0x10, bytearray([0x02, 0x0, 0])) # Stop moteur droit
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pin12.write_digital(0) # Led avant droit
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display.clear() # Effacer matrice de leds
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# display.show(Image.ARROW_E)
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# pin8.write_digital(0) # Led avant gauche
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# pin12.write_digital(1) # Led avant droit
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# i2c.write(0x10, bytearray([0x00, 0x0, v_tourner])) # Moteur gauche
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# i2c.write(0x10, bytearray([0x02, 0x0, 0])) # Moteur droit
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# Avancer + droite
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if ordre=="AD":
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display.show(Image.ARROW_W)
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pin8.write_digital(1) # Led avant gauche
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pin12.write_digital(0) # Led avant droit
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i2c.write(0x10, bytearray([0x00, 0x0, v_tourner])) # Moteur gauche
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i2c.write(0x10, bytearray([0x02, 0x0, v_tourner_faible])) # Moteur droit
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# if ordre=="AD":
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# display.show(Image.ARROW_W)
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# pin8.write_digital(1) # Led avant gauche
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# pin12.write_digital(0) # Led avant droit
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# i2c.write(0x10, bytearray([0x00, 0x0, v_tourner])) # Moteur gauche
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# i2c.write(0x10, bytearray([0x02, 0x0, v_tourner_faible])) # Moteur droit
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# Reculer + droite
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if ordre=="RD":
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display.show(Image.ARROW_W)
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pin8.write_digital(1) # Led avant gauche
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pin12.write_digital(0) # Led avant droit
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i2c.write(0x10, bytearray([0x00, 0x1, v_tourner])) # Moteur gauche
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i2c.write(0x10, bytearray([0x02, 0x1, v_tourner_faible])) # Moteur droit
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# if ordre=="RD":
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# display.show(Image.ARROW_W)
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# pin8.write_digital(1) # Led avant gauche
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# pin12.write_digital(0) # Led avant droit
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# i2c.write(0x10, bytearray([0x00, 0x1, v_tourner])) # Moteur gauche
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# i2c.write(0x10, bytearray([0x02, 0x1, v_tourner_faible])) # Moteur droit
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# Stop
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if ordre=="ST":
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display.show(attente_image) # Témoin de fonctionnement
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pin8.write_digital(0) # Led avant gauche
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pin12.write_digital(0) # Led avant droit
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i2c.write(0x10, bytearray([0x00, 0x0, 0]))
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i2c.write(0x10, bytearray([0x02, 0x1, 0]))
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# if ordre=="ST":
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# display.show(attente_image) # Témoin de fonctionnement
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# pin8.write_digital(0) # Led avant gauche
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# pin12.write_digital(0) # Led avant droit
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# i2c.write(0x10, bytearray([0x00, 0x0, 0]))
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# i2c.write(0x10, bytearray([0x02, 0x1, 0]))
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# Cadencement
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# sleep(100)
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