First commit

IUT/Saé/PHASE5_P5/PHASE5_P5pdsprj.pdsprj.MSI.noamh.workspace

@@ -0,0 +1,56 @@
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+<WORKSPACE>
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+   </POPUP>
+  </PWI>
+ </MODULE>
+</WORKSPACE>

IUT/Saé/Phase 2/Carte Alim.pdsprj.MSI.noamh.workspace

@@ -0,0 +1,30 @@
+<?xml version='1.0' encoding='UTF-8' standalone='yes'?>
+<WORKSPACE>
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+ <MODULE name="VSMDEBUG">
+  <PWI/>
+ </MODULE>
+</WORKSPACE>

IUT/Saé/Phase6/Driver_2Moteur.pdsprj.MSI.noamh.workspace

@@ -0,0 +1,59 @@
+<?xml version='1.0' encoding='UTF-8' standalone='yes'?>
+<WORKSPACE>
+ <FRAME activewindow="1">
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+ <MODULE name="VSMDEBUG">
+  <PWI>
+   <POPUP w="800" x="38" flags="00000002" y="129" h="200" pid="0" iid="-1">
+    <PROPERTIES>
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+     <ITEM name="Version">100</ITEM>
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+   </POPUP>
+   <POPUP w="350" x="58" flags="00000032" y="149" h="200" pid="1" iid="-1">
+    <PROPERTIES>
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+     <ITEM name="Gridlines">Yes</ITEM>
+     <ITEM name="ShowAddresses">Yes</ITEM>
+     <ITEM name="ShowPreviousValues">No</ITEM>
+     <ITEM name="ShowTypes">No</ITEM>
+     <ITEM name="ShowWatchPoint">Yes</ITEM>
+     <ITEM name="TriggerMode">0</ITEM>
+     <ITEM name="Version">100</ITEM>
+     <ITEM name="nItems">0</ITEM>
+    </PROPERTIES>
+   </POPUP>
+  </PWI>
+ </MODULE>
+</WORKSPACE>

IUT/Saé/Phase6/Driver_2Moteur2.pdsprj.MSI.noamh.workspace

@@ -0,0 +1,37 @@
+<?xml version='1.0' encoding='UTF-8' standalone='yes'?>
+<WORKSPACE>
+ <FRAME activewindow="0">
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+    <centre x="0" y="0"/>
+    <origin x="0" y="0"/>
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+  <WINDOW type="default" module="ARES">
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+    <centre x="3300000" y="-2375000"/>
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+  </WINDOW>
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+ <MODULE name="ARES">
+  <editor metric="1" gridmajor="1000000" mode="00000000" zoom="-1" scale="312" flipped="0" gridminor="200000" gridmode="32" snapidx="0" snap="10000" xcursor="0" orgmode="0" snaprange="40705">
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+ <MODULE name="ISIS">
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+   <origin x="0" y="0"/>
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+ </MODULE>
+ <MODULE name="VSMDEBUG">
+  <PWI/>
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+</WORKSPACE>

IUT/Saé/robot arduino/.vscode/tasks.json

@@ -0,0 +1,28 @@
+{
+    "tasks": [
+        {
+            "type": "cppbuild",
+            "label": "C/C++: gcc.exe build active file",
+            "command": "C:\\msys64\\ucrt64\\bin\\gcc.exe",
+            "args": [
+                "-fdiagnostics-color=always",
+                "-g",
+                "${file}",
+                "-o",
+                "${fileDirname}\\${fileBasenameNoExtension}.exe"
+            ],
+            "options": {
+                "cwd": "${fileDirname}"
+            },
+            "problemMatcher": [
+                "$gcc"
+            ],
+            "group": {
+                "kind": "build",
+                "isDefault": true
+            },
+            "detail": "Task generated by Debugger."
+        }
+    ],
+    "version": "2.0.0"
+}

IUT/Saé/robot arduino/capteur/capteur.ino/capteur.ino.ino

@@ -0,0 +1,12 @@
+#define trigger_pin 9
+#define echo_pin 8
+
+void setup() {
+  // put your setup code here, to run once:
+
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+
+}

IUT/Saé/robot arduino/ino/main/main.ino

@@ -0,0 +1,131 @@
+// ;  Pins capteurs de couleur
+#define DROITE A0
+#define GAUCHE A1
+
+
+
+
+// Pins carte de commande (moteur n°1)
+#define PWM_GAUCHE  5
+#define SENS_GAUCHE 4
+//                        (moteur n°2)
+#define PWM_DROIT   6
+#define SENS_DROIT  7
+
+#define SIZE 60
+
+unsigned int droite;
+unsigned int gauche;
+unsigned int cpt;
+
+unsigned int queue_droite[SIZE];
+unsigned int queue_gauche[SIZE];
+
+unsigned int c= 0;
+
+void setup() {
+
+
+    cpt = 0;
+
+
+    // Capteur
+    pinMode(GAUCHE, INPUT);
+    pinMode(DROITE, INPUT);
+
+
+    // Carte Commande
+    pinMode(PWM_GAUCHE, OUTPUT);
+    pinMode(SENS_GAUCHE, OUTPUT);
+    pinMode(PWM_DROIT, OUTPUT);
+    pinMode(SENS_DROIT, OUTPUT);
+
+
+    // Affichage série
+    Serial.begin(115200);
+}
+
+
+void loop() {
+    c++;
+    // Lecture capteur de couleur
+    gauche = analogRead(GAUCHE);
+    droite = analogRead(DROITE);
+
+    /*  Zone noires, avancer
+     *  Le robot est sur la ligne
+     */
+    if(gauche > 700 && droite > 700)
+      {
+          vitesseGauche(180);
+          vitesseDroit(180);
+      }
+
+
+    /* Capteur gauche --> blanc : tourner à droite
+     *  Le robot est à gauche de la ligne
+     */
+    if(gauche < 200 && droite > 700)
+      {
+          vitesseGauche(150*0.9);
+          vitesseDroit(-70);
+      }
+
+
+    /* Capteur droit --> blanc : tourner à gauche
+     *  Le robot est à droite de la ligne
+     */
+    if(gauche > 700 && droite < 200)
+      {
+          vitesseGauche(-70);
+          vitesseDroit(150);
+      }  
+
+
+    /* Bleu : demi tour et arret=*/
+    if(gauche > 380 && gauche < 570 && droite > 380 && droite < 570)
+      {
+        if (cpt == 0) {
+            demiTour();
+            cpt = 1;
+        } else if (cpt == 1) {
+            vitesseDroit(0);
+            vitesseGauche(0);
+        }
+          
+      }
+}
+
+
+// Controle du sens et de la vitesse du moteur Gauche
+void vitesseGauche(int vitesse) {
+    if (vitesse >= 0) {
+        digitalWrite(SENS_GAUCHE, HIGH);
+        analogWrite(PWM_GAUCHE, vitesse);
+    } else {
+        digitalWrite(SENS_GAUCHE, LOW);
+        analogWrite(PWM_GAUCHE, -vitesse);
+    }
+}
+
+
+// Controle du sens et de la vitesse du moteur Droit
+void vitesseDroit(int vitesse) {
+    if (vitesse >= 0) {
+        digitalWrite(SENS_DROIT, HIGH);
+        analogWrite(PWM_DROIT, vitesse);
+    } else {
+        digitalWrite(SENS_DROIT, LOW);
+        analogWrite(PWM_DROIT, -vitesse);
+    }
+}
+
+
+void demiTour() {
+    while(gauche < 700) {
+        gauche = analogRead(GAUCHE);
+        vitesseDroit(180);
+        vitesseGauche(-180);
+    }
+}
+

IUT/Saé/robot arduino/main.c

@@ -0,0 +1,19 @@
+#include "stdio.h"
+#include "main.h"
+
+
+unsigned int queue_droite[SIZE];
+unsigned int queue_gauche[SIZE];
+
+int main() {
+
+    
+    for (unsigned int i = 0; i<60; i++) {
+        push(i, queue_droite);
+        printf("%d, %d\n", queue_droite[0], queue_droite[29]);
+    }
+
+    return 0;
+}
+
+

IUT/Saé/robot arduino/main.h

@@ -0,0 +1,12 @@
+#define SIZE 30
+
+void push(int value, unsigned int *queue) {
+
+  // décaler les valeurs vers la droite
+  for(int i = SIZE - 1; i > 0; i--) {
+    queue[i] = queue[i - 1];
+  }
+
+  // mettre la nouvelle valeur au début
+  queue[0] = value;
+}