mirror of
https://github.com/RobotechLille/cdf2018-principal
synced 2024-04-27 09:56:43 +00:00
137 lines
3.4 KiB
C++
137 lines
3.4 KiB
C++
#include "Arduino.h"
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#include "AX12A.h"
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#include <Servo.h>
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#define DirectionPin 2
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#define BaudRate 1000000
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#define ID 14
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Servo servoLoquet;
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Servo servoPositionBalle;
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Servo servoPoussoir;
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int pinservoLoquet = 7;
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int pinservoPositionBalle = 8;
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int pinservoPoussoir = 6;
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int relai_IN1 = 9;
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int relai_IN2 = 10;
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int pos_initial = 512;
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int pos_max = 960;
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int pos_min = 40;
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char lettre;
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void setup()
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{
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Serial.begin(9600);
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ax12a.begin(BaudRate, DirectionPin, &Serial1);
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servoLoquet.attach(pinservoLoquet);
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servoPositionBalle.attach(pinservoPositionBalle);
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servoPoussoir.attach(pinservoPoussoir);
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pinMode(relai_IN1, OUTPUT);
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pinMode(relai_IN2, OUTPUT);
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}
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void barilletUnCran()
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{
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ax12a.setEndless(ID, ON);
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ax12a.turn(ID, LEFT, 1224);
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delay(978);
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ax12a.turn(ID, LEFT, 200);
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delay(100);
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ax12a.turn(ID, LEFT, 1224);
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delay(100);
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ax12a.turn(ID, LEFT, 0);
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}
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void barilletDeuxCrans()
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{
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ax12a.setEndless(ID, ON);
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ax12a.turn(ID, LEFT, 1224);
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delay(1955);
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ax12a.turn(ID, LEFT, 200);
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delay(100);
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ax12a.turn(ID, LEFT, 1224);
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delay(100);
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ax12a.turn(ID, LEFT, 0);
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}
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void loop()
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{
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if (Serial.available()) { // Si le port reçoit une donnée
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lettre = Serial.read(); // On lit l'octet et on l'effacera
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bool codeInconnu = false;
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switch (lettre) {
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case 'L': // Ouverture loquet
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servoLoquet.write(100);
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delay(500);
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break;
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case 'F': // Fermeture loquet
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servoLoquet.write(0);
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delay(500);
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break;
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case 'A': // Position attente balle
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servoPositionBalle.write(70);
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delay(500);
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break;
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case 'V': // Position évacuation balle
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servoPositionBalle.write(0);
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delay(500);
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break;
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case 'J': // Position ejection balle
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servoPositionBalle.write(180);
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delay(500);
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break;
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case 'O': // Pousser balle
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// Position basse
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servoPoussoir.write(0);
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delay(500);
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// Position haute
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servoPoussoir.write(120);
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delay(1000);
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break;
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case 'B': // Tourner barillet d'un cran
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barilletUnCran();
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break;
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case 'H': // Tourner de deux crans
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barilletDeuxCrans();
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break;
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case 'R': // Reset barillet
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// ax12a.setEndless(ID, OFF);
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ax12a.setEndless(ID, ON);
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ax12a.turn(ID, LEFT, 0);
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ax12a.setEndless(ID, OFF);
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ax12a.move(ID, pos_initial);
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delay(500);
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break;
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case 'T': // Propulsion on
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digitalWrite(relai_IN1, HIGH);
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digitalWrite(relai_IN2, LOW);
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//delay(4000);
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break;
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case 'U': // Propulsion off
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digitalWrite(relai_IN1, LOW);
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digitalWrite(relai_IN2, HIGH);
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//delay(4000);
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break;
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case 'P': // Ping
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break;
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default:
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codeInconnu = true;
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}
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if (codeInconnu) {
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Serial.write('E');
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Serial.write('C');
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} else {
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Serial.write(lettre);
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}
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}
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}
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