codearduino.rtf

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\f0\fs24 \cf0 // Constants moteurs\
const int enableBridge = 2;\
const int MotorForward = 3;\
const int MotorReverse = 5;\
\
// Variables pour HC-SR04\
const int Echo_in_pin = 2; \
const int Trig_out_pin = 3;\
float Dist_mm=0.0;\
\
// Param\'e8tres led\
const int LED_r=5;  \
const int LED_g=6;  \
const int LED_b=7; \
\
// Vitesse du son (mm/us) \
const double Speed_sound = 340.0e-3;\
\
// Variables\
int Power = 80; //Motor velocity between 0 and 255\
\
void setup()\{\
 // Initialisation HC-SR04\
  pinMode(Trig_out_pin, OUTPUT);\
  pinMode(Echo_in_pin, INPUT);\
  digitalWrite(Trig_out_pin, LOW);\
  /////////////////////\
  // Init interface s\'e9rie \
    Serial.begin(115200); \
  //moteur\
  dcBegin();\
\
    // LEDs \
    pinMode(LED_r,OUTPUT);\
    pinMode(LED_g,OUTPUT);\
    pinMode(LED_b,OUTPUT);\
    digitalWrite(LED_r, LOW);\
    digitalWrite(LED_g, LOW);\
    digitalWrite(LED_b, LOW);\
  //////////////////////\
\
  \
\}\
\
void loop()\{\
  /*+++++++++++++++++++++++++++++++++++++*/\
         \
\
    /* Mesure de la distance */ \
    Dist_mm=GetDisCM( Echo_in_pin,  Trig_out_pin,  Speed_sound); // Valeur brute \
    //Dist_mm=GetMean(8,  Echo_in_pin,  Trig_out_pin,  Speed_sound); // Valeur moyenne \
\
    /* Affichage de la distance */\
    Serial.println(Dist_mm); \
    \
    /* Activation des LEDs */\
    SetLED(Dist_mm, LED_r, LED_g, LED_b);\
\
	 if (Dist_mm > 500)\{\
    dcForward(Power);\
    delay(2000);\
  \}else\{\
    dcReverse(Power);\
    delay(3000);\
	dcStop();\
    delay(1000);\
  \}\
    \
    \
\}\
\
\
 /*++++++++++++++++++++++++++++++++++++++*/\
\
\
// Calcul de la distance en mm \
float GetDisCM(int Echo_in_pinn, int Trig_out_pinn, double Speed_soundd)\
\{\
  float Dist_milm=0.0;\
  long HC_val=0; \
  \
  // D\'e9clanchement mesure avec l'envoie d'une impulsion de 10\'b5s\
  digitalWrite(Trig_out_pin, HIGH);\
  delayMicroseconds(10);\
  digitalWrite(Trig_out_pin, LOW);\
  \
  // Lecture du temps aller/retour de l'onde \
  HC_val = pulseIn(Echo_in_pin, HIGH, 30000);\
    \
  // Calcul de distance d(mm), V=d/t==> v*t \
  // Le coefficnet 2 pour la distance aller\
  Dist_milm = (HC_val/2.0) * Speed_sound; \
\
  return Dist_milm;\
\} \
\
// Valeur Moyenne \
float GetMean(long Taille, int Echo_in_pinn, int Trig_out_pinn, double Speed_soundd)\
\{\
  long i;\
  float Distance_tmp, Mean_val=0.0,Somme=0.0; \
  for(i=0; i<Taille; i++)\
  \{\
    Distance_tmp=GetDisCM( Echo_in_pinn,  Trig_out_pinn,  Speed_soundd);\
    Somme=Somme+Distance_tmp; \
  \}\
  Mean_val=Somme/Taille; \
  return Mean_val;\
\}\
\
void SetLED(float Dist_mmm, int LED_rr, int LED_gg, int LED_bb)\
\{\
    if((Dist_mmm < 500) && (Dist_mmm != 0.0))\
    \{\
      digitalWrite(LED_rr, HIGH);\
      digitalWrite(LED_gg, HIGH);\
      digitalWrite(LED_bb, HIGH);\
      delay(floor(Dist_mmm));\
      digitalWrite(LED_rr, LOW);\
      digitalWrite(LED_gg, LOW);\
      digitalWrite(LED_bb, LOW);\
      delay(floor(Dist_mmm));\
    \}  \
\}\
\
\
\
void dcBegin()\{\
  // Initialise les pines utilis\'e9es pour le moteur\
  pinMode(MotorForward,OUTPUT);\
  pinMode(MotorReverse,OUTPUT);\
  pinMode(enableBridge,OUTPUT);\
  \}\
void dcForward(int P)\{\
  digitalWrite(enableBridge,HIGH); // Active pont en H\
  // Tourne dans le sens Forward \'e0 la vitesse sp\'e9cifi\'e9e par P\
  analogWrite(MotorForward,P);\
  analogWrite(MotorReverse,0);\
\}\
\
void dcReverse(int P)\{\
  digitalWrite(enableBridge,HIGH); // Active pont en H\
  // Tourne dans le sens Reverse \'e0 la vitesse sp\'e9cifi\'e9e par P\
  analogWrite(MotorForward,0);\
  analogWrite(MotorReverse,P);\
\}\
\
void dcStop()\{\
  // Arr\'eate le moteur et d\'e9sactive le pont en H\
  analogWrite(MotorForward,0);\
  analogWrite(MotorReverse,0);\
  digitalWrite(enableBridge,LOW); \
\}\
  }