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//Définition des ports pour controler les moteurs
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//Moteur gauche :
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#define IN1a 27
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#define IN2a 14
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#define IN3a 12
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#define IN4a 13
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//Moteur droit :
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#define IN1b 5
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#define IN2b 18
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#define IN3b 19
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#define IN4b 21
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//Temps d'attente entre deux impulsions :
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int delayTime = 2;
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//Code éxécuté au démarrage (paramétrage) :
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void setup() {
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//On indique que les ports de controle des moteurs sont des sorties (output)
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pinMode(IN1a, OUTPUT);
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pinMode(IN2a, OUTPUT);
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pinMode(IN3a, OUTPUT);
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pinMode(IN4a, OUTPUT);
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pinMode(IN1b, OUTPUT);
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pinMode(IN2b, OUTPUT);
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pinMode(IN3b, OUTPUT);
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pinMode(IN4b, OUTPUT);
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Serial.begin(115200); //Démarrage d'une communication Série avec l'ordinateur s'il est connecté
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//commande
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for (int i=0; i<2; i++){
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int rotation_steps = convertRotToSteps(90);
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for (int j=0; j<(convertLengthToSteps(200)); j++){
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forward();
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}
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for (int j=0; j<rotation_steps; j++){
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left();
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}
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for (int j=0; j<convertLengthToSteps(150); j++){
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forward();
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}
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for (int j=0; j<rotation_steps; j++){
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left();
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}
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}
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stopMotors();
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}
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//Code éxécuté en boucle jusqu'à l'extinction du robot
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void loop() {
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}
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//Fonction pour convertir une longueur en cm vers un nombre de pas moteur.
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int convertLengthToSteps(float length){
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float result = length*512/(4*3.1415);
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return int(result);
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}
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//fonction pour convertir une rotation en degrés vers un nombre de pas moteur
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int convertRotToSteps(int rotation){
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int result = convertLengthToSteps(rotation*3.1415/180*7.8);
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return result;
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}
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void forward(){
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digitalWrite(IN4a, HIGH);
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digitalWrite(IN3a, LOW);
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digitalWrite(IN2a, LOW);
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digitalWrite(IN1a, LOW);
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digitalWrite(IN4b, LOW);
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digitalWrite(IN3b, LOW);
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digitalWrite(IN2b, LOW);
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digitalWrite(IN1b, HIGH);
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delay(delayTime);
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digitalWrite(IN4a, LOW);
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digitalWrite(IN3a, HIGH);
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digitalWrite(IN2a, LOW);
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digitalWrite(IN1a, LOW);
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digitalWrite(IN4b, LOW);
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digitalWrite(IN3b, LOW);
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digitalWrite(IN2b, HIGH);
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digitalWrite(IN1b, LOW);
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delay(delayTime);
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digitalWrite(IN4a, LOW);
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digitalWrite(IN3a, LOW);
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digitalWrite(IN2a, HIGH);
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digitalWrite(IN1a, LOW);
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digitalWrite(IN4b, LOW);
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digitalWrite(IN3b, HIGH);
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digitalWrite(IN2b, LOW);
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digitalWrite(IN1b, LOW);
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delay(delayTime);
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digitalWrite(IN4a, LOW);
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digitalWrite(IN3a, LOW);
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digitalWrite(IN2a, LOW);
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digitalWrite(IN1a, HIGH);
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digitalWrite(IN4b, HIGH);
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digitalWrite(IN3b, LOW);
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digitalWrite(IN2b, LOW);
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digitalWrite(IN1b, LOW);
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delay(delayTime);
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}
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void backward(){
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digitalWrite(IN4a, LOW);
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digitalWrite(IN3a, LOW);
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digitalWrite(IN2a, LOW);
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digitalWrite(IN1a, HIGH);
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digitalWrite(IN4b, HIGH);
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digitalWrite(IN3b, LOW);
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digitalWrite(IN2b, LOW);
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digitalWrite(IN1b, LOW);
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delay(delayTime);
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digitalWrite(IN4a, LOW);
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digitalWrite(IN3a, LOW);
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digitalWrite(IN2a, HIGH);
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digitalWrite(IN1a, LOW);
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digitalWrite(IN4b, LOW);
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digitalWrite(IN3b, HIGH);
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digitalWrite(IN2b, LOW);
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digitalWrite(IN1b, LOW);
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delay(delayTime);
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digitalWrite(IN4a, LOW);
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digitalWrite(IN3a, HIGH);
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digitalWrite(IN2a, LOW);
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digitalWrite(IN1a, LOW);
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digitalWrite(IN4b, LOW);
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digitalWrite(IN3b, LOW);
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digitalWrite(IN2b, HIGH);
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digitalWrite(IN1b, LOW);
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delay(delayTime);
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digitalWrite(IN4a, HIGH);
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digitalWrite(IN3a, LOW);
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digitalWrite(IN2a, LOW);
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digitalWrite(IN1a, LOW);
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digitalWrite(IN4b, LOW);
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digitalWrite(IN3b, LOW);
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digitalWrite(IN2b, LOW);
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digitalWrite(IN1b, HIGH);
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delay(delayTime);
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}
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void right(){
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digitalWrite(IN4a, HIGH);
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digitalWrite(IN3a, LOW);
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digitalWrite(IN2a, LOW);
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digitalWrite(IN1a, LOW);
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digitalWrite(IN4b, HIGH);
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digitalWrite(IN3b, LOW);
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digitalWrite(IN2b, LOW);
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digitalWrite(IN1b, LOW);
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delay(delayTime);
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digitalWrite(IN4a, LOW);
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digitalWrite(IN3a, HIGH);
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digitalWrite(IN2a, LOW);
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digitalWrite(IN1a, LOW);
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digitalWrite(IN4b, LOW);
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digitalWrite(IN3b, HIGH);
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digitalWrite(IN2b, LOW);
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digitalWrite(IN1b, LOW);
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delay(delayTime);
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digitalWrite(IN4a, LOW);
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digitalWrite(IN3a, LOW);
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digitalWrite(IN2a, HIGH);
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digitalWrite(IN1a, LOW);
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digitalWrite(IN4b, LOW);
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digitalWrite(IN3b, LOW);
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digitalWrite(IN2b, HIGH);
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digitalWrite(IN1b, LOW);
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delay(delayTime);
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digitalWrite(IN4a, LOW);
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digitalWrite(IN3a, LOW);
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digitalWrite(IN2a, LOW);
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digitalWrite(IN1a, HIGH);
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digitalWrite(IN4b, LOW);
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digitalWrite(IN3b, LOW);
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digitalWrite(IN2b, LOW);
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digitalWrite(IN1b, HIGH);
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delay(delayTime);
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}
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void left(){
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digitalWrite(IN4a, LOW);
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digitalWrite(IN3a, LOW);
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digitalWrite(IN2a, LOW);
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digitalWrite(IN1a, HIGH);
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digitalWrite(IN4b, LOW);
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digitalWrite(IN3b, LOW);
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digitalWrite(IN2b, LOW);
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digitalWrite(IN1b, HIGH);
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delay(delayTime);
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digitalWrite(IN4a, LOW);
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digitalWrite(IN3a, LOW);
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digitalWrite(IN2a, HIGH);
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digitalWrite(IN1a, LOW);
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digitalWrite(IN4b, LOW);
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digitalWrite(IN3b, LOW);
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digitalWrite(IN2b, HIGH);
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digitalWrite(IN1b, LOW);
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delay(delayTime);
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digitalWrite(IN4a, LOW);
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digitalWrite(IN3a, HIGH);
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digitalWrite(IN2a, LOW);
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digitalWrite(IN1a, LOW);
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digitalWrite(IN4b, LOW);
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digitalWrite(IN3b, HIGH);
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digitalWrite(IN2b, LOW);
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digitalWrite(IN1b, LOW);
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delay(delayTime);
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digitalWrite(IN4a, HIGH);
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digitalWrite(IN3a, LOW);
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digitalWrite(IN2a, LOW);
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digitalWrite(IN1a, LOW);
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digitalWrite(IN4b, HIGH);
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digitalWrite(IN3b, LOW);
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digitalWrite(IN2b, LOW);
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digitalWrite(IN1b, LOW);
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delay(delayTime);
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}
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void stopMotors(void) {
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digitalWrite(IN4a, LOW);
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digitalWrite(IN3a, LOW);
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digitalWrite(IN2a, LOW);
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digitalWrite(IN1a, LOW);
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digitalWrite(IN4b, LOW);
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digitalWrite(IN3b, LOW);
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digitalWrite(IN2b, LOW);
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digitalWrite(IN1b, LOW);
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}
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