From cf4b546b54d99f18e800a25827492f0966ac5e47 Mon Sep 17 00:00:00 2001
From: sblas <simon.blas@polytech-lille.net>
Date: Tue, 15 May 2018 22:03:56 +0200
Subject: [PATCH] Ajout du programme pour le guidage du robot

---
 Programme_arduino_robot | 202 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 202 insertions(+), 0 deletions(-)
 create mode 100644 Programme_arduino_robot

diff --git a/Programme_arduino_robot b/Programme_arduino_robot
new file mode 100644
index 0000000..3396159
--- /dev/null
+++ b/Programme_arduino_robot
@@ -0,0 +1,202 @@
+#include <SoftwareSerial.h>
+
+SoftwareSerial soft2(8,9);
+
+int pwma = 10;
+int pwmb = 11;
+int ain1 = 7;
+int ain2 = 6;
+int bin1 = 5;
+int bin2 = 4;
+int stby = 3;
+int TRIG = A1;
+int ECHO = A0;
+long cm;
+long lect_echo;
+ int envoi=0;
+
+void setup() {
+  Serial.begin(9600);
+  soft2.begin(38400);
+   pinMode(TRIG,OUTPUT);
+digitalWrite(TRIG, LOW);
+pinMode(ECHO,INPUT);
+}
+
+void loop() {
+  String msg;
+  char inByte='a';
+  int i = 0;
+  int nb_if = 0;
+  char id_sauv;
+  int test_if;
+  int nb_boucles[6];
+  char id_boucles[6];
+  int boucle_rec = 0;
+  int capteur;
+  //boucle dans une boucle gérée  
+
+ /* soft2.listen();
+  while(soft2.available()>0 && inByte !='\n'){
+    inByte=soft2.read();
+      msg+=inByte;
+      delay(10);
+      i++;  
+      envoi=1;
+  }*/
+  if(envoi==0){
+   Serial.println("etape 0");
+  delay(20000);
+  msg += (char)0x10;
+  msg += (char)0x61;
+  msg += (char)0x0F;
+  msg += (char)0x20;
+  msg += (char)0x10;
+  msg += (char)0x70;
+  msg += (char)0x10;
+  msg += (char)0x61;
+  msg += (char)0x0F;
+  msg += (char)0x40;
+  msg += (char)0x04;
+  msg += (char)0x30;
+  msg += (char)0x50;
+  msg += (char)0x70;
+  i = 14;
+  envoi=1;
+  Serial.println("etape 1");
+  }
+  //++a01z++a++z   test if
+  //++B 1Q+z test while (executé 32 fois)
+  //++B 1B +Q1Q+z test while dans un while
+  if(envoi==1){
+    Serial.println("étape 2");
+    for(int k=0;k<i;k++){
+      if((msg.charAt(k) & 0xF0) ==0x10){
+      Serial.print("tout droit\n\r");
+       digitalWrite(stby,HIGH);
+        analogWrite(pwma,100);
+        analogWrite(pwmb,100);
+        digitalWrite(ain1,HIGH);
+        digitalWrite(bin1,HIGH);
+        digitalWrite(ain2,LOW);
+        digitalWrite(bin2,LOW);
+        delay(1000);
+      }
+
+     else if((msg.charAt(k) & 0xF0) ==0x20){
+      Serial.print("à gauche\n\r");
+      digitalWrite(stby,HIGH);
+      analogWrite(pwma,100);
+      analogWrite(pwmb,100);
+      digitalWrite(ain1,HIGH);
+      digitalWrite(bin1,LOW);
+      digitalWrite(ain2,LOW);
+      digitalWrite(bin2,HIGH);
+      delay(900);
+      }
+
+      else if((msg.charAt(k) & 0xF0) ==0x30){
+         Serial.print("à droite\n\r");
+         digitalWrite(stby,HIGH);
+        analogWrite(pwma,100);
+        analogWrite(pwmb,100);
+        digitalWrite(ain1,LOW);
+        digitalWrite(bin1,HIGH);
+        digitalWrite(ain2,HIGH);
+        digitalWrite(bin2,LOW);
+        delay(900);
+      }
+
+      else if((msg.charAt(k) & 0xF0) ==0x40){
+        Serial.print("début while\n\r");
+        k++;
+        nb_boucles[boucle_rec] = (int)msg.charAt(k);
+        id_boucles[boucle_rec] = msg.charAt(k-1);
+        boucle_rec++;
+      }
+
+      else if((msg.charAt(k) & 0xF0) ==0x50){
+        nb_boucles[boucle_rec-1]--;
+        if(nb_boucles[boucle_rec-1]!=0){
+          k--;
+          while(msg.charAt(k)!= id_boucles[boucle_rec-1]){
+            k--;
+          }
+          k++;
+        }
+        else{
+          boucle_rec--;
+          Serial.print("fin while\n\r");
+        }
+      }
+
+      else if((msg.charAt(k) & 0xF0) ==0x60){
+        Serial.print("if\n\r");
+        digitalWrite(TRIG, HIGH);
+        delayMicroseconds(50); 
+        digitalWrite(TRIG, LOW);
+        lect_echo = pulseIn(ECHO, HIGH); 
+        cm = lect_echo / 58; 
+        Serial.println(cm);
+        delay(10);
+        if((msg.charAt(k) & 0x01) == 0x01){
+            if(msg.charAt(++k) > cm){
+              nb_if++;
+              test_if=nb_if;
+              id_sauv = msg.charAt(k+1);
+              while(((msg.charAt(k)) & 0xF0) != 0x70 && k<i){
+                k++;
+              }
+              while(test_if!=0){
+                if(((msg.charAt(k) & 0xF0) == 0x60)){
+                  k++;
+                  test_if--;
+                }
+                else k++;
+              }
+            }
+        }
+        else if((msg.charAt(k) & 0x01) == 0x00){
+            if(msg.charAt(++k) < cm){
+              nb_if++;
+              test_if=nb_if;
+              id_sauv = msg.charAt(k+1);
+              while(((msg.charAt(k)) & 0xF0) != 0x70 && k<i){
+                k++;
+              }
+              while(test_if!=0){
+                if(((msg.charAt(k) & 0xF0) == 0x60)){
+                  k++;
+                  test_if--;
+                }
+                else k++;
+              }
+            }
+        }
+        }
+
+      else if((msg.charAt(k) & 0xF0) ==0x70){
+        Serial.print("fin parcours\n\r");
+        envoi=2;
+        digitalWrite(stby,LOW);
+        analogWrite(pwma,0);
+        analogWrite(pwmb,0);
+        digitalWrite(ain1,LOW);
+        digitalWrite(bin1,LOW);
+        digitalWrite(ain2,LOW);
+        digitalWrite(bin2,LOW);
+        k=i;
+      }
+
+    }
+  }
+}
+
+
+/*- Tout droit: 0001
+- Virage à gauche: 0010
+- Virage à droite: 0011
+- Début while: 0100
+- Fin while: 0101
+- If: 0110
+- Fin parcours: 0111*/
\ No newline at end of file
--
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