Salut voila j'ai repris ce programe pour commander 2 servo moteur j'ai tou le matos mais quand je lance ce programme mes servo moteur il vibre juste. Et je suis débutant.
Merci de me répondre.
voici le programme:
#include <Wire.h>
#include <string.h>
#include <stdio.h>
uint8_t outbuf[6];
int cnt = 0;
int ledPin = 13;
int servoPin = 7;
int servoPin2 = 6;
int pulseWidth = 0;
int pulseWidth2 = 0;
long lastPulse = 0;
long lastPulse2 = 0;
int z_button = 0;
int c_button = 0;
int refreshTime = 20;
int minPulse = 1000;
int minPulse2 = 500;
int dtime=10;
#define pwbuffsize 10
long pwbuff[pwbuffsize];
long pwbuffpos = 0;
long pwbuff2[pwbuffsize];
long pwbuffpos2 = 0;
void setup()
{
Serial.begin (19200); // J'ai corrigé, avant c'était beginSerial
Wire.begin ();
nunchuck_init ();
pinMode(servoPin, OUTPUT);
pinMode(servoPin2, OUTPUT);
pulseWidth = minPulse;
pulseWidth2 = minPulse2;
Serial.print ("Finished setup\n");
}
void nunchuck_init()
{
Wire.beginTransmission (0x52);
Wire.send (0x40);
Wire.send (0x00);
Wire.endTransmission ();
}
void send_zero()
{
Wire.beginTransmission (0x52);
Wire.send (0x00);
Wire.endTransmission ();
}
int t = 0;
void loop()
{
t++;
long last = millis();
if( t == 1) {
t = 0;
Wire.requestFrom (0x52, 6);
while (Wire.available ()) {
outbuf[cnt] = nunchuk_decode_byte (Wire.receive ());
digitalWrite (ledPin, HIGH);
cnt++;
}
if (cnt >= 5) {
// printNunchuckData();
int z_button = 0;
int c_button = 0;
if ((outbuf[5] >> 0) & 1)
z_button = 1;
if ((outbuf[5] >> 1) & 1)
c_button = 1;
switch (c_button) {
case 1:
switch (z_button) {
case 0:
break;
case 1:
muovi();
break;
}
break;
case 0:
switch (z_button) {
case 0:
delay(10000);
break;
case 1:
delay(3000);
break;
}
break;
}
}
cnt = 0;
send_zero();
} // if(t==)
updateServo();
delay(dtime);
}
void updateServo() {
if (millis() - lastPulse >= refreshTime) {
digitalWrite(servoPin, HIGH);
delayMicroseconds(pulseWidth);
digitalWrite(servoPin, LOW);
digitalWrite(servoPin2, HIGH);
delayMicroseconds(pulseWidth2);
digitalWrite(servoPin2, LOW);
lastPulse = millis();
}
}
int i=0;
void printNunchuckData()
{
int joy_x_axis = outbuf[0];
int joy_y_axis = outbuf[1];
int accel_x_axis = outbuf[2]; // * 2 * 2;
int accel_y_axis = outbuf[3]; // * 2 * 2;
int accel_z_axis = outbuf[4]; // * 2 * 2;
int z_button = 0;
int c_button = 0;
if ((outbuf[5] >> 0) & 1)
z_button = 1;
if ((outbuf[5] >> 1) & 1)
c_button = 1;
if ((outbuf[5] >> 2) & 1)
accel_x_axis += 2;
if ((outbuf[5] >> 3) & 1)
accel_x_axis += 1;
if ((outbuf[5] >> 4) & 1)
accel_y_axis += 2;
if ((outbuf[5] >> 5) & 1)
accel_y_axis += 1;
if ((outbuf[5] >> 6) & 1)
accel_z_axis += 2;
if ((outbuf[5] >> 7) & 1)
accel_z_axis += 1;
Serial.print (i,DEC);
Serial.print ("\t");
Serial.print ("X: ");
Serial.print (joy_x_axis, DEC);
Serial.print ("\t");
Serial.print ("Y: ");
Serial.print (joy_y_axis, DEC);
Serial.print ("\t");
Serial.print ("AccX: ");
Serial.print (accel_x_axis, DEC);
Serial.print ("\t");
Serial.print ("AccY: ");
Serial.print (accel_y_axis, DEC);
Serial.print ("\t");
Serial.print ("AccZ: ");
Serial.print (accel_z_axis, DEC);
Serial.print ("\t");
Serial.print (z_button, DEC);
Serial.print (" ");
Serial.print (c_button, DEC);
Serial.print ("\r\n");
i++;
}
char nunchuk_decode_byte (char x)
{
x = (x ^ 0x17) + 0x17;
return x;
}
void muovi (){
float tilt = (700 - outbuf[3]22);
float tilt2 = outbuf[2]22;
tilt = (tilt);
pulseWidth = (tilt * 5) + minPulse;
tilt2 = (tilt2-288);
pulseWidth2 = (tilt2 * 5) + minPulse2;
pwbuff[pwbuffpos] = pulseWidth;
pwbuff2[pwbuffpos2] = pulseWidth2;
if( ++pwbuffpos == pwbuffsize ) pwbuffpos = 0;
if( ++pwbuffpos2 == pwbuffsize ) pwbuffpos2 = 0;
pulseWidth=0;
pulseWidth2=0;
for( int p=0; p<pwbuffsize; p++ ){
pulseWidth += pwbuff[p];
pulseWidth2 += pwbuff2[p];
}
pulseWidth /= pwbuffsize;
pulseWidth2 /= pwbuffsize;
}