j ai des difficultés a transposer des codes arduino contrôlant des servomoteurs en smoth motion(mouvement lisse consistant a ne pas mettre d à-coup, mouvement fluide) sur un esp32 piloter par un joystick type manette ps3.
lien youtube pour comprendre: How To Make Robots Move Smoothly | Arduino Tutorial - YouTube
voici les codes:
#include <Servo.h>
int pot1;
int pot2;
int pot3;
int pot4;
int pot5;
int pot6;
float pot1Scaled;
float pot2Scaled;
float pot3Scaled;
float pot4Scaled;
float pot4aScaled;
float pot5Scaled;
float pot6Scaled;
float pot1Smoothed;
float pot2Smoothed;
float pot3Smoothed;
float pot4Smoothed;
float pot4aSmoothed;
float pot5Smoothed;
float pot6Smoothed;
float pot1SmoothedPrev;
float pot2SmoothedPrev;
float pot3SmoothedPrev;
float pot4SmoothedPrev;
float pot4aSmoothedPrev;
float pot5SmoothedPrev;
float pot6SmoothedPrev;
Servo servo1;
Servo servo2;
Servo servo3;
Servo servo4;
Servo servo5;
Servo servo6;
Servo servo7;
void setup() {
pinMode(A0, INPUT);
pinMode(A1, INPUT);
pinMode(A2, INPUT);
pinMode(A3, INPUT);
pinMode(A4, INPUT);
pinMode(A5, INPUT);
Serial.begin(115200);
servo1.attach(4);
servo2.attach(5);
servo3.attach(6);
servo4.attach(7);
servo5.attach(8);
servo6.attach(9);
servo7.attach(10);
servo1.writeMicroseconds(1200);
servo2.writeMicroseconds(1650);
servo3.writeMicroseconds(1650);
servo4.writeMicroseconds(1500);
servo5.writeMicroseconds(1550);
servo6.writeMicroseconds(1500);
servo7.writeMicroseconds(1450);
}
void loop() {
pot1 = analogRead(A0);
pot2 = analogRead(A1);
pot3 = analogRead(A2);
pot4 = analogRead(A3);
pot5 = analogRead(A4);
pot6 = analogRead(A5);
// scale all pots for the servo microseconds range
pot1Scaled = ((pot1 - 512) * -1.6) + 1200;
pot2Scaled = (pot2 - 512) + 1500;
pot3Scaled = (pot3 - 512) + 1500;
pot4Scaled = ((pot4 - 512) * 1.2) + 1500;
pot4aScaled = ((pot4 - 512) * -1.2) + 1500;
pot5Scaled = (pot5 - 512) * 1.5;
pot6Scaled = (pot6 - 512) + 1650;
pot4Scaled = constrain(pot4Scaled,900,1500);
pot4aScaled = constrain(pot4aScaled,1500,2100);
// smooth pots
pot1Smoothed = (pot1Scaled * 0.02) + (pot1SmoothedPrev * 0.98);
pot2Smoothed = (pot2Scaled * 0.02) + (pot2SmoothedPrev * 0.98);
pot3Smoothed = (pot3Scaled * 0.02) + (pot3SmoothedPrev * 0.98);
pot4Smoothed = (pot4Scaled * 0.05) + (pot4SmoothedPrev * 0.95);
pot4aSmoothed = (pot4aScaled * 0.05) + (pot4aSmoothedPrev * 0.95);
pot5Smoothed = (pot5Scaled * 0.02) + (pot5SmoothedPrev * 0.98);
pot6Smoothed = (pot6Scaled * 0.02) + (pot6SmoothedPrev * 0.98);
// bookmark previous values
pot1SmoothedPrev = pot1Smoothed;
pot2SmoothedPrev = pot2Smoothed;
pot3SmoothedPrev = pot3Smoothed;
pot4SmoothedPrev = pot4Smoothed;
pot4aSmoothedPrev = pot4aSmoothed;
pot5SmoothedPrev = pot5Smoothed;
pot6SmoothedPrev = pot6Smoothed;
Serial.print(pot1Smoothed);
Serial.print(" , ");
Serial.print(pot2Smoothed);
Serial.print(" , ");
Serial.print(pot3Smoothed);
Serial.print(" , ");
Serial.print(pot4Smoothed);
Serial.print(" , ");
Serial.print(pot5Smoothed);
Serial.print(" , ");
Serial.println(pot6Smoothed);
// write servos
servo1.writeMicroseconds(pot1Smoothed);
servo2.writeMicroseconds(pot6Smoothed - pot5Smoothed);
servo3.writeMicroseconds(pot6Smoothed + pot5Smoothed);
servo5.writeMicroseconds(pot2Smoothed);
servo7.writeMicroseconds(pot2Smoothed);
servo4.writeMicroseconds(pot4Smoothed);
servo6.writeMicroseconds(pot4aSmoothed);
delay(5);
}
merci pour votre aide
