Comment lire la valeur d'utilisation de la RAM ?

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7

Oui, en effet.
Voici mon code :

#include "SoftwareSerial.h"
#include <CRC16.h>

#define TX_laser 9 //la broche reliée au TX du laser
#define RX_laser 8 //la broche reliée au RX du laser
#define EN_laser 10

SoftwareSerial laser(TX_laser, RX_laser); //on initialise la communication série qui sera appelée laser
SoftwareSerial bt(11, 12); // broches TX, RX du modile bluetooth

CRC16 crc(CRC16_MODBUS_POLYNOME,
          CRC16_MODBUS_INITIAL,
          CRC16_MODBUS_XOR_OUT,
          CRC16_MODBUS_REV_IN,
          CRC16_MODBUS_REV_OUT);

uint8_t byte6_1, byte5_1, byte6_2, byte5_2, byte4_1, byte4_2, byte3_1, byte3_2;


uint8_t commandContinue[8] = {0x01, 0x03, 0x00, 0x01, 0x00, 0x02, 0x95, 0xCB};
uint8_t commandUnique[8] = {0x01, 0x03, 0x00, 0x0F, 0x00, 0x02, 0xF4, 0x08};
uint8_t marche[11] = {0x01, 0x10, 0x00, 0x03, 0x00, 0x01, 0x02, 0x00, 0x01, 0x67, 0xA3};
uint8_t data[9];
uint32_t distance;

int STEP = 5;
int DIR = 4;
int EN = 6;
int button = 11;
int interupt_A = 2;
int interupt_B = 3;

int sens = 1;
int posTour = 0;
int nbrPas = 200;

int ecartMes = 1;//pas 

long lastDist = 0;
int nbSame =0;
 
// constante temps
const int MEASURE_TIMEOUT = 1; // 1ms = ~30km à 3*10^8m/s
    

void setup(){
  pinMode(STEP, OUTPUT);
  pinMode(DIR, OUTPUT);
  pinMode(EN, OUTPUT);
  pinMode(button, INPUT_PULLUP);
  pinMode( interupt_A, INPUT_PULLUP);
  pinMode( interupt_B, INPUT_PULLUP);
  pinMode(EN_laser, OUTPUT);
  
  Serial.begin(9600);
  bt.begin(9600);
  laser.begin(9600);
  //digitalWrite(EN_laser, HIGH);
  //delay(200);
  //laser.write(marche, 11);
  //laser.write(commandContinue, 8);
  //digitalWrite(EN,LOW);
}

void loop(){
    //Serial.println(digitalRead(button));
    if(digitalRead(button)==LOW) {
      bt.println(" reset");
      Serial.println(" reset");
      digitalWrite(EN_laser,HIGH);
      delay(200);
      laser.write(marche,11);
      remise_a_0();
      
      //sens 1 
      digitalWrite(DIR,LOW);
      for(int i = 0; i<nbrPas; i+=ecartMes) {
        long measure = getDist();
        delay(200);
        //Serial.println(measure);
        while(!(measure >0 && measure < 40000) || measure==lastDist) {
          //delay(100);
          if(measure==lastDist) nbSame++;
          if(nbSame ==4) break;
          measure = getDist();
          delay(200);
        }
        lastDist= measure;
        nbSame=0;
        Serial.println(" "+String(i)+":"+String(measure));
        //delay(200);
        for(int n =0;n<ecartMes;n++) {
          digitalWrite(STEP, HIGH);
          delay(3);
          digitalWrite(STEP, LOW);
          delay(3);
        }
        delay(200);
        
      }
      //Sens 2
      digitalWrite(DIR,HIGH);
      for(int i = nbrPas; i>0; i-=ecartMes) {
        long measure = getDist();
        //Serial.println(measure);
        while(!(measure >0 && measure < 40000) || measure==lastDist) {
          delay(100);
          nbSame++;
          if(nbSame ==4) break;
          measure = getDist();
        }
        lastDist= measure;
        nbSame=0;
        Serial.println(" "+String(i)+":"+String(measure));
        delay(100);
          for(int n =0;n<ecartMes;n++) {
            digitalWrite(STEP, HIGH);
            delay(3);
            digitalWrite(STEP, LOW);
            delay(3);
          }
        //delay(50); 
      }
      digitalWrite(EN,HIGH);
      digitalWrite(EN_laser, LOW);
    }
    
}



long getDist() {
  crc.restart();
  laser.write(commandUnique, 8);

  if( laser.available() >0){
    laser.readBytes(data, 9);
  }

  for(int i = 0; i < sizeof(data); i++)
  {
    //Serial.print(data[i], HEX);
    //Serial.print("  ");
    crc.add(data[i]);
  }
  uint8_t CRC = crc.calc();
  //Serial.println(CRC, HEX);

  delay(200);
  byte3_1 = data[3] / 16;
  byte3_2 = data[3] - byte3_1 * 16;
  byte4_1 = data[4] / 16;
  byte4_2 = data[4] - byte4_1 * 16;
  byte5_1 = data[5] / 16;
  byte5_2 = data[5] - byte5_1 * 16;
  byte6_1 = data[6] / 16;
  byte6_2 = data[6] - byte6_1 * 16;
  uint8_t bytes[8] = {byte6_2,byte6_1,byte5_2,byte5_1,byte4_2,byte4_1,byte3_2,byte3_1}; //bit de poids faible en premier
  
  float dist = 0;
  for(int i =0; i< 8;i++) {
    //Serial.println(bytes[i]);
    dist+= bytes[i]*pow(16,i);
  }
  //return dist;

  if (CRC == 0) {
    //Serial.println(dist);
    return dist;
  } else return -1;

}

void remise_a_0(){
  digitalWrite(EN, LOW);
  if( digitalRead(interupt_A) == 0 ){
    Serial.println("reprise en sens inverse");
    digitalWrite(DIR, LOW);
    for( int i=0; i<50; i++){
      digitalWrite(STEP, HIGH);
      delay(2);
      digitalWrite(STEP, LOW);
      delay(2);
      if( digitalRead(interupt_B) == 0 ){
        i = 60;
      }
      
    }
  }
  while( digitalRead(interupt_A) == 1){
    digitalWrite(DIR, HIGH);
    digitalWrite(STEP, HIGH);
    delay(2);
    digitalWrite(STEP, LOW);
    delay(2);
  }
}

Le code est une modification de celuis là.