Étape 2: Programmation de l’Arduino
Voici un exemple de code illustrant comment déplacer l’actionneur. Dans cet exemple de code que nous avons l’actionneur qui s’étend sur 10 secondes, puis se rétracter pendant 10 secondes. Cela se répétera pendant 300 secondes.
Voir l’étape 3 pour régler les cavaliers sur la carte.
Voir l’étape 4 pour apprendre à modifier le code.
/* This code modifies the MegaMoto example code to control an actuator with no potentiometer. The actuator will extend for 10 seconds, and immediately retract for 10 seconds. This process repeats over 300 seconds. Modified by Progressive Automations, using the original example code for the MegaMoto board from: <a href="http://www.robotpower.com/downloads/" rel="nofollow"> http://www.robotpower.com/downloads/</a> Hardware: - 1 RobotPower MegaMoto control board - Arduino Uno Wiring: -Connect the +/- of the actuator to the A/B motor channels -Connect the +/- of the power supply to the +/- BAT connections This example code is in the public domain. */ //Use the jumpers on the board to select which pins will be used int EnablePin1 = 13; int PWMPinA1 = 11; int PWMPinB1 = 3; int extendtime = 10 * 1000; // 10 seconds, times 1000 to convert to milliseconds int retracttime = 10 * 1000; // 10 seconds, times 1000 to convert to milliseconds int timetorun = 300 * 1000; // 300 seconds, times 1000 to convert to milliseconds int duty; int elapsedTime; boolean keepMoving; void setup() { Serial.begin(9600); pinMode(EnablePin1, OUTPUT);//Enable the board pinMode(PWMPinA1, OUTPUT); pinMode(PWMPinB1, OUTPUT);//Set motor outputs elapsedTime = 0; // Set time to 0 keepMoving = true; //The system will move }//end setup void loop() { if (keepMoving) { digitalWrite(EnablePin1, HIGH); // enable the motor pushActuator(); delay(extendtime); stopActuator(); delay(10);//small delay before retracting pullActuator(); delay(retracttime); stopActuator(); elapsedTime = millis();//how long has it been? if (elapsedTime > timetorun) {//if it's been 300 seconds, stop Serial.print("Elapsed time is over max run time. Max run time: "); Serial.println(timetorun); keepMoving = false; } }//end if }//end main loop void stopActuator() { analogWrite(PWMPinA1, 0); analogWrite(PWMPinB1, 0); // speed 0-255 } void pushActuator() { analogWrite(PWMPinA1, 255); analogWrite(PWMPinB1, 0); // speed 0-255 } void pullActuator() { analogWrite(PWMPinA1, 0); analogWrite(PWMPinB1, 255);//speed 0-255 }
