quoicoubeh

Deplacement-robot/arrowkeys/arrowkey.py

@@ -0,0 +1,26 @@
+import serial
+import time
+import keyboard
+
+ser = serial.Serial('COM16', 38400)  # Replace '/dev/ttyACM0' with your Arduino's port
+
+def send_command(command):
+    ser.write(command.encode())
+    time.sleep(0.1)
+
+def check_key(key, command):
+    while True:
+        if keyboard.is_pressed(key):
+            send_command(command)
+        else:
+            send_command('0')
+            break
+
+# binding keys to commands
+keyboard.add_hotkey('up', check_key, args=('up', '1'))     # forward
+keyboard.add_hotkey('down', check_key, args=('down', '2'))   # backward
+keyboard.add_hotkey('left', check_key, args=('left', '3'))   # left
+keyboard.add_hotkey('right', check_key, args=('right', '4'))  # right
+keyboard.add_hotkey('space', send_command, args=('0',))  # stop
+
+keyboard.wait('esc')  # wait for 'esc' to exit the program

Deplacement-robot/arrowkeys/arrowkeys/arrowkeys.ino

@@ -0,0 +1,117 @@
+#include <SoftwareSerial.h>
+#include <AccelStepper.h>
+
+#define RX_PIN 13  // Connected to HC-05 TX pin
+#define TX_PIN 12  // Connected to HC-05 RX pin
+#define LED_PIN 2  // Connected to LED pin
+
+long receivedSpeed = 800; //Steps / second
+char receivedCommand;
+
+int directionMultiplier = 1; 
+int directionMultiplier2 = -1;
+bool runallowed = false;
+
+AccelStepper stepper(1, 8, 9);
+AccelStepper stepper2(1, 5, 6);
+
+SoftwareSerial bluetooth(RX_PIN, TX_PIN);
+
+void setup() {
+  Serial.begin(38400);
+  bluetooth.begin(38400);
+  pinMode(LED_PIN, OUTPUT);
+
+  stepper.setMaxSpeed(10000);
+  stepper.setAcceleration(1000);
+  stepper.disableOutputs();
+
+  stepper2.setMaxSpeed(10000);
+  stepper2.setAcceleration(1000);
+  stepper2.disableOutputs();
+}
+
+void loop() {
+  readinfo();
+  RunTheMotor();
+}
+
+void RunTheMotor()
+{
+    if (runallowed)
+    {
+        stepper.enableOutputs();
+        stepper.runSpeed();  // use runSpeed instead of run
+        stepper2.enableOutputs();
+        stepper2.runSpeed(); // use runSpeed instead of run
+    }
+    else
+    {
+        stepper.disableOutputs();
+        stepper.stop();  // stop the stepper
+        stepper2.disableOutputs();
+        stepper2.stop(); // stop the stepper
+    }
+}
+
+void RotateRelative()
+{
+    runallowed = true;
+    stepper.setSpeed(directionMultiplier * receivedSpeed); // set speed and direction
+}
+
+void RotateRelative2()
+{
+    runallowed = true;
+    stepper2.setSpeed(directionMultiplier2 * receivedSpeed); // set speed and direction
+}
+
+void readinfo()
+{
+  if (bluetooth.available() > 0)
+  {
+    receivedCommand = bluetooth.read();
+
+    switch (receivedCommand)
+    {
+      case '1': // move forward
+        directionMultiplier = -1;
+        directionMultiplier2 = 1;
+        bluetooth.println("Moving forward.");
+        RotateRelative();
+        RotateRelative2();
+        break;
+
+      case '2': // move backward
+        directionMultiplier = 1;
+        directionMultiplier2 = -1;
+        bluetooth.println("Moving backward.");
+        RotateRelative();
+        RotateRelative2();
+        break;
+
+      case '3': // turn left
+        directionMultiplier = 1;
+        directionMultiplier2 = 1;
+        bluetooth.println("Turning left.");
+        RotateRelative();
+        RotateRelative2();
+        break;
+
+      case '4': // turn right
+        directionMultiplier = -1;
+        directionMultiplier2 = -1;
+        bluetooth.println("Turning right.");
+        RotateRelative();
+        RotateRelative2();
+        break;
+      case '0': //stop
+        runallowed = false;
+        bluetooth.println("Stop.");
+        break;
+
+      default:
+        break;
+    }
+  }
+}

Deplacement-robot/bluetooth_control/bluetooth_control.ino

@@ -21,11 +21,11 @@ void setup() {
   Serial.begin(38400);  // Initialize the serial monitor
   bluetooth.begin(38400);  // Initialize the Bluetooth communication
   pinMode(LED_PIN, OUTPUT);  // Set LED pin as output
-  stepper.setMaxSpeed(1000000); //SPEED = Steps / second
+  stepper.setMaxSpeed(10000); //SPEED = Steps / second
-  stepper.setAcceleration(80000); //ACCELERATION = Steps /(second)^2
+  stepper.setAcceleration(800); //ACCELERATION = Steps /(second)^2
   stepper.disableOutputs(); //disable outputs
-  stepper2.setMaxSpeed(1000000); //SPEED = Steps / second
+  stepper2.setMaxSpeed(10000); //SPEED = Steps / second
-  stepper2.setAcceleration(80000); //ACCELERATION = Steps /(second)^2
+  stepper2.setAcceleration(800); //ACCELERATION = Steps /(second)^2
   stepper2.disableOutputs(); //disable outputs
 }
 

Deplacement-robot/stepperspeed/stepperspeed.ino

@@ -60,7 +60,6 @@ void loop()
     //Constantly looping through these 2 functions.
     //We only use non-blocking commands, so something else (should also be non-blocking) can be done during the movement of the motor
     checkSerial();
-    checkbluetooth();
     RunTheMotor(); //function to handle the motor  
  
 }