- ajouté les fichiers Lua à Hugo :-)

2018-07-22 12:47:37 +02:00
parent 4608e4092e
commit 26d3f422cd
31 changed files with 1346 additions and 0 deletions
--- a/Hugo/robot_random_mesure.lua
+++ b/Hugo/robot_random_mesure.lua
@@ -0,0 +1,108 @@
+--Programme pour faire tourner aleatoirement le robot à droite ou à gauche tant qu'il soit à moins de 20cm de l'obstacle
+--hv20180717.1613
+
+--parametres pour le module ultra son 
+ztrig=5
+zecho=6
+ztstart=0
+ztstop=0
+gpio.mode(ztrig, gpio.OUTPUT)
+gpio.write(ztrig, gpio.LOW)
+gpio.mode(zecho, gpio.INT, gpio.PULLUP)
+
+--parametres pour les moteurs
+pin_a_speed = 1
+pin_a_dir = 3
+pin_b_speed = 2
+pin_b_dir = 4
+FWD = gpio.LOW
+REV = gpio.HIGH
+duty = 1023
+
+--initialise moteur A
+gpio.mode(pin_a_speed,gpio.OUTPUT)
+gpio.write(pin_a_speed,gpio.LOW)
+pwm.setup(pin_a_speed,1000,duty) --PWM 1KHz, Duty 1023
+pwm.start(pin_a_speed)
+pwm.setduty(pin_a_speed,0)
+gpio.mode(pin_a_dir,gpio.OUTPUT)
+
+--initialise moteur B
+gpio.mode(pin_b_speed,gpio.OUTPUT)
+gpio.write(pin_b_speed,gpio.LOW)
+pwm.setup(pin_b_speed,1000,duty) --PWM 1KHz, Duty 1023
+pwm.start(pin_b_speed)
+pwm.setduty(pin_b_speed,0)
+gpio.mode(pin_b_dir,gpio.OUTPUT)
+
+-- timer personnelle
+hvtimer1=tmr.create() 
+hvtimer2=tmr.create()
+
+-- speed is 0 - 100
+function motor(pin_speed, pin_dir, dir, speed)
+    gpio.write(pin_dir,dir)
+    pwm.setduty(pin_speed, (speed * duty) / 100)
+end
+
+function motor_a(dir, speed)
+    motor(pin_a_speed, pin_a_dir, dir, speed)
+end
+    
+function motor_b(dir, speed)
+    motor(pin_b_speed, pin_b_dir, dir, speed)
+end
+
+--Robot avance, s'arrete, tourne à droite, tourne à gauche
+function avance_robot()
+    t=math.random(1,2)
+    --print(t)
+    motor_a(FWD, 60)
+    motor_b(FWD, 60)
+end
+function stop_robot()
+    motor_a(FWD, 0)
+    motor_b(FWD, 0)
+end
+
+function turn_right_robot()
+    motor_a(FWD, 60)
+    motor_b(REV, 60)
+end
+function turn_left_robot()
+    motor_a(REV, 60)
+    motor_b(FWD, 60)
+end
+
+--start pulse10 us
+function zmesure_pulse()
+    gpio.write(ztrig, gpio.HIGH)
+    tmr.delay(10)
+    gpio.write(ztrig, gpio.LOW)
+end
+
+-- mesure la distance et il s'arrete si < 20cm
+function zmesure()
+    if gpio.read(zecho)==1 then 
+        ztstart=tmr.now()
+    else
+        ztstop=tmr.now() 
+        zlength=360*(ztstop-ztstart)/2/10000
+        if zlength>200 then zlength=0 end  
+        --print("distance [cm]: "..math.floor(zlength))
+        if zlength<20 then 
+            if t==1 then 
+               turn_left_robot()
+            else 
+               turn_right_robot()
+            end
+            tmr.alarm(hvtimer1, 1000, tmr.ALARM_SINGLE, avance_robot)
+        end
+    end
+end
+
+gpio.trig(zecho, "both", zmesure)
+tmr.alarm(hvtimer2, 1000, tmr.ALARM_AUTO, zmesure_pulse)
+
+
+avance_robot()