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- #include <digitalWriteFast.h>
- #include <Encoder.h>
- Encoder myEnc(2, 3);
- #define relay1 7
- #define relay2 8
- int newPosition = 0;
- int PWM = 5 ;
- const int homing = A2;
- void setup()
- {
- Serial.begin(115200);
- pinMode(relay1, OUTPUT);
- pinMode(relay2, OUTPUT);
- digitalWrite(relay1, LOW);
- digitalWrite(relay2, LOW);
- digitalWrite(homing,HIGH);
- pinMode(5,OUTPUT);
- while (newPosition <60000){
- analogWrite(PWM ,255);
- digitalWrite(relay1,LOW);
- digitalWrite(relay2,HIGH);
- newPosition = myEnc.read();
- Serial.println(newPosition);
- if (digitalRead(homing)==LOW) {
- break;
- }
- }
- newPosition = 0 ; ////je voudrais que le codeur s'initialise à 0 pendant la detection cellule .
- }
- void loop() {
- while(newPosition < 800)
- {
- digitalWrite(relay1,LOW);
- digitalWrite(relay2,HIGH);
- newPosition = myEnc.read();
- Serial.println(newPosition);
- analogWrite(PWM ,255);
- }
- digitalWrite(relay1,HIGH);
- digitalWrite(relay2,HIGH);
- delay(4000);
- while(newPosition > 0)
- {
- digitalWrite(relay1,HIGH);
- digitalWrite(relay2,LOW);
- newPosition = myEnc.read();
- Serial.println(newPosition);
- analogWrite(PWM ,255);
- }
- digitalWrite(relay1,HIGH);
- digitalWrite(relay2,HIGH);
- delay(4000);
- }
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