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Nov 21st, 2019
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C++ 1.19 KB | None | 0 0
  1.  #include <digitalWriteFast.h>
  2. #include <Encoder.h>
  3. Encoder myEnc(2, 3);
  4.  
  5. #define relay1 7
  6. #define relay2 8
  7. int newPosition = 0;
  8. int PWM = 5 ;
  9. const int homing = A2;
  10.  
  11. void setup()
  12. {
  13. Serial.begin(115200);
  14. pinMode(relay1, OUTPUT);
  15. pinMode(relay2, OUTPUT);
  16. digitalWrite(relay1, LOW);
  17. digitalWrite(relay2, LOW);
  18. digitalWrite(homing,HIGH);
  19. pinMode(5,OUTPUT);
  20.  
  21. while (newPosition <60000){
  22.  
  23. analogWrite(PWM ,255);
  24. digitalWrite(relay1,LOW);
  25. digitalWrite(relay2,HIGH);
  26. newPosition = myEnc.read();
  27.  
  28. Serial.println(newPosition);
  29.  
  30.  
  31. if (digitalRead(homing)==LOW) {
  32.  
  33. break;
  34.  
  35. }
  36. }
  37. newPosition = 0 ;   ////je voudrais que le codeur s'initialise à 0 pendant la detection cellule .
  38. }
  39.  
  40. void loop() {
  41. while(newPosition < 800)
  42. {
  43. digitalWrite(relay1,LOW);
  44. digitalWrite(relay2,HIGH);
  45. newPosition = myEnc.read();
  46. Serial.println(newPosition);
  47. analogWrite(PWM ,255);
  48.  
  49. }
  50.  
  51. digitalWrite(relay1,HIGH);
  52. digitalWrite(relay2,HIGH);
  53. delay(4000);
  54.  
  55. while(newPosition > 0)
  56. {
  57.  
  58. digitalWrite(relay1,HIGH);
  59. digitalWrite(relay2,LOW);
  60. newPosition = myEnc.read();
  61. Serial.println(newPosition);
  62. analogWrite(PWM ,255);
  63.  
  64. }
  65.  
  66. digitalWrite(relay1,HIGH);
  67. digitalWrite(relay2,HIGH);
  68. delay(4000);
  69.  
  70. }
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