Différences

Ci-dessous, les différences entre deux révisions de la page.

--- lise_diwan:logo-turtle [2019/12/11 19:14]
gweltaz créée
+++ lise_diwan:logo-turtle [2023/02/19 21:08] (Version actuelle)
gweltaz
@@ Ligne 1: / Ligne 1: @@
-https://www.instructables.com/id/Low-Cost-Arduino-Compatible-Drawing-Robot/
+**Cette page devrait être supprimée**
-http://archive.monograph.io/joshburker/logoturtle
-http://joshburker.pbworks.com/w/page/103156198/Logo%20Turtle%20Robot
+[[https://www.instructables.com/id/Low-Cost-Arduino-Compatible-Drawing-Robot/]]
-http://joshburker.pbworks.com/w/page/103854757/ArduinoLogo
+[[http://archive.monograph.io/joshburker/logoturtle]]
+[[http://joshburker.pbworks.com/w/page/103156198/Logo%20Turtle%20Robot]]
+[[http://joshburker.pbworks.com/w/page/103854757/ArduinoLogo]]
+<accordion>
+<panel title="title">
+<code c>
+// Download and install Trinket Pro drivers from
+// https://learn.adafruit.com/introducing-pro-trinket/starting-the-bootloader
+// [Tools] -> [Programmer] -> "USBtinyISP"
+// [Tools] -> [Board] -> "Pro Trinket 3V/12 Mhz (USB)"
+#include <Servo.h>
+// setup servo
+int servoPin = 8;
+int PEN_DOWN = 170; // angle of servo when pen is down
+int PEN_UP = 80;   // angle of servo when pen is up
+Servo penServo;
+int wheel_dia=66.25; //      # mm (increase = spiral out)
+int wheel_base=112; //,    # mm (increase = spiral in)
+int steps_rev=128; //,     # 512 for 64x gearbox, 128 for 16x gearbox
+int delay_time=6; //            # time between steps in ms
+// Stepper sequence org->pink->blue->yel
+int L_stepper_pins[] = {10, 12, 13, 11};
+int R_stepper_pins[] = {3, 5, 6, 4};
+int fwd_mask[][4] =  {{1, 0, 1, 0},
+                      {0, 1, 1, 0},
+                      {0, 1, 0, 1},
+                      {1, 0, 0, 1}};
+int rev_mask[][4] =  {{1, 0, 0, 1},
+                      {0, 1, 0, 1},
+                      {0, 1, 1, 0},
+                      {1, 0, 1, 0}};
+void setup() {
+  randomSeed(analogRead(1));
+  // put your setup code here, to run once:
+  Serial.begin(9600);
+  for(int pin=0; pin<4; pin++){
+    pinMode(L_stepper_pins[pin], OUTPUT);
+    digitalWrite(L_stepper_pins[pin], LOW);
+    pinMode(R_stepper_pins[pin], OUTPUT);
+    digitalWrite(R_stepper_pins[pin], LOW);
+  }
+  penServo.attach(servoPin);
+  Serial.println("setup");
+}
+void loop(){ // draw a calibration box 4 times
+  pendown();
+  for(int x=0; x<12; x++){
+    forward(100);
+    left(90);
+  }
+  penup();
+  done();      // releases stepper motor
+  while(1);    // wait for reset
+}
+// ----- HELPER FUNCTIONS -----------
+int step(float distance){
+  int steps = distance * steps_rev / (wheel_dia * 3.1412); //24.61
+  /*
+  Serial.print(distance);
+  Serial.print(" ");
+  Serial.print(steps_rev);
+  Serial.print(" ");
+  Serial.print(wheel_dia);
+  Serial.print(" ");
+  Serial.println(steps);
+  delay(1000);*/
+  return steps;
+}
+void forward(float distance){
+  int steps = step(distance);
+  Serial.println(steps);
+  for(int step=0; step<steps; step++){
+    for(int mask=0; mask<4; mask++){
+      for(int pin=0; pin<4; pin++){
+        digitalWrite(L_stepper_pins[pin], rev_mask[mask][pin]);
+        digitalWrite(R_stepper_pins[pin], fwd_mask[mask][pin]);
+      }
+      delay(delay_time);
+    }
+  }
+}
+void backward(float distance){
+  int steps = step(distance);
+  for(int step=0; step<steps; step++){
+    for(int mask=0; mask<4; mask++){
+      for(int pin=0; pin<4; pin++){
+        digitalWrite(L_stepper_pins[pin], fwd_mask[mask][pin]);
+        digitalWrite(R_stepper_pins[pin], rev_mask[mask][pin]);
+      }
+      delay(delay_time);
+    }
+  }
+}
+void right(float degrees){
+  float rotation = degrees / 360.0;
+  float distance = wheel_base * 3.1412 * rotation;
+  int steps = step(distance);
+  for(int step=0; step<steps; step++){
+    for(int mask=0; mask<4; mask++){
+      for(int pin=0; pin<4; pin++){
+        digitalWrite(R_stepper_pins[pin], rev_mask[mask][pin]);
+        digitalWrite(L_stepper_pins[pin], rev_mask[mask][pin]);
+      }
+      delay(delay_time);
+    }
+  }
+}
+void left(float degrees){
+  float rotation = degrees / 360.0;
+  float distance = wheel_base * 3.1412 * rotation;
+  int steps = step(distance);
+  for(int step=0; step<steps; step++){
+    for(int mask=0; mask<4; mask++){
+      for(int pin=0; pin<4; pin++){
+        digitalWrite(R_stepper_pins[pin], fwd_mask[mask][pin]);
+        digitalWrite(L_stepper_pins[pin], fwd_mask[mask][pin]);
+      }
+      delay(delay_time);
+    }
+  }
+}
+void done(){ // unlock stepper to save battery
+  for(int mask=0; mask<4; mask++){
+    for(int pin=0; pin<4; pin++){
+      digitalWrite(R_stepper_pins[pin], LOW);
+      digitalWrite(L_stepper_pins[pin], LOW);
+    }
+    delay(delay_time);
+  }
+}
+void penup(){
+  delay(250);
+  Serial.println("PEN_UP()");
+  penServo.write(PEN_UP);
+  delay(250);
+}
+void pendown(){
+  delay(250);
+  Serial.println("PEN_DOWN()");
+  penServo.write(PEN_DOWN);
+  delay(250);
+}
+</code>
+</panel>
+</accordion>