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import initial de la bibliothèque
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‎RobotDuLAB.h

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/*
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* Copyright (C) 2008 The Android Open Source Project
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software< /span>
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef _ROBOTDULAB_H_
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#define _ROBOTDULAB_H_
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#if ARDUINO >= 100
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#include "Arduino.h"
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#include "Print.h"
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#else
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#include "WProgram.h"
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#endif
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#include <Servo.h>
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#include <Adafruit_NeoPixel.h>
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/** Constants */
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/** Couleurs */
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typedef enum
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{
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NOIR = (0),
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ROUGE = (1),
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VERT = (2),
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MAGENTA = (3),
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BLEU = (4),
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BLANC = (5),
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TURQUOISE= (6),
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JAUNE = (7),
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VIOLET = (8),
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} couleur_index_t;
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uint32_t couleurs[] = {
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Adafruit_NeoPixel::Color(0, 0, 0),
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Adafruit_NeoPixel::Color(255, 0, 0),
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Adafruit_NeoPixel::Color(0, 255, 0),
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Adafruit_NeoPixel::Color(139, 0, 139),
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Adafruit_NeoPixel::Color(0, 0, 255),
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Adafruit_NeoPixel::Color(127, 127, 127),
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Adafruit_NeoPixel::Color(0, 245, 255),
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Adafruit_NeoPixel::Color(255, 215, 0),
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Adafruit_NeoPixel::Color(208, 32, 114),
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};
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/** Sens de rotation servomoteur */
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typedef enum
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{
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INVERSE = (0),
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ARRET = (90),
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NORMAL = (180),
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} sens_rotation_t;
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/** Gestion de l'anneau de LED */
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const int NB_LED = 16;
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typedef enum
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{
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COULEUR = (1),
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ARC_EN_CIEL = (2),
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ARC_EN_CIEL_CYCLIQUE = (3),
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COULEUR_CYCLIQUE = (4),
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} choix_animation_anneau_led_t;
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class RobotDuLAB {
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const int triggerPin = 2; // broche trig du capteur US HC-SR04
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const int echoPin = 4; // broche echo du capteur US HC-SR04
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Servo roueDroite;
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Servo roueGauche;
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Adafruit_NeoPixel anneauDeLed;
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public:
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// Constructor(s)
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RobotDuLAB(const int triggerPin, const int echoPin, const int roueDroitePin,
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const int roueGauchePin, const int anneauDeLedPin):triggerPin(triggerPin),
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echoPin(echoPin),
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roueDroite(),
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roueGauche(),
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anneauDeLed(NB_LED, anneauDeLedPin, NEO_GRB + NEO_KHZ800) {
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// Initialisation du HC-SR04
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pinMode (triggerPin,OUTPUT);
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digitalWrite(triggerPin, LOW);
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pinMode(echoPin, INPUT);
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// Initialisation servos
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roueGauche.attach(roueGauchePin);
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roueDroite.attach(roueDroitePin);
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//Initialisation Anneau de LED
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anneauDeLed.begin();
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}
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virtual ~RobotDuLAB() {}
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void begin(){
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}
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void Arreter() {
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roueDroite.write(ARRET);
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roueGauche.write(ARRET);
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}
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void Avancer() {
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roueDroite.write(NORMAL);
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roueGauche.write(INVERSE);
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}
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void Reculer() {
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roueDroite.write(INVERSE);
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roueGauche.write(ARRET);
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}
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void TournerAGauche() {
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roueDroite.write(NORMAL);
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roueGauche.write(NORMAL);
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}
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void TournerADroite() {
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roueDroite.write(INVERSE);
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roueGauche.write(INVERSE);
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}
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void AnimerAnneauLed(choix_animation_anneau_led_t choix, couleur_index_t couleur){
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switch (choix){
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case COULEUR :
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anneauDeLed.setPixelColor(14, couleurs[couleur]);
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anneauDeLed.setPixelColor(15, couleurs[couleur]);
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anneauDeLed.setPixelColor(0, couleurs[couleur]);
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break;
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case ARC_EN_CIEL :
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rainbow(20);
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break;
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case ARC_EN_CIEL_CYCLIQUE :
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rainbowCycle(20);
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break;
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case COULEUR_CYCLIQUE :
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theaterChase(couleurs[couleur], 50);
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break;
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}
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anneauDeLed.show();
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}
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long getDistanceObstacle(){
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digitalWrite(triggerPin, HIGH);
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delayMicroseconds(10);
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digitalWrite(triggerPin, LOW);
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long duree_echo = pulseIn(echoPin, HIGH);
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return microsecondsEnCentimetres(duree_echo);
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}
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private:
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long microsecondsEnCentimetres(long microseconds)
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{
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// The speed of sound is 340 m/s or 29 microseconds per centimeter.
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// The ping travels out and back, so to find the distance of the
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// object we take half of the distance travelled.
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return microseconds / 29 / 2;
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}
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// Fill the dots one after the other with a color
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void colorWipe(uint32_t c, uint8_t wait) {
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for(uint16_t i=0; i<anneauDeLed.numPixels(); i++) {
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anneauDeLed.setPixelColor(i, c);
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anneauDeLed.show();
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delay(wait);
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}
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}
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void rainbow(uint8_t wait) {
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uint16_t i, j;
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for(j=0; j<256; j++) {
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for(i=0; i<anneauDeLed.numPixels(); i++) {
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anneauDeLed.setPixelColor(i, Wheel((i+j) & 255));
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}
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anneauDeLed.show();
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delay(wait);
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}
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}
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// Slightly different, this makes the rainbow equally distributed throughout
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void rainbowCycle(uint8_t wait) {
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uint16_t i, j;
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for(j=0; j<256*5; j++) { // 5 cycles of all colors on wheel
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for(i=0; i< anneauDeLed.numPixels(); i++) {
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anneauDeLed.setPixelColor(i, Wheel(((i * 256 / anneauDeLed.numPixels()) + j) & 255));
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}
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anneauDeLed.show();
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delay(wait);
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}
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}
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//Theatre-style crawling lights.
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void theaterChase(uint32_t c, uint8_t wait) {
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for (int j=0; j<10; j++) { //do 10 cycles of chasing
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for (int q=0; q < 3; q++) {
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for (uint16_t i=0; i < anneauDeLed.numPixels(); i=i+3) {
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anneauDeLed.setPixelColor(i+q, c); //turn every third pixel on
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}
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anneauDeLed.show();
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delay(wait);
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for (uint16_t i=0; i < anneauDeLed.numPixels(); i=i+3) {
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anneauDeLed.setPixelColor(i+q, 0); //turn every third pixel off
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}
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}
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}
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}
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//Theatre-style crawling lights with rainbow effect
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void theaterChaseRainbow(uint8_t wait) {
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for (int j=0; j < 256; j++) { // cycle all 256 colors in the wheel
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for (int q=0; q < 3; q++) {
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for (uint16_t i=0; i < anneauDeLed.numPixels(); i=i+3) {
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anneauDeLed.setPixelColor(i+q, Wheel( (i+j) % 255)); //turn every third pixel on
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}
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anneauDeLed.show();
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delay(wait);
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for (uint16_t i=0; i < anneauDeLed.numPixels(); i=i+3) {
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anneauDeLed.setPixelColor(i+q, 0); //turn every third pixel off
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}
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}
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}
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}
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// Input a value 0 to 255 to get a color value.
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// The colours are a transition r - g - b - back to r.
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uint32_t Wheel(byte WheelPos) {
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WheelPos = 255 - WheelPos;
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if(WheelPos < 85) {
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return anneauDeLed.Color(255 - WheelPos * 3, 0, WheelPos * 3);
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}
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if(WheelPos < 170) {
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WheelPos -= 85;
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return anneauDeLed.Color(0, WheelPos * 3, 255 - WheelPos * 3);
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}
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WheelPos -= 170;
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return anneauDeLed.Color(WheelPos * 3, 255 - WheelPos * 3, 0);
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}
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};
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#endif /* _ROBOTDULAB_H_ */

‎examples/eviterobstacle/eviterobstacle.ino

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#include <RobotDuLAB.h>
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#define TRIGGER_PIN 2 // broche trig du capteur US HC-SR04
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#define ECHO_PIN 4 // broche echo du capteur US HC-SR04
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#define ROUE_DROITE_PIN 5
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#define ROUE_GAUCHE_PIN 3
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#define ANNEAU_LED_PIN 6
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RobotDuLAB robotDuLAB(TRIGGER_PIN, ECHO_PIN, ROUE_DROITE_PIN, ROUE_GAUCHE_PIN, ANNEAU_LED_PIN);
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void setup() {
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robotDuLAB.begin();
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}
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void loop() {
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robotDuLAB.Avancer();
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if(robotDuLAB.getDistanceObstacle() < 10)
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{
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robotDuLAB.Reculer();
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delay(1*1000);
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robotDuLAB.TournerAGauche();
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delay(1*1000);
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}
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}

‎keywords.txt

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#######################################
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# Syntax Coloring Map For RobotDuLAB Library
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#######################################
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# Class
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#######################################
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RobotDuLAB KEYWORD1
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#######################################
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# Methods and Functions
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#######################################
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begin KEYWORD2
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Arreter KEYWORD2
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Avancer KEYWORD2
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Reculer KEYWORD2
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TournerAGauche KEYWORD2
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TournerADroite KEYWORD2
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AnimerAnneauLed KEYWORD2
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getDistanceObstacle KEYWORD2
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#######################################
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# Constants
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#######################################
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NOIR LITERAL1
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ROUGE LITERAL1
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VERT LITERAL1
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MAGENTA LITERAL1
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BLEU LITERAL1
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BLANC LITERAL1
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TURQUOISE LITERAL1
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JAUNE LITERAL1
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VIOLET LITERAL1
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INVERSE LITERAL1
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ARRET LITERAL1
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NORMAL LITERAL1
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COULEUR LITERAL1
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ARC_EN_CIEL LITERAL1
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ARC_EN_CIEL_CYCLIQUE LITERAL1
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COULEUR_CYCLIQUE LITERAL1

‎library.properties

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name=RobotDuLAB Arduino Library
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version=0.0.1
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author=Labaixbidouille <[email protected]>
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maintainer=Labaixbidouille <[email protected]>
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sentence=Bibliothèque de pilotage simplifié de RobotDuLAB.
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paragraph=Permet de faciliter l'écriture d'un sketch pour RobotDuLAB.
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category=Sensors
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url=https://github.com/LabAixBidouille/RobotDuLAB-arduino-library
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architectures=*

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