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start:arduino:robots:mecanum [2022/08/22 17:49] – [Robot Mecanum Version 4 modifié par GL] gerardadminstart:arduino:robots:mecanum [2023/02/25 12:06] (Version actuelle) – [Robot à roues Mecanum] gerardadmin
Ligne 2: Ligne 2:
  
 [[https://fr.lambdageeks.com/mecanum-wheeled-robot-design-applications/http://example.com|Robot à roues Mecanum]] [[https://fr.lambdageeks.com/mecanum-wheeled-robot-design-applications/http://example.com|Robot à roues Mecanum]]
 +
 +[[https://perso.univ-lyon1.fr/marc.buffat/COURS/MECA_HTML/Cinematique_mecanum.html|Cinematique Mecanum]]
  
 ==== Qu'est-ce que Mecanum Wheel?==== ==== Qu'est-ce que Mecanum Wheel?====
Ligne 1781: Ligne 1783:
 //Avec compensation vitesse moteur gauche ( M1 et M2 ) //Avec compensation vitesse moteur gauche ( M1 et M2 )
 /* /*
 +                               ^
                        M1------|------M4                        M1------|------M4
                                |                                |
Ligne 2147: Ligne 2150:
  
 {{ :start:arduino:robots:sr04_002.jpg?direct&600 |}} {{ :start:arduino:robots:sr04_002.jpg?direct&600 |}}
 +
 +
 +======= Robot Mecanum commandé via PS2 sans fil =======
 +
 +{{ :start:arduino:robots:instructionsm.jpg?direct&600 |}}
 +
 +
 +==== programme1 test mecanum PS2 ====
 +
 +
 +
 +<code c mecanum-test001.ino>
 +
 +//programme en cours de test par GL le 13/12/2022
 +#include <PS2X_lib.h>  //for MOEBIUS
 +#include "FaBoPWM_PCA9685.h"
 +
 +//#include "servo.hpp"
 +
 +FaBoPWM faboPWM;
 +int pos = 0;
 +int MAX_VALUE = 2000;   // motor Motor_PWM 
 +int MIN_VALUE = 300;
 +
 +//PS2手柄引脚；PS2 handle Pin
 +#define PS2_DAT        13
 +#define PS2_CMD        11
 +#define PS2_SEL        10
 +#define PS2_CLK        12
 +
 +//MOTOR CONTROL Pin
 +#define DIRA1 0
 +#define DIRA2 1
 +#define DIRB1 2
 +#define DIRB2 3
 +#define DIRC1 4
 +#define DIRC2 5
 +#define DIRD1 6
 +#define DIRD2 7
 +
 +char speed;
 +// #define pressures   true
 +#define pressures   false
 +// #define rumble      true
 +#define rumble      false
 +
 +PS2X ps2x; // create PS2 Controller Class
 +
 +//right now, the library does NOT support hot pluggable controllers, meaning
 +//you must always either restart your Arduino after you connect the controller,
 +//or call config_gamepad(pins) again after connecting the controller.
 +
 +int error = 0;
 +byte type = 0;
 +byte vibrate = 0;
 +
 +void (* resetFunc) (void) = 0;
 +
 +//电机控制，前进、后退、停止   motor control advance\back\stop
 +#define MOTORA_FORWARD(pwm)    do{faboPWM.set_channel_value(DIRA1,pwm);faboPWM.set_channel_value(DIRA2, 0);}while(0)
 +#define MOTORA_STOP(x)         do{faboPWM.set_channel_value(DIRA1,0);faboPWM.set_channel_value(DIRA2, 0);}while(0)
 +#define MOTORA_BACKOFF(pwm)    do{faboPWM.set_channel_value(DIRA1,0);faboPWM.set_channel_value(DIRA2, pwm);}while(0)
 +
 +#define MOTORB_FORWARD(pwm)    do{faboPWM.set_channel_value(DIRB1,pwm);faboPWM.set_channel_value(DIRB2, 0);}while(0)
 +#define MOTORB_STOP(x)         do{faboPWM.set_channel_value(DIRB1,0);faboPWM.set_channel_value(DIRB2, 0);}while(0)
 +#define MOTORB_BACKOFF(pwm)    do{faboPWM.set_channel_value(DIRB1,0);faboPWM.set_channel_value(DIRB2, pwm);}while(0)
 +
 +#define MOTORC_FORWARD(pwm)    do{faboPWM.set_channel_value(DIRC1,pwm);faboPWM.set_channel_value(DIRC2, 0);}while(0)
 +#define MOTORC_STOP(x)         do{faboPWM.set_channel_value(DIRC1,0);faboPWM.set_channel_value(DIRC2, 0);}while(0)
 +#define MOTORC_BACKOFF(pwm)    do{faboPWM.set_channel_value(DIRC1,0);faboPWM.set_channel_value(DIRC2, pwm);}while(0)
 +
 +#define MOTORD_FORWARD(pwm)    do{faboPWM.set_channel_value(DIRD1,pwm);faboPWM.set_channel_value(DIRD2, 0);}while(0)
 +#define MOTORD_STOP(x)         do{faboPWM.set_channel_value(DIRD1,0);faboPWM.set_channel_value(DIRD2, 0);}while(0)
 +#define MOTORD_BACKOFF(pwm)    do{faboPWM.set_channel_value(DIRD1,0);faboPWM.set_channel_value(DIRD2, pwm);}while(0)
 +
 +#define SERIAL  Serial
 +
 +//#define SERIAL  Serial3
 +
 +#define LOG_DEBUG
 +
 +#ifdef LOG_DEBUG
 +#define M_LOG SERIAL.print
 +#else
 +#define M_LOG 
 +#endif
 +
 +//PWM参数
 +#define MAX_PWM   2000
 +#define MIN_PWM   300
 +
 +int Motor_PWM = 1900;
 +int Motor_PWM_mod = Motor_PWM - 400;
 + 
 +//------AVANCE--------------------------------------------------------------------
 +//    ↑A-----B↑   
 +//     |  ↑  |
 +//     |  |  |
 +//    ↑C-----D↑
 +void ADVANCE(uint8_t pwm_A,uint8_t pwm_B,uint8_t pwm_C,uint8_t pwm_D)
 +{
 +  MOTORA_FORWARD(Motor_PWM_mod);
 +  MOTORB_FORWARD(Motor_PWM);    
 +  MOTORC_FORWARD(Motor_PWM_mod);
 +  MOTORD_FORWARD(Motor_PWM);    
 +}
 +//-------RECUL------------------------------------------------------------------------
 +//    ↓A-----B↓ 
 +//     |  |  |
 +//     |  ↓  |
 +//    ↓C-----D↓
 +void BACK()
 +{
 +  MOTORA_BACKOFF(Motor_PWM_mod);MOTORB_BACKOFF(Motor_PWM);
 +  MOTORC_BACKOFF(Motor_PWM_mod);MOTORD_BACKOFF(Motor_PWM);
 +}
 +//-------GAUCHE AVANT------------------------------------------------------------------------
 +//    =B-----A↑   
 +//     |   ↖ |
 +//     | ↖   |
 +//    ↑C-----D=
 +void LEFT_1()
 +{
 +  MOTORA_FORWARD(Motor_PWM);MOTORB_STOP(Motor_PWM);
 +  MOTORC_FORWARD(Motor_PWM);MOTORD_STOP(Motor_PWM);
 +}
 +//-------GAUCHE---------------------------------------------------------------------------
 +//
 +//
 +//    ↓A-----B↑   
 +//     |  ←  |
 +//     |  ←  |
 +//    ↑C-----D↓
 +void LEFT_2()
 +{
 +  MOTORA_BACKOFF(Motor_PWM);MOTORB_FORWARD(Motor_PWM);
 +  MOTORC_FORWARD(Motor_PWM);MOTORD_BACKOFF(Motor_PWM);
 +}
 +//---------GAUCHE ARRIERE----------------------------------------------------------------------------
 +//
 +//
 +//    ↓A-----B=   
 +//     | ↙   |
 +//     |   ↙ |
 +//    =C-----D↓
 +void LEFT_3()
 +{
 +  MOTORA_BACKOFF(Motor_PWM);MOTORB_STOP(Motor_PWM);
 +  MOTORC_STOP(Motor_PWM);MOTORD_BACKOFF(Motor_PWM);
 +}
 +//-----------DROITE AVANT-----------------------------------------------------------------------
 +//    ↑A-----B=   
 +//     | ↗   |
 +//     |   ↗ |
 +//    =C-----D↑
 +void RIGHT_1()
 +{
 +  MOTORA_FORWARD(Motor_PWM);MOTORB_STOP(Motor_PWM);
 +  MOTORC_STOP(Motor_PWM);MOTORD_FORWARD(Motor_PWM); 
 +}
 +//--------------DROITE-----------------------------------------------------------------------
 +//    ↑A-----B↓   
 +//     |  →  |
 +//     |  →  |
 +//    ↓C-----D↑
 +void RIGHT_2()
 +{
 +  MOTORA_FORWARD(Motor_PWM);MOTORB_BACKOFF(Motor_PWM);
 +  MOTORC_BACKOFF(Motor_PWM);MOTORD_FORWARD(Motor_PWM);
 +}
 +//-----------------DROITE ARRIERE--------------------------------------------------------------
 +//    =A-----B↓   
 +//     |   ↘ |
 +//     | ↘   |
 +//    ↓C-----D=
 +void RIGHT_3()
 +{
 +  MOTORA_STOP(Motor_PWM);MOTORB_BACKOFF(Motor_PWM);
 +  MOTORC_BACKOFF(Motor_PWM);MOTORD_STOP(Motor_PWM);
 +}
 +//---------------------TOURNE---DROITE-------------------------------------------------------
 +//    ↑A-----B↓   
 +//     | ↗ ↘ |
 +//     | ↖ ↙ |
 +//    ↑C-----D↓
 +void rotate_1()  //tate_1(uint8_t pwm_A,uint8_t pwm_B,uint8_t pwm_C,uint8_t pwm_D) 
 +{
 +  MOTORA_FORWARD(Motor_PWM);MOTORB_BACKOFF(Motor_PWM);
 +  MOTORC_FORWARD(Motor_PWM);MOTORD_BACKOFF(Motor_PWM);
 +}
 +//----------------------TOURNE GAUCHE----------------------------------------------------------
 +//    ↓A-----B↑   
 +//     | ↙ ↖ |
 +//     | ↘ ↗ |
 +//    ↓C-----D↑
 +void rotate_2()  // rotate_2(uint8_t pwm_A,uint8_t pwm_B,uint8_t pwm_C,uint8_t pwm_D)
 +{
 +  MOTORA_BACKOFF(Motor_PWM);MOTORB_FORWARD(Motor_PWM);
 +  MOTORC_BACKOFF(Motor_PWM);MOTORD_FORWARD(Motor_PWM);
 +}
 +//---------------------------ARRET-------------------------------------------------------
 +//    =A-----B=  
 +//     |  =  |
 +//     |  =  |
 +//    =C-----D=
 +void STOP()
 +{
 +  MOTORA_STOP(Motor_PWM);MOTORB_STOP(Motor_PWM);
 +  MOTORC_STOP(Motor_PWM);MOTORD_STOP(Motor_PWM);
 +}
 +//-----------------------------------------------------------------------------------
 +
 +void UART_Control()
 +{
 +  char Uart_Date=0;
 +  if(SERIAL.available())
 +  {
 +    Uart_Date = SERIAL.read();
 +  }
 +  switch(Uart_Date)
 +  {
 +     case 'A':  ADVANCE(500,500,500,500);  M_LOG("Run!\r\n");        break;
 +     case 'B':  RIGHT_1();  M_LOG("Right up!\r\n");     break;
 +     case 'C':  rotate_2();                            break;      
 +     case 'D':  RIGHT_3();  M_LOG("Right down!\r\n");   break;
 +     case 'E':  BACK();     M_LOG("Run!\r\n");          break;
 +     case 'F':  LEFT_3();   M_LOG("Left down!\r\n");    break;
 +     case 'G':  rotate_1();                              break;         
 +     case 'H':  LEFT_1();   M_LOG("Left up!\r\n");     break;
 +     case 'Z':  STOP();     M_LOG("Stop!\r\n");        break;
 +     case 'z':  STOP();     M_LOG("Stop!\r\n");        break;
 +     case 'd':  LEFT_2();   M_LOG("Left!\r\n");        break;
 +     case 'b':  RIGHT_2();  M_LOG("Right!\r\n");        break;
 +     case 'L':  Motor_PWM = 1500;                      break;
 +     case 'M':  Motor_PWM = 500;                       break;
 +   }
 +}
 +
 +void IO_init()
 +{
 +  STOP();
 +}
 +
 +void setup()
 +{
 +   IO_init();
 +   SERIAL.begin(9600);
 +  if(faboPWM.begin()) 
 +  {
 +    Serial.println("Find PCA9685");
 +    faboPWM.init(300);
 +  }
 +  faboPWM.set_hz(50);
 +  SERIAL.print("Start"); 
 +
 +   delay(300) ; //added delay to give wireless ps2 module some time to startup, before configuring it
 +  //CHANGES for v1.6 HERE!!! **************PAY ATTENTION*************
 +
 +  //setup pins and settings: GamePad(clock, command, attention, data, Pressures?, Rumble?) check for error
 +  error = ps2x.config_gamepad(PS2_CLK, PS2_CMD, PS2_SEL, PS2_DAT, pressures, rumble);
 +
 +  if (error == 0) {
 +    Serial.print("Found Controller, configured successful ");
 +    Serial.print("pressures = ");
 +    if (pressures)
 +      Serial.println("true ");
 +    else
 +      Serial.println("false");
 +    Serial.print("rumble = ");
 +    if (rumble)
 +      Serial.println("true)");
 +    else
 +      Serial.println("false");
 +    Serial.println("Try out all the buttons, X will vibrate the controller, faster as you press harder;");
 +    Serial.println("holding L1 or R1 will print out the analog stick values.");
 +    Serial.println("Note: Go to www.billporter.info for updates and to report bugs.");
 +  }
 +  else if (error == 1)
 +  {
 +    Serial.println("No controller found, check wiring, see readme.txt to enable debug. visit www.billporter.info for troubleshooting tips");
 +    resetFunc();
 +    
 +  }
 +
 +  else if (error == 2)
 +    Serial.println("Controller found but not accepting commands. see readme.txt to enable debug. Visit www.billporter.info for troubleshooting tips");
 +
 +  else if (error == 3)
 +    Serial.println("Controller refusing to enter Pressures mode, may not support it. ");
 +
 +//  Serial.print(ps2x.Analog(1), HEX);
 +
 +  type = ps2x.readType();
 +  switch (type) {
 +  case 0:
 +    Serial.print("Unknown Controller type found ");
 +    break;
 +  case 1:
 +    Serial.print("DualShock Controller found ");
 +    break;
 +  case 2:
 +    Serial.print("GuitarHero Controller found ");
 +    break;
 +  case 3:
 +    Serial.print("Wireless Sony DualShock Controller found ");
 +    break;
 +  }
 +}
 +
 +
 +
 +void loop()
 +{
 +   // UART_Control();
 +    //CAR_Control();
 +      /* You must Read Gamepad to get new values and set vibration values
 +    ps2x.read_gamepad(small motor on/off, larger motor strenght from 0-255)
 +    if you don't enable the rumble, use ps2x.read_gamepad(); with no values
 +    You should call this at least once a second
 +  */
 +  if (error == 1) //skip loop if no controller found
 +    return;
 +
 +  if (type == 2) { //Guitar Hero Controller
 +    return;
 +  }
 +  else  { //DualShock Controller
 +    ps2x.read_gamepad(false, vibrate); //read controller and set large motor to spin at 'vibrate' Motor_PWM
 +
 +
 +//start 
 +    if (ps2x.Button(PSB_START))  {
 +      Serial.println("Start is being held");
 +      ADVANCE(500,500,500,500);
 +
 +
 +    }
 +
 +    if (ps2x.Button(PSB_PAD_UP)) {
 +      Serial.println("Up held this hard: ");
 +     ADVANCE(500,500,500,500);
 +    }
 +
 +
 +    if (ps2x.Button(PSB_PAD_DOWN)) {
 +      Serial.print("Down held this hard: ");
 +      BACK();
 +    }
 +
 +
 +    if (ps2x.Button(PSB_PAD_LEFT)) {
 +      Serial.println("turn left ");
 +      LEFT_2();
 +    }
 +
 +
 +    if (ps2x.Button(PSB_PAD_RIGHT)) {
 +      Serial.println("turn right");
 +      RIGHT_2();
 +    }
 +// Stop
 +    if (ps2x.Button(PSB_SELECT)) {
 +      Serial.println("stop");
 +      STOP();
 +    }
 +// 左平移
 +    if (ps2x.Button(PSB_PINK)) {
 +      Serial.println("motor_pmove_left");
 +      LEFT_1();
 +    }
 +
 +    if (ps2x.Button(PSB_RED)) {
 +      Serial.println("motor_pmove_right");
 +      RIGHT_1();
 +    }
 +    delay(20);
 +
 +  }
 +  if (ps2x.Button(PSB_L1) || ps2x.Button(PSB_R1)) { //print stick values if either is TRUE
 +    Serial.print("Stick Values:");
 +    Serial.print(ps2x.Analog(PSS_LY), DEC); //Left stick, Y axis. Other options: LX, RY, RX
 +    Serial.print(",");
 +    Serial.print(ps2x.Analog(PSS_LX), DEC);
 +    Serial.print(",");
 +    Serial.print(ps2x.Analog(PSS_RY), DEC);
 +    Serial.print(",");
 +    Serial.println(ps2x.Analog(PSS_RX), DEC);
 +
 +    int LY = ps2x.Analog(PSS_LY);
 +    int LX = ps2x.Analog(PSS_LX);
 +    int RY = ps2x.Analog(PSS_RY);
 +    int RX = ps2x.Analog(PSS_RX);
 +
 +    if (LY < 127) 
 +    {
 +
 +     // Motor_PWM = 1.5 * (127 - LY);
 +      ADVANCE(500,500,500,500);
 +      //Motor_PWM = 1.5 * (127 - LX);
 +      delay(20);
 +      Serial.print("ADVANCE");
 +    }
 +   
 +    if (LY > 127)
 +    {
 +      //Motor_PWM = 1.5 * (LY - 128);
 +      BACK();
 +      delay(20);
 +      Serial.print("ARRIERE");
 +    }
 +    
 +    if (LX < 128)
 +    {
 +      //Motor_PWM = 1.5 * (127 - LX);
 +      LEFT_2();
 +      delay(20);
 +      Serial.print("LEFT_2");
 +    }
 +    
 +    if (LX > 128)
 +    {
 +      //Motor_PWM = 1.5 * (LX - 128);
 +      RIGHT_2();
 +      delay(20);
 +      Serial.print("RIGHT_2");
 +    }
 +    
 +    if (LY == 127 && LX == 128)
 +    {
 +      STOP();
 +      delay(20);
 +    }
 +
 +  }
 +}
 +</code>
/home/chanteri/www/fablab37110/data/attic/start/arduino/robots/mecanum.1661183393.txt.gz · Dernière modification : (modification externe)