{"id":280,"date":"2014-02-04T22:37:17","date_gmt":"2014-02-04T21:37:17","guid":{"rendered":"http:\/\/wordpress.callac.online\/index.php\/un-projet-ai2-servant-a-piloter-un-robot-mobile-via-bluetooth\/"},"modified":"2022-01-05T22:41:57","modified_gmt":"2022-01-05T21:41:57","slug":"un-projet-ai2-servant-a-piloter-un-robot-mobile-via-bluetooth","status":"publish","type":"page","link":"https:\/\/wordpress.callac.online\/index.php\/numerique\/app-inventor-2\/un-projet-ai2-servant-a-piloter-un-robot-mobile-via-bluetooth\/","title":{"rendered":"Un projet AI2 servant \u00e0 piloter un robot mobile via Bluetooth"},"content":{"rendered":"<h2>Que fait ce projet ?<\/h2>\n<p><img loading=\"lazy\" decoding=\"async\" class=\" aligncenter size-full wp-image-893\" src=\"http:\/\/wordpress.callac.online\/wp-content\/uploads\/2014\/02\/png_ecran-3.png\" alt=\"ecran-3.png\" width=\"361\" height=\"582\" align=\"center\" srcset=\"https:\/\/wordpress.callac.online\/wp-content\/uploads\/2014\/02\/png_ecran-3.png 361w, https:\/\/wordpress.callac.online\/wp-content\/uploads\/2014\/02\/png_ecran-3-186x300.png 186w\" sizes=\"auto, (max-width: 361px) 100vw, 361px\" \/><\/p>\n<p>Ce projet permet d&rsquo;\u00e9tablir une communication Bluetooth et de commander les d\u00e9placement d&rsquo;un robot comprenant un circuit Arduino.<\/p>\n<h2>L&rsquo;application<\/h2>\n<p>Elle se trouve sur le <a href=\"http:\/\/ai2.appinventor.mit.edu\/?galleryId=5226554839269376\">site Appinventor<\/a>, dans la galerie, avec le nom \u00ab\u00a0BtRobot\u00a0\u00bb, ou rentrant plus simplement \u00ab\u00a0dlefur\u00a0\u00bb.<\/p>\n<h2>Le code Arduino<\/h2>\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"cpp\">\/* \n Robot Commande par Bluetooth\n *\/\n\n\/\/------------------------------------------------------------\n\/\/ Librairies\n\/\/------------------------------------------------------------\n\n\/\/ pour le traitement du message recu sur la liaison serie\n#include &lt;SerialDLF.h&gt;\n\n\/\/------------------------------------------------------------\n\/\/ Constantes et variables\n\/\/------------------------------------------------------------\n\n\/\/ Classe de SerialDLF\nSerialString messageRecu;\n\n\/\/Moteur A Gauche\nint E1 = 5; \/\/ Vitesse (PWM)\nint M1 = 4; \/\/ Direction\n\n\/\/Motor B Droite\nint E2 = 6; \/\/ Vitesse (PWM)\nint M2 = 7; \/\/ Direction\n\nconst int MOTEUR_A=0;\nconst int MOTEUR_B=1;\n\nconst int AVANT=1;\nconst int ARRIERE=0;\n\n\n\/\/------------------------------------------------------------\n\/\/ Setup\n\/\/------------------------------------------------------------\n\nvoid setup()\n{\n  \/\/ Initialisation de la liaison serie\n  Serial.begin(9600); \n  Serial.flush();\n  Serial.println(\"Liaison serie operationnelle !\");\n  Serial.println(\"------------------------------\");\n  delay(1000);\n  Serial.println(\"Descriptif du programme :\");\n  Serial.println(\"--------------------------\");\n  Serial.println(\"Ce programme permet de commander un robot.\");\n  Serial.println(\"--------------------------\");\n  Serial.println(\"Pour connaitre les commandes, taper sur h ou H.\");\n  Serial.println(\"--------------------------\");\n\n\n  \/\/ Autres initilisations\n\n  pinMode(E1, OUTPUT);\n  pinMode(M1, OUTPUT);\n\n  pinMode(E2, OUTPUT);\n  pinMode(M2, OUTPUT);\n\n\n} \/\/ fin setup\n\n\/\/------------------------------------------------------------\n\/\/ Loop\n\/\/------------------------------------------------------------\n\nvoid loop()\n{ \n  messageRecu.renew();  \/\/ on lit un eventuel message.\n  if (messageRecu.empty()==false) \/\/ Si le message est non vide ...\n  {\n    \/\/Serial.println(messageRecu.get());\n    traitement();\n    Serial.flush();\n  }\n} \/\/fin loop\n\n\n\/\/------------------------------------------------------------\n\/\/ Fonction traitement()\n\/\/------------------------------------------------------------\n\/*\nExecute le traitement des caracteres recus par la liaison serie\n qui sont stockes dans messageRecu.\n *\/\n\nvoid traitement()\n{\n  float temp;\n\n  if ((messageRecu.equals(\"Descriptif\")) || (messageRecu.equals(\"d\")))\n  {\n\n    Serial.println(\"--------------------------\");\n    Serial.println(\"Descriptif du programme :\");\n    Serial.println(\"--------------------------\");\n    Serial.println(\"Ce programme mesure la temperature a la demande.\");\n    Serial.println(\"--------------------------\");\n  }\n  else if  ((messageRecu.equals(\"Help\")) || (messageRecu.equals(\"h\")))\n  {\n    Serial.println(\"--------------------------\");\n    Serial.println(\"Liste des commandes :\");\n    Serial.println(\"--------------------------\");\n    Serial.println(\"--&gt; Descriptif ou d : affiche le descriptif du programme.\");\n    Serial.println(\"--&gt; Help ou h : affiche la liste des commandes.\");\n    Serial.println(\"--&gt; Mesure ou m : demande une mesure.\");\n    Serial.println(\"--------------------------\");\n  }\n  else if  ((messageRecu.equals(\"Avancer\")))\n  {\n    Serial.println(\"Avancer.\");\n    activer(MOTEUR_A, AVANT, 250);\n    activer(MOTEUR_B, AVANT,250); \n    delay(250);\n    activer(MOTEUR_A, AVANT, 0);\n    activer(MOTEUR_B, AVANT, 0);     \n  }\n  else if  ((messageRecu.equals(\"Reculer\")))\n  {\n    Serial.println(\"Reculer.\");\n    activer(MOTEUR_A, ARRIERE, 250);\n    activer(MOTEUR_B, ARRIERE, 250);\n    delay(250);\n    activer(MOTEUR_A, AVANT, 0);\n    activer(MOTEUR_B, AVANT, 0);      \n  }\n  else if  ((messageRecu.equals(\"Droite\")))\n  {\n    Serial.println(\"Droite.\");\n    activer(MOTEUR_A, AVANT, 250);\n    activer(MOTEUR_B, ARRIERE, 250);\n    delay(250);\n    activer(MOTEUR_A, AVANT, 0);\n    activer(MOTEUR_B, AVANT, 0);   \n  }\n  else if  ((messageRecu.equals(\"Gauche\")))\n  {\n    Serial.println(\"Gauche.\");\n    activer(MOTEUR_A, ARRIERE, 250);\n    activer(MOTEUR_B, AVANT, 250);\n    delay(250);\n    activer(MOTEUR_A, AVANT, 0);\n    activer(MOTEUR_B, AVANT, 0);    \n  }\n  else if  ((messageRecu.equals(\"Arreter\")))\n  {\n    Serial.println(\"Arreter.\");\n    activer(MOTEUR_A, AVANT, 0);\n    activer(MOTEUR_B, AVANT, 0);    \n  }\n\n  else\n  {\n    Serial.println(\"Erreur de saisie !\");\n  }\n\n} \/\/ fin traitement\n\n\n\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\n\/\/ Fonction activer\n\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\n\nvoid activer(int moteur, int sens, int vitesse)\n\/\/ moteur : MOTEUR_A ou MOTEUR_B\n\/\/ sens : AVANT ou ARRIERE\n\/\/ vitesse : entre 0 et 255\n{\n\n  switch (moteur)\n  {\n  case MOTEUR_A :\n    if (sens==AVANT)\n    {\n      digitalWrite(M1, LOW);       \n      analogWrite(E1, vitesse);\n    }\n    else\n    {\n      digitalWrite(M1, HIGH);       \n      analogWrite(E1, vitesse);\n    }\n    break;\n\n  case MOTEUR_B :\n    if (sens==AVANT)\n    {\n      digitalWrite(M2, LOW);       \n      analogWrite(E2, vitesse);\n    }\n    else\n    {\n      digitalWrite(M2, HIGH);       \n      analogWrite(E2, vitesse);\n    }\n    break;\n  }\n}\n\n\n\n\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\n\/\/ Fonction arreter_tout\n\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\n\nvoid arreter_tout()\n{\n  analogWrite(E1, 0);\n  analogWrite(E2, 0);\n}\n\n\n\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\n\/\/ Fonction arreter\n\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\n\nvoid arreter(int moteur)\n{\n  switch (moteur)\n  {\n  case MOTEUR_A :\n    analogWrite(E1, 0);\n\n  case MOTEUR_B :\n    analogWrite(E2, 0);\n  }\n}\n<\/pre>\n","protected":false},"excerpt":{"rendered":"<p>Que fait ce projet ? Ce projet permet d&rsquo;\u00e9tablir une communication Bluetooth et de commander les d\u00e9placement d&rsquo;un robot comprenant un circuit Arduino. L&rsquo;application Elle se trouve sur le site&hellip;<\/p>\n","protected":false},"author":1,"featured_media":0,"parent":980,"menu_order":2,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-280","page","type-page","status-publish","hentry"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v27.1.1 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>Un projet AI2 servant \u00e0 piloter un robot mobile via Bluetooth - Maths &amp; Num\u00e9rique<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/wordpress.callac.online\/index.php\/numerique\/app-inventor-2\/un-projet-ai2-servant-a-piloter-un-robot-mobile-via-bluetooth\/\" \/>\n<meta property=\"og:locale\" content=\"fr_FR\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Un projet AI2 servant \u00e0 piloter un robot mobile via Bluetooth - Maths &amp; Num\u00e9rique\" \/>\n<meta property=\"og:description\" content=\"Que fait ce projet ? 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