Bonsoir,

Voici un programme qui consiste à contrôler un robot avec une télécommande via bluetooth (une application depuis un smartphone) :

#include <AFMotor.h>  

AF_DCMotor motor3 (3, MOTOR34_1KHZ); 
AF_DCMotor motor4 (4, MOTOR34_1KHZ); 

String readString;

void setup() {
  //set all the motor control pins to output

  Serial.begin(9600);
}

void loop() 
{
  while(Serial.available())
  {
    delay(50);
    char c = Serial.read();
    readString+=c;
  }

  if(readString.length() > 0) 
  {

    if(readString == "FORWARD")
    {
      Avancer();
    }
    
    if(readString == "BACK")
    {
      Reculer();
    }

    if(readString == "LEFT")
    {
      Gauche();
    }

    if(readString == "RIGHT")
    {
      Droite();
    }

    if(readString == "STOP")
    {
      Stop();
    }

    readString = "";
  }

}

  

void Avancer()
{
  motor3.run(FORWARD);
  motor3.setSpeed(700);
  motor4.run(FORWARD);
  motor4.setSpeed(700);
  delay(2000);
  motor3.run(RELEASE);
  motor4.run(RELEASE);
}
  
void Reculer()
{
  motor3.run(BACKWARD);
  motor3.setSpeed(700);
  motor4.run(BACKWARD);
  motor4.setSpeed(700);
  delay(2000);
  motor3.run(RELEASE);
  motor4.run(RELEASE);
}
  
void Droite()
{
  motor3.run(FORWARD);
  motor3.setSpeed(190);
  motor4.run(BACKWARD);
  motor4.setSpeed(190);
  delay(1000);
  motor3.run(RELEASE);
  motor4.run(RELEASE);
}
  
void Gauche()
{
  motor3.run(BACKWARD);
  motor3.setSpeed(190);
  motor4.run(FORWARD);
  motor4.setSpeed(190);
  delay(1000);
  motor3.run(RELEASE);
  motor4.run(RELEASE);
}

void Stop()
{
  motor3.run(RELEASE);
  motor4.run(RELEASE);
}

et voici un autre programme permettant de contrôler le robot par vocal via bluetooth (depuis une application aussi) :

#include <AFMotor.h>  

AF_DCMotor motor3 (3, MOTOR34_1KHZ); 
AF_DCMotor motor4 (4, MOTOR34_1KHZ); 

String readString;
String voice;

void setup() {
  //set all the motor control pins to output

  Serial.begin(9600);
}

void loop() 
{
   while (Serial.available())
  { 
    delay(10); 
    char v = Serial.read(); 
    if (v == '#') 
    {
      break;
    } 
    voice += v; 
  }
  if (voice.length() > 0){
    if(voice == "*avancer"){
      Avancer();
      }
    else if(voice == "*reculer"){
      Reculer();
      }
    else if(voice == "*droite") {
      Droite();
    }
    else if(voice == "*gauche") {
      Gauche();
    }
    else if(voice == "*stop") {
      Stop();
    }
    
  voice=""; 
  }
  
}

  

void Avancer()
{
  motor3.run(FORWARD);
  motor3.setSpeed(700);
  motor4.run(FORWARD);
  motor4.setSpeed(700);
  delay(2000);
  motor3.run(RELEASE);
  motor4.run(RELEASE);
}
  
void Reculer()
{
  motor3.run(BACKWARD);
  motor3.setSpeed(700);
  motor4.run(BACKWARD);
  motor4.setSpeed(700);
  delay(2000);
  motor3.run(RELEASE);
  motor4.run(RELEASE);
}
  
void Droite()
{
  motor3.run(FORWARD);
  motor3.setSpeed(190);
  motor4.run(BACKWARD);
  motor4.setSpeed(190);
  delay(1000);
  motor3.run(RELEASE);
  motor4.run(RELEASE);
}
  
void Gauche()
{
  motor3.run(BACKWARD);
  motor3.setSpeed(190);
  motor4.run(FORWARD);
  motor4.setSpeed(190);
  delay(1000);
  motor3.run(RELEASE);
  motor4.run(RELEASE);
}

void Stop()
{
  motor3.run(RELEASE);
  motor4.run(RELEASE);
}

les deux marchent normalement (séparemment), mais quand j'essaie de combiner les deux programmes (pour que l'utilisateur aie le choix du contrôle) ça ne marche pas :

#include <AFMotor.h>  

AF_DCMotor motor3 (3, MOTOR34_1KHZ); 
AF_DCMotor motor4 (4, MOTOR34_1KHZ); 

String readString;
String voice;

void setup() {
  //set all the motor control pins to output

  Serial.begin(9600);
}

void loop() 
{
  while(Serial.available())
  {
    delay(50);
    char c = Serial.read();
    readString+=c;
  }

  if(readString.length() > 0) 
  {

    if(readString == "FORWARD")
    {
      Avancer();
    }
    
    if(readString == "BACK")
    {
      Reculer();
    }

    if(readString == "LEFT")
    {
      Gauche();
    }

    if(readString == "RIGHT")
    {
      Droite();
    }

    if(readString == "STOP")
    {
      Stop();
    }

    readString = "";
  }

  while (Serial.available())
  { 
    delay(10); 
    char v = Serial.read(); 
    if (v == '#') 
    {
      break;
    } 
    voice += v; 
  }
  if (voice.length() > 0){
    if(voice == "*avancer"){
      Avancer();
      }
    else if(voice == "*reculer"){
      Reculer();
      }
    else if(voice == "*droite") {
      Droite();
    }
    else if(voice == "*gauche") {
      Gauche();
    }
    else if(voice == "*stop") {
      Stop();
    }
    
  voice=""; 
  }
  
}

  

void Avancer()
{
  motor3.run(FORWARD);
  motor3.setSpeed(700);
  motor4.run(FORWARD);
  motor4.setSpeed(700);
  delay(2000);
  motor3.run(RELEASE);
  motor4.run(RELEASE);
}
  
void Reculer()
{
  motor3.run(BACKWARD);
  motor3.setSpeed(700);
  motor4.run(BACKWARD);
  motor4.setSpeed(700);
  delay(2000);
  motor3.run(RELEASE);
  motor4.run(RELEASE);
}
  
void Droite()
{
  motor3.run(FORWARD);
  motor3.setSpeed(190);
  motor4.run(BACKWARD);
  motor4.setSpeed(190);
  delay(1000);
  motor3.run(RELEASE);
  motor4.run(RELEASE);
}
  
void Gauche()
{
  motor3.run(BACKWARD);
  motor3.setSpeed(190);
  motor4.run(FORWARD);
  motor4.setSpeed(190);
  delay(1000);
  motor3.run(RELEASE);
  motor4.run(RELEASE);
}

void Stop()
{
  motor3.run(RELEASE);
  motor4.run(RELEASE);
}

Je ne comprends pas où est le problème.