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); 
Servo myServo; 

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 = "";
  }

}


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);
}

ça marche normalement, mais quand j'ajoute un servomoteur (qui permet juste d'indiquer la direction, quand le robot va par exemple à droite, le servomoteur tourne a droite) ça ne marche plus, je ne comprends pas pourquoi.

Voici le programme avec le servomoteur :

#include <AFMotor.h> 
#include <Servo.h>  

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

String readString;
String voice;

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

  Serial.begin(9600);
  myServo.attach(10); 
  myServo.write(130); 
}

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()
{
  myServo.write(80);
  delay(1000);
  myServo.write(130);
  delay(1000);
  motor3.run(FORWARD);
  motor3.setSpeed(190);
  motor4.run(BACKWARD);
  motor4.setSpeed(190);
  delay(1000);
  motor3.run(RELEASE);
  motor4.run(RELEASE);
}
  
void Gauche()
{
  myServo.write(170);
  delay(1000);
  myServo.write(130);
  delay(1000);
  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);
}

Si quelqu'un a une solution, j'en serais ravi.

-
Edité par Nomad922 23 mai 2019 à 16:52:47