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| /*
******************************************************************************************************
Position acquisition with GPS Shield https://www.elecrow.com/gps-shield-with-antenna-p-696.html
Use of a TinyGPS++ (TinyGPSPlus) object.
It requires the use of SoftwareSerial, and assumes that you have a
9600-baud serial GPS device hooked up on pins 6(rx) and 7(tx)(Arduino).
Bearing with Compass GY-282 (HMC5983) https://wiki.eprolabs.com/index.php?title=GY-282_HMC5983_Module
Acquisition de position par Shield GPS https://www.elecrow.com/gps-shield-with-antenna-p-696.html
Utilise TinyGPS++ (TinyGPSPlus)et SoftwareSerial
Nécessite l'utilisation d'un GPS série à 9600 bauds raccordé aux pins 6(rx) et 7(tx)de l'Arduino.
Orientation par Boussole GY-282 (HMC5983) https://wiki.eprolabs.com/index.php?title=GY-282_HMC5983_Module
Carte Botboarduino (basée sur l'Arduino Duemilanove) https://www.robotshop.com/media/files/pdf2/botboarduinomanual.pdf
Thierry M.
14 août 2020
******************************************************************************************************/
// Pas de bug, mais
// NON TERMINÉ (le servo balaye en permanence !!! interférence GPS et servo)
/******************************************************************************************************
GPS Shield
******************************************************************************************************/
#include <TinyGPS++.h>
#include <SoftwareSerial.h>
static const double WP_LAT = 44.078562, WP_LON = 6.174634; // WayPoint, Destination
static const uint32_t GPSBaud = 9600; // Vitesse transfert GPS ==> Carte
static const int RXPin = 6, TXPin = 7; // Rx-Tx de l'Arduino (pas du GPS)
SoftwareSerial ss(RXPin, TXPin);
TinyGPSPlus gps; // The TinyGPS++ object
unsigned long distancemToWP;
double capToWP;
void gps_pc_monit() // Ecriture texte sur Moniteur PC
{
Serial.println(F("Sats Latitude Longitude Date Heure Alt Route Vitesse Card Distance Cap Dir Chars Sentences Checksum"));
Serial.println(F(" (deg) (deg) (m) --- from GPS ---- du WP vers WP ---- RX RX Fail"));
Serial.println(F("---------------------------------------------------------------------------------------------------------------------------"));
}
void gps_data() // Envoi des données GPS vers Moniteur PC
{
printInt(gps.satellites.value(), gps.satellites.isValid(), 5);
printFloat(gps.location.lat(), gps.location.isValid(), 11, 6);
printFloat(gps.location.lng(), gps.location.isValid(), 12, 6);
printDateTime(gps.date, gps.time);
printFloat(gps.altitude.meters(), gps.altitude.isValid(), 9, 2);
printFloat(gps.course.deg(), gps.course.isValid(), 7, 2);
printFloat(gps.speed.kmph(), gps.speed.isValid(), 6, 2);
printStr(gps.course.isValid() ? TinyGPSPlus::cardinal(gps.course.value()) : "*** ", 6);
distancemToWP =
(unsigned long)TinyGPSPlus::distanceBetween(
gps.location.lat(),
gps.location.lng(),
WP_LAT,
WP_LON);
printInt(distancemToWP, gps.location.isValid(), 9);
capToWP =
TinyGPSPlus::courseTo(
gps.location.lat(),
gps.location.lng(),
WP_LAT,
WP_LON);
printFloat(capToWP, gps.location.isValid(), 8, 2);
const char *cardinalToWP = TinyGPSPlus::cardinal(capToWP);
printStr(gps.location.isValid() ? cardinalToWP : "*** ", 6);
printInt(gps.charsProcessed(), true, 7);
printInt(gps.sentencesWithFix(), true, 10);
printInt(gps.failedChecksum(), true, 9);
Serial.println();
}
static void smartDelay(unsigned long ms)
{
unsigned long start = millis();
do
{
while (ss.available())
gps.encode(ss.read());
} while (millis() - start < ms);
}
static void printFloat(float val, bool valid, int len, int prec)
{
if (!valid)
{
while (len-- > 1)
Serial.print('*');
Serial.print(' ');
}
else
{
Serial.print(val, prec);
int vi = abs((int)val);
int flen = prec + (val < 0.0 ? 2 : 1); // . and -
flen += vi >= 1000 ? 4 : vi >= 100 ? 3 : vi >= 10 ? 2 : 1;
for (int i = flen; i < len; ++i)
Serial.print(' ');
}
smartDelay(0);
}
static void printInt(unsigned long val, bool valid, int len)
{
char sz[32] = "*****************";
if (valid)
sprintf(sz, "%ld", val);
sz[len] = 0;
for (int i = strlen(sz); i < len; ++i)
sz[i] = ' ';
if (len > 0)
sz[len - 1] = ' ';
Serial.print(sz);
smartDelay(0);
}
static void printDateTime(TinyGPSDate &d, TinyGPSTime &t)
{
if (!d.isValid())
{
Serial.print(F("********** "));
}
else
{
char sz[32];
sprintf(sz, "%02d/%02d/%02d ", d.month(), d.day(), d.year());
Serial.print(sz);
}
if (!t.isValid())
{
Serial.print(F("******** "));
}
else
{
char sz[32];
sprintf(sz, "%02d:%02d:%02d ", t.hour(), t.minute(), t.second());
Serial.print(sz);
}
}
static void printStr(const char *str, int len)
{
int slen = strlen(str);
for (int i = 0; i < len; ++i)
Serial.print(i < slen ? str[i] : ' ');
smartDelay(0);
}
void gps_valid() // Informe de l'état du GPS
{
if (millis() > 5000 && gps.charsProcessed() < 10)
Serial.println(F("No GPS data received: check wiring"));
if (gps.location.isValid())
{
digitalWrite(8, LOW); // turn the LED on by making the voltage LOW
}
}
void wp_prox() // Allume led interne orange si WayPoint proche
{
if (distancemToWP < 8)
{
digitalWrite(9, LOW); // turn the LED on by making the voltage LOW
}
}
void init_led() // Initialise les Leds internes
{
pinMode(8, OUTPUT); // initialize digital pin LED_VERTE as an output
digitalWrite(8, HIGH); // turn the LED off by making the voltage HIGH
pinMode(9, OUTPUT); // initialize digital pin LED_JAUNE as an output.
digitalWrite(9, HIGH); // turn the LED off by making the voltage HIGH
digitalWrite(LED_BUILTIN, LOW); // Eteint Led interne
}
/******************************************************************************************************
Boussole GY-282
******************************************************************************************************/
#include <Wire.h> //I2C Arduino Library
#define addr 0x1E //I2C Address for The HMC5883
int compassCorrection = 0; // set to 0 (not used)
void init_boussole() // Début de transfert (I2C) Boussole ==> Carte
{
Wire.begin();
Wire.beginTransmission(addr); //start talking
Wire.write(0x02); // Set the Register
Wire.write(0x00); // Tell the HMC5883 to Continuously Measure
Wire.endTransmission();
}
int x, y, z; //triple axis data
void data_boussole ()
{
//Tell the HMC what regist to begin writing data into
Wire.beginTransmission(addr);
Wire.write(0x03); //start with register 3.
Wire.endTransmission();
//Read the data.. 2 bytes for each axis.. 6 total bytes
Wire.requestFrom(addr, 6);
if (6 <= Wire.available()) {
x = Wire.read() << 8; //MSB x
x |= Wire.read(); //LSB x
z = Wire.read() << 8; //MSB z
z |= Wire.read(); //LSB z
y = Wire.read() << 8; //MSB y
y |= Wire.read(); //LSB y}
}
}
float routeDegrees;
void calc_route ()
{
// Calcul de la route
float route = atan2(x, y);
// Correct for when signs are reversed.
if (route < 0)
route += 2 * PI;
// Check for wrap due to addition of declination.
if (route > 2 * PI)
route -= 2 * PI;
// Convert radians to degrees for readability.
routeDegrees = route * 180 / M_PI;
int routeDegreesInteger = routeDegrees;
// not used here, since correction is set to 0
if ((routeDegreesInteger - compassCorrection) >= 0)
{
routeDegreesInteger = routeDegreesInteger - compassCorrection;
}
else
{
routeDegreesInteger = routeDegreesInteger - compassCorrection + 360;
}
Serial.print("Route (degres): "); Serial.println(routeDegrees);
}
/******************************************************************************************************
Commande Servo Direction
******************************************************************************************************/
#include <Servo.h>
Servo myservo; // création de l'objet myservo
int pos; // variable to store the servo position
void init_servo ()
{
// Fixe le servo sur pin 13
myservo.attach(13);
// Initialise position servo à 90°
pos = 170;
}
void pos_servo ()
{
myservo.write(pos);
delay(15);
}
/*******************************************************************************
SETUP
********************************************************************************/
void setup()
{
init_led();
Serial.begin(9600); // Début de transfert (Vitesse) Carte ==> PC
ss.begin(GPSBaud); // Début de transfert (Vitesse) GPS ==> Carte
gps_pc_monit();
init_boussole();
init_servo (); // !!!!!!!!! pour le moment - interfère avec ss.begin !!!!!!!!!!
}
/*******************************************************************************
LOOP
********************************************************************************/
void loop()
{
gps_data();
smartDelay(1000);
gps_valid();
wp_prox();
data_boussole ();
calc_route ();
pos_servo ();
} |
[Résolu]Interférences Shield GPS - Commande servo
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