Bonjour,
Je vous mets à disposition un sketch pour un va et viens analogique avec démarrage et arrêt progressif.
Matériels: 1 Arduino uno, 1 L298N, 3 ASC712
Le code est pas de moi juste apporté quelque modification et ajout, il y a certainement mieux, mais sa fonctionne très bien,
J' espère que sa peut vous servir.
Si vous avez des modifications ou des améliorations à apporter pas de problème.
#define VERSION "1.001.006"
#define SYS_ID "ACS712 Sensor Test"
const int pin = 1;
const int pin1 = 2;
const int pin2 = 3;
int pin8 = 8;
int ena = 9;
int in1 = 8;
int in2 = 7;
int vitesse ;
int direct ;
// Sampling Parameters
const unsigned long sampleTime = 58000UL; // 58 ms
const unsigned long numSamples = 300UL;
// sample interval is in microseconds
// must be greater than 100μs, the conversion time of the internal ADC
const unsigned long sampleInterval = sampleTime/numSamples;
#define SENSITIVITY 185 // per ACS712 5A data sheet, in mv/A
#define DETECTION_MULTIPLIER 1.095 // change as necessary to improve detection accuracy
#define CALIBRATION_READS 5000
// variables to hold sensor quiescent readings
int aqv;
int aqv1;
int aqv2;
float aqc;
float aqc1;
float aqc2;
void setup()
{
pinMode(ena, OUTPUT);
pinMode(in1, OUTPUT);
pinMode(in2, OUTPUT);
pinMode(pin8,HIGH);
TCCR1B &= 0xF8;
TCCR1B |= B00000010;
float sense;
Serial.begin(9600);
Serial.println(String(F(SYS_ID)) + String(F(" - SW:")) + String(F(VERSION)));
Serial.print("\n\nCalibrating the sensor at pin ");
Serial.println(pin);
aqv = determineVQ(pin);
Serial.print("AQV: ");
Serial.print(aqv, 4);
Serial.println(" mV");
aqc = determineCQ(pin, aqv);
Serial.print("AQC: ");
Serial.print(aqc, 4);
Serial.println(" mA");
sense = (aqc * DETECTION_MULTIPLIER) - aqc;
Serial.print("Detection Threshold: ");
Serial.print(sense * 1000, 4);
Serial.println(" mA\n\n");
float sense1;
Serial.print("\n\nCalibrating the sensor at pin ");
Serial.println(pin1);
aqv1 = determineVQ(pin1);
Serial.print("AQV1: ");
Serial.print(aqv1, 4);
Serial.println(" mV");
aqc1 = determineCQ(pin1, aqv1);
Serial.print("AQC1: ");
Serial.print(aqc, 4);
Serial.println(" mA");
sense1 = (aqc1 * DETECTION_MULTIPLIER) - aqc1;
Serial.print("Detection Threshold: ");
Serial.print(sense1 * 1000, 4);
Serial.println(" mA\n\n");
float sense2;
Serial.print("\n\nCalibrating the sensor at pin ");
Serial.println(pin2);
aqv2 = determineVQ(pin2);
Serial.print("AQV2: ");
Serial.print(aqv2, 4);
Serial.println(" mV");
aqc2 = determineCQ(pin2, aqv2);
Serial.print("AQC2: ");
Serial.print(aqc, 4);
Serial.println(" mA");
sense2 = (aqc2 * DETECTION_MULTIPLIER) - aqc2;
Serial.print("Detection Threshold: ");
Serial.print(sense2 * 1000, 4);
Serial.println(" mA\n\n");
delay(5000);
}
void loop(){
float current = readCurrent(pin, aqv);
bool occupied = current > (aqc * DETECTION_MULTIPLIER);
Serial.print("Current Sensed:");
Serial.print(current * 1000,1);
Serial.print(" mA\t\t");
Serial.print("The block1 is ");
if(occupied){ if (direct == 1){
for (vitesse = 255; vitesse >=30; vitesse -=5)
{analogWrite(ena,vitesse);
delay(50);
}
digitalWrite(in1, 0);
digitalWrite(in2, 1);
for (vitesse = 30; vitesse <=255; vitesse +=5)
{analogWrite(ena,vitesse);
delay(50);
}
//digitalWrite(in1, 1);
//digitalWrite(in2, 0);
Serial.println("occupied");
}
direct = 2;
Serial.println("occupied");
} else {
Serial.println("not occupied");
}
float current1 = readCurrent1(pin1, aqv1);
bool occupied1 = current1 > (aqc1 * DETECTION_MULTIPLIER);
Serial.print("Current Sensed1:");
Serial.print(current1 * 1000,1);
Serial.print(" mA\t\t");
Serial.print("The block2 is ");
if(occupied1){
Serial.println("occupied");
} else {
Serial.println("not occupied");
}
float current2 = readCurrent2(pin2, aqv2);
bool occupied2 = current2 > (aqc2 * DETECTION_MULTIPLIER);
Serial.print("Current Sensed2:");
Serial.print(current2 * 1000,1);
Serial.print(" mA\t\t");
Serial.print("The block3 is ");
if(occupied2){if (direct == 2){
for (vitesse = 255; vitesse >=30; vitesse -=5)
{analogWrite(ena,vitesse);
delay(50);
}
digitalWrite(in1, 1);
digitalWrite(in2, 0);
for (vitesse = 30; vitesse <=255; vitesse +=5)
{analogWrite(ena,vitesse);
delay(50);
}
//digitalWrite(in1, 1);
//digitalWrite(in2, 0);
Serial.println("occupied");
}
direct = 1;
} else {
Serial.println("not occupied");
}
/*
if (essai == 1) {
if (test == 1) {
digitalWrite(0, HIGH);
*/
delay(100);
}
//////////////////////////////////////////
// ACS712 Current Sensor Functions
//////////////////////////////////////////
float readCurrent(int PIN, float adc_zero)
{
float currentAcc = 0;
unsigned int count = 0;
unsigned long prevMicros = micros() - sampleInterval ;
while (count < numSamples)
{
if (micros() - prevMicros >= sampleInterval)
{
float adc_raw = (float) analogRead(PIN) - adc_zero;
adc_raw /= SENSITIVITY; // convert to amperes
currentAcc += (adc_raw * adc_raw);
++count;
prevMicros += sampleInterval;
}
}
//https://en.wikipedia.org/wiki/Root_mean_square
float rms = sqrt((float)currentAcc / (float)numSamples);
return rms;
}
float readCurrent1(int PIN, float adc_zero1)
{
float currentAcc = 0;
unsigned int count = 0;
unsigned long prevMicros = micros() - sampleInterval ;
while (count < numSamples)
{
if (micros() - prevMicros >= sampleInterval)
{
float adc_raw1 = (float) analogRead(PIN) - adc_zero1;
adc_raw1 /= SENSITIVITY; // convert to amperes
currentAcc += (adc_raw1 * adc_raw1);
++count;
prevMicros += sampleInterval;
}
}
//https://en.wikipedia.org/wiki/Root_mean_square
float rms1 = sqrt((float)currentAcc / (float)numSamples);
return rms1;
}
float readCurrent2(int PIN, float adc_zero2)
{
float currentAcc = 0;
unsigned int count = 0;
unsigned long prevMicros = micros() - sampleInterval ;
while (count < numSamples)
{
if (micros() - prevMicros >= sampleInterval)
{
float adc_raw2 = (float) analogRead(PIN) - adc_zero2;
adc_raw2 /= SENSITIVITY; // convert to amperes
currentAcc += (adc_raw2 * adc_raw2);
++count;
prevMicros += sampleInterval;
}
}
//https://en.wikipedia.org/wiki/Root_mean_square
float rms2 = sqrt((float)currentAcc / (float)numSamples);
return rms2;
}
//////////////////////////////////////////
// Calibration
// Track Power must be OFF during calibration
//////////////////////////////////////////
int determineVQ(int PIN) {
float VQ = 0;
//read a large number of samples to stabilize value
for (int i = 0; i < CALIBRATION_READS; i++) {
VQ += analogRead(PIN);
delayMicroseconds(sampleInterval);
}
VQ /= CALIBRATION_READS;
return int(VQ);
}
int determineVQ1(int PIN) {
float VQ1 = 0;
//read a large number of samples to stabilize value
for (int i = 0; i < CALIBRATION_READS; i++) {
VQ1 += analogRead(PIN);
delayMicroseconds(sampleInterval);
}
VQ1 /= CALIBRATION_READS;
return int(VQ1);
}
int determineVQ2(int PIN) {
float VQ2 = 0;
//read a large number of samples to stabilize value
for (int i = 0; i < CALIBRATION_READS; i++) {
VQ2 += analogRead(PIN);
delayMicroseconds(sampleInterval);
}
VQ2 /= CALIBRATION_READS;
return int(VQ2);
}
float determineCQ(int pin, float aqv) {
float CQ = 0;
// set reps so the total actual analog reads == CALIBRATION_READS
int reps = (CALIBRATION_READS / numSamples);
for (int i = 0; i < reps; i++) {
CQ += readCurrent(pin, aqv);
}
CQ /= reps;
return CQ;
}
float determineCQ1(int pin1, float aqv1) {
float CQ1 = 0;
// set reps so the total actual analog reads == CALIBRATION_READS
int reps1 = (CALIBRATION_READS / numSamples);
for (int i = 0; i < reps1; i++) {
CQ1 += readCurrent(pin1, aqv1);
}
CQ1 /= reps1;
return CQ1;
}
float determineCQ2(int pin2, float aqv2) {
float CQ2 = 0;
// set reps so the total actual analog reads == CALIBRATION_READS
int reps2 = (CALIBRATION_READS / numSamples);
for (int i = 0; i < reps2; i++) {
CQ2 += readCurrent(pin2, aqv2);
}
CQ2 /= reps2;
return CQ2;
}
