Exercise Arduino FCU English
You will find on this page all informations, exercises and files you need to get started for making a FCU (Flight Control Unit) prototype during your lab work in class.
Some useful Arduino functions
Void setup() : mandatory at the beginning of the program, this corresponds to the initialization of the program (indicate the pins, outputs, inputs)
Void loop() : mandatory in a program, this corresponds to the part of the program that will repeat in a loop.
DigitalRead() / AnalogRead() : allows to read the state (HIGH or LOW) of a digital/analog port of the Arduino board.
DigitalWrite() / AnalogWrite() : allows to write and thus give a state (HIGH or LOW) to a digital/analog port of the Arduino board.
PinMode() : allows to initialize a pin and put it in input or output mode (ex: pinMode(1, OUTPUT)) Delay() : Makes a pause in the program (in ms).
Use this link for any other information or other Arduino functions: https://www.arduino.cc/reference/fr/
Here are some sites that allow you to find all the necessary components for the assembly:
https://www.gotronic.fr/rechercher.htm
https://boutique.semageek.com/fr/2-arduino
Exercise 1 : Get ready - Control of a LED
This exercise is split in 3 objectives : turn on a LED, make it blink and finally control its brightness
During all this exercise, we will use the assembly below.
Necessary material
- 1 Arduino board
- 1 LED
- 1 220 ohm resistor
- 1 test board
- 2 male/male wires
Assembly realisation
• Connect the digital pin (digital side) number 1 of the Arduino board to the resistor's pin.
• Connect the second pin of the resistor to the anode (positive, longer leg) of the LED.
• Connect the cathode (negative, shorter leg) of the LED to the GND of the Arduino.
Step 1 : Turn on a LED
To switch on this LED, you will need the following Arduino code.
void setup()
{
pinMode(1, OUTPUT); //Initialize digital pin number 1 of the Arduino board in output mode
}
void loop()
{
digitalWrite(1, HIGH); //The current is sent to pin 1, the LED lights up
}
Step 2 : Make an LED blink
This Arduino code allows you to blink a LED at a given frequency.
void setup()
{
pinMode(1, OUTPUT); //Initialisation de la broche 1 en sortie
}
void loop()
{
digitalWrite(1, HIGH); //Setting the level to High (Turning on) the LED
delay(1000); //Délai de 1000ms dans cette position (LED allumée)
digitalWrite(1, LOW); //Delay of 1000ms in this position (LED turned on)
delay(1000); //Delay of 1000ms in this position (LED turned off)
}
You can find an explanatory video by following this link : https://www.youtube.com/watch?v=OOR3dfWH8HE
Step 3 : Control the brightness of a LED
Here, the code will vary the light intensity of the LED in such a way that the intensity increases linearly, and when the LED reaches its maximum value (value 255, value HIGH), and then the light intensity decreases until the LED is off (value 0, LOW).
int LED = 3; // Definition of the pins and variables used.
int x; // Duty cycle
void setup()
{
pinMode(LED, OUTPUT);
}
void loop()
{
x = 0;
while (x <= 255) // Gradually turning on the LED (0 --> 255)
{
analogWrite(LED, x);
delay(10);
x = x+1;
}
x = 255;
while (x >= 0) // Gradually turning off the LED (0 --> 255)
{
analogWrite(LED, x);
delay(10);
x = x-1;
}
}
Exercise 2 : Using a gyroscope
The implementation of a gyroscope using Arduino allows for the determination of the inclinations of a moving device.
Necessary material
- 1 Arduino board
- 1 gyroscope
- 4 male/female wires
Assembly
• Connect the GND and VCC terminals respectively to the GND and +5V terminals of the Arduino board
• Connect the SCL terminal of the gyroscope to the A4 analog terminal
• Connect the SDA terminal of the gyroscope to the A5 analog terminal.
Here, the SCL and SDA terminals correspond to the x and y axes of the gyroscope.
NOTE: LEDs can be used on a breadboard as done for the joystick to see the effects of the gyroscope on the LEDs.
Arduino code
#include <Wire.h>
#include "I2Cdev.h"
#include "MPU6050_6Axis_MotionApps20.h"
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
#include "Wire.h"
#endif
MPU6050 mpu;
#define OUTPUT_READABLE_YAWPITCHROLL
#define LED_PIN 13 // (Arduino is 13, Teensy is 11, Teensy++ is 6)
bool blinkState = false;
bool dmpReady = false; // set true if DMP init was successful
uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU
uint8_t devStatus; // return status after each device operation (0 = success, !0 = error)
uint16_t packetSize; // expected DMP packet size (default is 42 bytes)
uint16_t fifoCount; // count of all bytes currently in FIFO
uint8_t fifoBuffer[64]; // FIFO storage buffer
// orientation/motion vars
Quaternion q; // [w, x, y, z] quaternion container
VectorInt16 aa; // [x, y, z] accel sensor measurements
VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements
VectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurements
VectorFloat gravity; // [x, y, z] gravity vector
float euler[3]; // [psi, theta, phi] Euler angle container
float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector
// packet structure for InvenSense teapot demo
uint8_t teapotPacket[14] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' };
// ================================================================
// === INTERRUPT DETECTION ROUTINE ===
// ================================================================
volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high
void dmpDataReady() {
mpuInterrupt = true;
}
// ================================================================
// === LEDS ===
// ================================================================
const int led_1 = 13 ;
const int led_2 = 12 ;
const int led_3 = 11 ;
const int led_4 = 10 ;
const int led_5 = 9 ;
const int led_6 = 8 ;
const int led_7 = 7 ;
const int led_8 = 6 ;
const int led_9 = 5 ;
// ================================================================
// === INITIAL SETUP ===
// ================================================================
void setup() {
// LEDS
pinMode(led_1, OUTPUT);
pinMode(led_2, OUTPUT);
pinMode(led_3, OUTPUT);
pinMode(led_4, OUTPUT);
pinMode(led_5, OUTPUT);
pinMode(led_6, OUTPUT);
pinMode(led_7, OUTPUT);
pinMode(led_8, OUTPUT);
pinMode(led_9, OUTPUT);
// join I2C bus (I2Cdev library doesn't do this automatically)
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
Wire.begin();
TWBR = 24; // 400kHz I2C clock (200kHz if CPU is 8MHz)
#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
Fastwire::setup(400, true);
#endif
Serial.begin(115200);
while (!Serial); // wait for Leonardo enumeration, others continue immediately
Serial.println(F("Initializing I2C devices..."));
mpu.initialize();
Serial.println(F("Testing device connections..."));
Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));
Serial.println(F("\nSend any character to begin DMP programming and demo: "));
while (Serial.available() && Serial.read()); // empty buffer
while (!Serial.available()); // wait for data
while (Serial.available() && Serial.read()); // empty buffer again
Serial.println(F("Initializing DMP..."));
devStatus = mpu.dmpInitialize();
// supply your own gyro offsets here, scaled for min sensitivity
mpu.setXGyroOffset(220);
mpu.setYGyroOffset(76);
mpu.setZGyroOffset(-85);
mpu.setZAccelOffset(1788); // 1688 factory default for my test chip
// make sure it worked (returns 0 if so)
if (devStatus == 0) {
// turn on the DMP, now that it's ready
Serial.println(F("Enabling DMP..."));
mpu.setDMPEnabled(true);
// enable Arduino interrupt detection
Serial.println(F("Enabling interrupt detection (Arduino external interrupt 0)..."));
attachInterrupt(0, dmpDataReady, RISING);
mpuIntStatus = mpu.getIntStatus();
// set our DMP Ready flag so the main loop() function knows it's okay to use it
Serial.println(F("DMP ready! Waiting for first interrupt..."));
dmpReady = true;
// get expected DMP packet size for later comparison
packetSize = mpu.dmpGetFIFOPacketSize();
} else {
// ERROR!
// 1 = initial memory load failed
// 2 = DMP configuration updates failed
// (if it's going to break, usually the code will be 1)
Serial.print(F("DMP Initialization failed (code "));
Serial.print(devStatus);
Serial.println(F(")"));
}
// configure LED for output
pinMode(LED_PIN, OUTPUT);
}
// ================================================================
// === MAIN PROGRAM LOOP ===
// ================================================================
void loop() {
// if programming failed, don't try to do anything
if (!dmpReady) return;
// wait for MPU interrupt or extra packet(s) available
while (!mpuInterrupt && fifoCount < packetSize) {
// other program behavior stuff here
// if you are really paranoid you can frequently test in between other
// stuff to see if mpuInterrupt is true, and if so, "break;" from the
// while() loop to immediately process the MPU data
}
// reset interrupt flag and get INT_STATUS byte
mpuInterrupt = false;
mpuIntStatus = mpu.getIntStatus();
// get current FIFO count
fifoCount = mpu.getFIFOCount();
// check for overflow (this should never happen unless our code is too inefficient)
if ((mpuIntStatus & 0x10) || fifoCount == 1024) {
// reset so we can continue cleanly
mpu.resetFIFO();
Serial.println(F("FIFO overflow!"));
// otherwise, check for DMP data ready interrupt (this should happen frequently)
} else if (mpuIntStatus & 0x02) {
// wait for correct available data length, should be a VERY short wait
while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();
// read a packet from FIFO
mpu.getFIFOBytes(fifoBuffer, packetSize);
// track FIFO count here in case there is > 1 packet available
// (this lets us immediately read more without waiting for an interrupt)
fifoCount -= packetSize;
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
// BEGINNING OF OUR CODE
// MPU
int XX ;
int YY ;
XX = (ypr[2] * 180/M_PI) * (128/90) ; // entre -128 et 128
YY = (ypr[1] * 180/M_PI) * (128/90) ;
// It's p and r that are interesting us
int puiss_led_11 ;
int puiss_led_22 ;
int puiss_led_33 ;
int puiss_led_44 ;
int puiss_led_55 ;
int puiss_led_66 ;
int puiss_led_77 ;
int puiss_led_88 ;
int puiss_led_99 ;
puiss_led_11 = 100 + (0 * XX) - (1.5 * YY);
puiss_led_22 = 100 - (0.75 * XX) - (1 * YY);
puiss_led_33 = 100 + (0.75 * XX) - (1 * YY);
puiss_led_44 = 100 - (1 * XX) - (0 * YY);
puiss_led_55 = 100 + (1 * XX) - (0 * YY);
puiss_led_66 = 100 - (1.25 * XX) + (1 * YY);
puiss_led_77 = 100 - (0.75 * XX) + (1 * YY);
puiss_led_88 = 100 + (0.75 * XX) + (1 * YY);
puiss_led_99 = 100 + (1.25 * XX) + (1 * YY);
analogWrite(led_1, puiss_led_11);
analogWrite(led_2, puiss_led_22);
analogWrite(led_3, puiss_led_33);
analogWrite(led_4, puiss_led_44);
analogWrite(led_5, puiss_led_55);
analogWrite(led_6, puiss_led_66);
analogWrite(led_7, puiss_led_77);
analogWrite(led_8, puiss_led_88);
analogWrite(led_9, puiss_led_99);
// Show in the console the differents brightenesses of the LED
Serial.print("XX = ");
Serial.print(XX);
Serial.print("YY = ");
Serial.print(YY);
Serial.print("\tPuiss 1 = ");
Serial.print(puiss_led_11);
Serial.print("\tPuiss 2 = ");
Serial.print(puiss_led_22);
Serial.print("\tPuiss 3 = ");
Serial.print(puiss_led_33);
Serial.print("\tPuiss 4 = ");
Serial.print(puiss_led_44);
Serial.print("\tPuiss 5 = ");
Serial.print(puiss_led_55);
Serial.print("\tPuiss 6 = ");
Serial.print(puiss_led_66);
Serial.print("\tPuiss 7 = ");
Serial.print(puiss_led_77);
Serial.print("\tPuiss 8 = ");
Serial.print(puiss_led_88);
Serial.print("\tPuiss 9 = ");
Serial.println(puiss_led_99);
// END OF OUR CODE
// blink LED to indicate activity
blinkState = !blinkState;
digitalWrite(LED_PIN, blinkState);
}
}
Exercise 3A : Using a joystick
Implementing a joystick on an Arduino allows for real-time retrieval of information about the Joystick's position. In this case, LEDs are used in the setup to provide a visual effect. However, these LEDs are not necessary for this package.
Necessary material
- 1 Arduino board
- 1 Joystick
- 4 LEDs
- At least 4 220 ohms resistors
- 1 breadboard
- 5 male/female wires
- 8 male/male wires
Assembly
• Connect the 4 LEDs with the resistors on the breadboard to the digital pins (e.g. 10, 11, 12, 13) on the Arduino board. Arrange them in a diamond shape so that one LED corresponds to one direction of the Joystick (left, up, etc.).
• Connect the Joystick to the Arduino board:
• The GND pin of the Joystick should be connected to the GND of the Arduino board
• The Vcc pin of the Joystick should be connected to the +5V of the Arduino board
• The VRx pin of the Joystick should be connected to A0 (analog side) of the Arduino board
• The VRy pin of the Joystick should be connected to A1 (analog side) of the Arduino board
• The SW pin of the Joystick should be connected to pin 2 (digital side) of the Arduino board
In this setup, the LEDs will indicate the orientation of the Joystick. For example, if the Joystick is moved forward, one of the LEDs will light up and the others will be off. The lit LED will represent the front side of the Joystick. The same applies to the other LEDs and the other sides of the Joystick.
For a more precise analysis of the Joystick's position, go to Tools -> Serial Monitor. You will be provided with the exact positions of the Joystick.
NOTE: Additional LEDs can be added to increase the precision of the information. For example, if 4 more LEDs (8 LEDs in total arranged in a circle) are added, it will be possible to determine if the Joystick is in diagonal positions: North-East, North-West, South-East, South-West.
Regarding the joystick, the VRx and VRy pins correspond to the Forward/Backward and Left/Right positions of the Joystick. The SW pin represents a press on the Joystick as it also functions as a push button.
Arduino code
// Arduino pin numbers
const int SW_pin = 2; //The SW pin of the Joystick is connected to digital pin 2 on the Arduino board
const int X_pin = 0; //The X pin of the Joystick is connected to the analog pin A0 on the Arduino board
const int Y_pin = 1; //The Y pin of the Joystick is connected to the analog pin A1 on the Arduino board
#define UP_LED 10
#define RIGHT_LED 11 //Define the pins for the LEDs
#define LEFT_LED 12
#define DOWN_LED 13
void setup() {
pinMode(SW_pin, INPUT);
digitalWrite(SW_pin, HIGH);
Serial.begin(115200);
pinMode(UP_LED, OUTPUT);
pinMode(RIGHT_LED, OUTPUT); // The 4 LEDs are defined as outputs in the code
pinMode(LEFT_LED, OUTPUT);
pinMode(DOWN_LED, OUTPUT);
}
void loop() {
Serial.print("Switch: "); //Displaying the values in the serial monitor
Serial.print(digitalRead(SW_pin));
Serial.print("\n");
Serial.print("X-axis: ");
Serial.print(analogRead(X_pin));
Serial.print("\n");
Serial.print("Y-axis: ");
Serial.println(analogRead(Y_pin));
Serial.print("\n\n");
delay(500);
if(analogRead(X_pin) == 1023){ //If the joystick is forward, then the
digitalWrite(UP_LED, HIGH); // LED UP is turned on.
} else if(analogRead(X_pin) == 0){ //If the joystick is backward, then the
digitalWrite(DOWN_LED, HIGH); // LED DOWN is turned on
}
else if(analogRead(Y_pin) == 1023){ // If the joystick is on left, then the
digitalWrite(RIGHT_LED, HIGH); // LED RIGHT is turned on
}
else if(analogRead(Y_pin) == 0){ //If the joystick is on right, then the
digitalWrite(LEFT_LED, HIGH); // LED LEFT is turned on
}
else if(digitalRead(SW_pin) == 0){ //If the joystick is pressed
digitalWrite(UP_LED, HIGH); //then all the LEDs are turned on
digitalWrite(LEFT_LED, HIGH);
digitalWrite(RIGHT_LED, HIGH);
digitalWrite(DOWN_LED, HIGH);
}
else{ //If there is no pressure on the joystick,
digitalWrite(UP_LED, LOW); //then all the LEDs turn off
digitalWrite(LEFT_LED, LOW);
digitalWrite(RIGHT_LED, LOW);
digitalWrite(DOWN_LED, LOW);
}
}
Exercise 3B : Using a joystick to determine the position (pressed or not) of it (simplified version)
The implementation of a Joystick using Arduino allows for real-time retrieval of information on the Joystick's position. Here, LEDs are used in the setup to provide a visual effect, however, these LEDs are not essential in this package.
The goal is to use only 4 LEDs and adjust the brightness of each LED based on the Joystick's position. The brightness of the LEDs will increase proportionally to the Joystick's position.
EXAMPLE : if the Joystick is slightly tilted to the right, then the right LED will flicker with a low intensity and as the Joystick tilts further to the right, the right LED will have an increasingly bright light intensity until it reaches its maximum (when the joystick is pressed down).
Necessary material
NOTE: For a more accurate analysis of the Joystick's position, go to Tools -> Serial Monitor. You will receive the exact positions of the Joystick.
Code Arduino
int axey = A1; // Entrée de référence pour l'axe Y.
int axex = A0; // Entrée de référence pour l'axe X.
int ledD = 12; // Led inférieur. Cette valeur est à adapter à votre montage !
int ledup = 9; // Led supérieur. Cette valeur est à adapter à votre montage !
int ledL = 13; // Led gauche. Cette valeur est à adapter à votre montage !
int ledR = 7; // Led droite. Cette valeur est à adapter à votre montage !
int valeurX;
int valeurY;
void setup() {
Serial.begin(9600); // Définition des leds comme sorties
pinMode(ledup, OUTPUT);
pinMode(ledD, OUTPUT);
pinMode(ledL, OUTPUT);
pinMode(ledR, OUTPUT);
}
void loop() {
valeurX = analogRead(axex);
if (valeurX > 512){ // droite
analogWrite(ledR,(valeurX-513)/2); // Cette formule permet l’augmentation progressive de l’intensité lumineuse pour des valeurs comprises entre 513 et 1023
Serial.print("x = ");
Serial.println(valeurX);
}
else
{
digitalWrite(ledR, LOW );
}
valeurX = analogRead(axex);
if (valeurX < 511){ // gauche
analogWrite(ledL,(-valeurX+510)/2); // Cette formule permet l’augmentation progressive de l’intensité lumineuse pour des valeurs comprises entre 0 et 510
Serial.print("x = ");
Serial.println(valeurX);
}
else
{
digitalWrite(ledL, LOW );
}
valeurY = analogRead(axey);
if (valeurY > 512){ // bas
analogWrite(ledD, (valeurY-513)/2); // Cette formule permet l’augmentation progressive de l’intensité lumineuse pour des valeurs comprises entre 513 et 1023
Serial.print("y = ");
Serial.println(valeurY);
}
else
{
digitalWrite(ledD, LOW );
}
valeurY = analogRead(axey);
if (valeurY < 511){ // haut
analogWrite(ledup,(-valeurX+510)/2); // Cette formule permet l’augmentation progressive de l’intensité lumineuse pour des valeurs comprises entre 0 et 510
Serial.print("y = ");
Serial.println(valeurY);
}
else
{
digitalWrite(ledup, LOW );
}
}
REMARQUE : Dans ce code, il y a 2 formules importantes (une pour les valeurs 0 à 510 des positions de Joystick et une pour les valeurs 513 à 1023). En effet, pour chaque axe (x et y du Joystick), on a une valeur associée de 0 (gauche ou bas) à 1023 (droite et haut). Ainsi avec les formules rentrées au niveau de la valeur de l’intensité lumineuse de la LED (fonction AnalogWrite), on a pour les valeurs proches de 512 une intensité lumineuse nulle (LED éteinte) car Joystick très faiblement incliné. En revanche pour les valeurs proche de 0 ou 1023, en utilisant la bonne formule associée, on a une intensité lumineuse de la LED maximale (valeur max : 255).
Exercice 3C : Utiliser un joystick pour connaître la position (enfoncée ou non) de celui-ci (version complète)
L’implémentation d’un Joystick sous Arduino permet de récupérer des informations sur la position de celui-ci en temps réel. Ici on utilise des LEDs dans le montage afin d’obtenir un effet visuel. Cependant ces LEDs ne sont pas indispensable dans ce package.
L’objectif est ici que lorsque le Joystick est incliné à 50% dans une direction (ex : gauche) on a une LED qui s’allume à 50% de son intensité maximale. Puis lorsque le Joystick est en position maximale à gauche, une 2ème LED s’allume à intensité maximale.
Matériel nécessaire
- Carte Arduino
- Un Joystick
- 8 LEDs
- Au minimum 8 résistances de 220 ohms
- une plaquette d’essai
- 4 fils mâle/femelle
- 12 fils mâle/mâle
Montage
• Connecter les 8 LEDs avec les résistances de la plaquette d’essai sur la carte Arduino sur les broches digital (ex : 10, 11, 12, 13). Disposez-les en forme de losange (2dans chaque direction) afin de d’avoir une LED qui correspond à une direction du Joystick (gauche, haut, ...) (voir montage ci-après).
• Connecter le Joystick à la carte Arduino :
o La broche GND du Joystick doit être relié au GND de la carte Arduino
o La broche Vcc du Joystick doit être relié au +5V de la carte Arduino
o La broche VRx du Joystick doit être relié à A0 (côté analogique) de la carte Arduino
o La broche VRy du Joystick doit être relié à A1 (côté analogique) de la carte Arduino
o La broche SW Joystick doit être relié à la borne 2 (côté digital) de la carte Arduino
• Rappel : Chaque LED a besoin d'une résistance de 220 ohms en série pour protéger le circuit. Branchez la cathode de chaque LED (le segment le plus court) à la masse et l'anode (le segment le plus long) à un port de sortie numérique digital.
• Le Joystick agit comme 2 potentiomètres : Sa position horizontale est donnée par un nombre de 0 (gauche) à 1023 (droite). Même chose en verticale (valeur moyenne 512)
• On rajoute des conditions dans le code. (Voir code ci-dessous).
EXEMPLE : Si la valeur du Joystick est inférieure à une valeur donnée (ex : 300, Joystick légèrement incliné) alors la 1ère LED s'allume (intensité faible voir slide LED), puis si la valeur est minimale (0, Joystick enfoncé) alors la 2nde LED s'allume (intensité max).
REMARQUE : Le montage correspond au montage ci-dessus avec l’ajout de 4 LEDs, on ajoute une LED à chaque extrémité (haut, bas, gauche, droite).
Illustration
Code Arduino
int axey = A1; // Entrée de référence pour l'axe Y.
int axex = A0; // Entrée de référence pour l'axe X.
int ledup = 12; // Led inférieur. Cette valeur est à adapter à votre montage !
int ledupup = 10; // Led inférieur ++. Cette valeur est à adapter à votre montage !
int ledD = 9; // Led supérieur. “”
int ledDD = 5; // Led supérieur ++. “”
int ledL = 13; // Led gauche. “”
int ledLL = 11; // Led gauche ++. “”
int ledR = 7; // Led droite. “”
int ledRR = 8; // Led droite ++. “”
int valeurX;
int valeurY;
void setup() {
Serial.begin(9600); // Définition des leds comme sorties
pinMode(ledup, OUTPUT);
pinMode(ledupup, OUTPUT);
pinMode(ledD, OUTPUT);
pinMode(ledDD, OUTPUT);
pinMode(ledL, OUTPUT);
pinMode(ledLL, OUTPUT);
pinMode(ledR, OUTPUT);
pinMode(ledRR, OUTPUT);
}
void loop() {
valeurX = analogRead(axex);
if (valeurX > 700){ // droite
analogWrite(ledR,50); // La Led s’allume à une intensité de 50 sur 255 -> faible intensité
Serial.print("x = ");
Serial.println(valeurX);
}
else{
digitalWrite(ledR, LOW );
}
valeurX = analogRead(axex);
if (valeurX > 1022){ // droite ++, elle s’allume lorsque Joystick en position max
digitalWrite(ledRR, HIGH); // La Led à l’extrême droite s’allume à l’intensité maximale
Serial.print("x = ");
Serial.println(valeurX);
else{
digitalWrite(ledRR, LOW );
}
valeurX = analogRead(axex);
if (valeurX < 400){ // gauche
analogWrite(ledL,50);
Serial.print("x = ");
Serial.println(valeurX);
}
else
{
digitalWrite(ledL, LOW );
}
valeurX = analogRead(axex);
if (valeurX < 1){ // gauche ++
digitalWrite(ledLL, HIGH);
Serial.print("x = ");
Serial.println(valeurX);
}else
{
digitalWrite(ledLL, LOW );
}
valeurY = analogRead(axey);
if (valeurY > 700){ // haut
analogWrite(ledup,50);
Serial.print("y = ");
Serial.println(valeurY);
}else
{
digitalWrite(ledup, LOW );
}
valeurY = analogRead(axey);
if (valeurY > 1022){ // en haut ++
digitalWrite(ledupup, HIGH);
Serial.print("y = ");
Serial.println(valeurY);
}else
{
digitalWrite(ledupup, LOW );
}
valeurY = analogRead(axey);
if (valeurY < 400){ // bas
analogWrite(ledD,50);
Serial.print("y = ");
Serial.println(valeurY);
}else
{
digitalWrite(ledD, LOW );
}
valeurY = analogRead(axey);
if (valeurY < 2){ // en bas ++
digitalWrite(ledDD, HIGH);
Serial.print("y = ");
Serial.println(valeurY);
}else
{
digitalWrite(ledDD, LOW );
}
}
REMARQUE : Pour obtenir la position précise du Joystick selon l’axe x et y, il faut aller dans le menu Outils -> Moniteur série, les valeurs défileront en temps réel.