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//
// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab
// Copyright (C) 2011-2011 - DIGITEO - Bruno JOFRET
//
// This file must be used under the terms of the CeCILL.
// This source file is licensed as described in the file COPYING, which
// you should have received as part of this distribution. The terms
// are also available at
// http://www.cecill.info/licences/Licence_CeCILL_V2-en.txt
//
//
function block=ARDUINO_DCMOTOR_sim(block,flag)
global port_com arduino_sample_time;
function DEBUG(message)
disp("[DEBUG time = "+string(scicos_time())+"] {"+block.label+"} ARDUINO_DCMOTOR Simulation: "+message);
endfunction
select flag
case -5 // Error
case 0 // Derivative State Update
case 1 // Output Update
//DEBUG("Output update ");
u1 = block.inptr(1);
//envoi de la direction
direction=sign(u1);
// if block.rpar(1)==1 then //adafruit shield
// if direction>=0 then
// code_dir="f";
// else
// code_dir="b";
// end
// code_sent="B"+ascii(48+block.rpar(5))+code_dir;
//// writeserial(port_com,code_sent);
// write_serial(1,code_sent,3)
//
// if abs(u1)>255 then
// code_sent="A"+ascii(48+block.rpar(5))+ascii(255);
//// writeserial(port_com,code_sent);
// write_serial(1,code_sent,3)
// else
// code_sent="A"+ascii(48+block.rpar(5))+ascii(abs(ceil(u1)));
//// writeserial(port_com,code_sent);
// write_serial(1,code_sent,3)
// end
// else //generic L298 L293
if direction>=0 then
code_dir=ascii(49);
else
code_dir=ascii(48);
end
if abs(u1)>255 then
val=255;
else
val=abs(ceil(u1));
end
//code_sent="A"+ascii(48+block.rpar(5))+code_dir+ascii(val);
code_sent="M"+ascii(48+block.rpar(5))+code_dir+ascii(val);
// writeserial(port_com,code_sent);
write_serial(1,code_sent,4)
// end
case 2 // State Update
case 3 // OutputEventTiming
evout = block.evout(1);
if evout < 0
evout = arduino_sample_time;
else
evout = evout + arduino_sample_time;
end
block.evout(1) = evout;
case 4 // Initialization
disp("init DCmotor")
if(block.rpar(1)==1) then
//code_sent="91";
code_sent="C"+string(block.rpar(5))+ascii(48+block.rpar(4))+ascii(48+block.rpar(3))+"1"; //adafruit
elseif (block.rpar(1)==2) then
code_sent="C"+string(block.rpar(5))+ascii(48+block.rpar(4))+ascii(48+block.rpar(3))+"1"; //code pour initialiser L298
elseif (block.rpar(1)==3) then
code_sent="C"+string(block.rpar(5))+ascii(48+block.rpar(4))+ascii(48+block.rpar(3))+"0"; //code pour initialiser L293
end
// writeserial(port_com,code_sent);
write_serial(1,code_sent,5)
// disp(code_sent)
//Attente que l'arduino reponde OK
[a,b,c]=status_serial(1);
while (b < 2)
[a,b,c]=status_serial(1);
end
values=read_serial(1,2);
if (values == 'OK') then
disp('Init motor successful')
else
disp('Init motor unsuccessful')
end
case 5 // Ending
// FIXME: quoi faire a la fin de la simulation
//code_sent="M"+ascii(48+block.rpar(5))+"r";
//code_sent="M"+ascii(48+block.rpar(5))+ascii(0)+ascii(0);
// writeserial(port_com,code_sent);
//write_serial(1,code_sent,3)
code_sent="M"+ascii(48+block.rpar(5))+"1"+ascii(0);
write_serial(1,code_sent,4)
// write_serial(1,code_sent,4)
// if block.rpar(1)==1 then
//
// else
// code_sent="B"+ascii(48+block.rpar(5))+"r";
//// writeserial(port_com,code_sent);
// write_serial(1,code_sent,3)
//// disp(code_sent)
// end
case 6 // Re-Initialisation
case 9 // ZeroCrossing
else // Unknown flag
end
endfunction
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