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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_SERVO_WRITE_sim(block,flag)
global port_com arduino_sample_time;
function DEBUG(message)
disp("[DEBUG time = "+string(scicos_time())+"] {"+block.label+"} ARDUINO_ANALOG_WRITE Simulation: "+message);
endfunction
select flag
case -5 // Error
case 0 // Derivative State Update
case 1 // Output Update
u1 = block.inptr(1);
if (u1<0) then
//pin="8"+ascii(96+block.rpar(1))+ascii(0);
pin="Sw"+ascii(48+block.rpar(1))+ascii(0);
// writeserial(port_com,pin);
elseif u1>180 then
//pin="8"+ascii(96+block.rpar(1))+ascii(180);
pin="Sw"+ascii(48+block.rpar(1))+ascii(180);
// writeserial(port_com,pin);
else
//pin="8"+ascii(96+block.rpar(1))+ascii(uint8(u1));
pin="Sw"+ascii(48+block.rpar(1))+ascii(uint8(u1));
// writeserial(port_com,pin);
end
write_serial(1,pin,4);
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 servo write")
if block.rpar(1)==1 then //servo 1 on pin 9
pin="Sa1"
//pin="6a1"
// writeserial(port_com,pin);
write_serial(1,pin,3);
elseif block.rpar(1)==2 then //servo 2 on pin 10
//pin="6b1"
pin="Sa2"
// writeserial(port_com,pin);
write_serial(1,pin,3);
else
messagebox("Probleme dans le numero du servomoteur")
error('problem')
end
case 5 // Ending
if block.rpar(1)==1 then //servo 1 on pin 10
//pin="6a0"
pin="Sd1"
// writeserial(port_com,pin);
write_serial(1,pin,3);
elseif block.rpar(1)==2 then //servo 2 on pin 9
//pin="6b0"
pin="Sd2"
// writeserial(port_com,pin);
write_serial(1,pin,3);
else
messagebox("Probleme dans le numero du servomoteur")
error('problem')
end
case 6 // Re-Initialisation
case 9 // ZeroCrossing
else // Unknown flag
end
endfunction
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