{"id":2952,"date":"2020-06-19T14:37:36","date_gmt":"2020-06-19T13:37:36","guid":{"rendered":"https:\/\/www.macerobotics.com\/?p=2952"},"modified":"2020-06-19T14:39:39","modified_gmt":"2020-06-19T13:39:39","slug":"programmez-le-robot-mrpiz-en-langage-c","status":"publish","type":"post","link":"http:\/\/www.macerobotics.com\/?p=2952","title":{"rendered":"Le robot MRPiZ en langage C"},"content":{"rendered":"<p>Un tutoriel pour programmer le robot mobile MRPiZ en langage C.<\/p>\n<p>Lien pour l&#8217;API C : <a href=\"https:\/\/github.com\/macerobotics\/MRPiZ\/tree\/master\/Software\/C\">https:\/\/github.com\/macerobotics\/MRPiZ\/tree\/master\/Software\/C<\/a><\/p>\n<p>Les fichiers doivent \u00eatre placer dans des r\u00e9pertoires:<\/p>\n<ul>\n<li>les fichiers .c dans le r\u00e9pertoire sources<\/li>\n<li>les fichiers .h dans le r\u00e9pertoire header<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<h1>Exemple n\u00b01 : simple d\u00e9placement<\/h1>\n<p>Un exemple pour d\u00e9placer le robot MRPiZ:<\/p>\n<div class=\"code-embed-wrapper\"> <pre class=\"language-c code-embed-pre line-numbers\"  data-start=\"1\" data-line-offset=\"0\"><code class=\"language-c code-embed-code\">#include &quot;MRPiZ.h&quot;<br\/><br\/><br\/>int main(int argc, char* argv[])<br\/>{<br\/><br\/>  init();<br\/><br\/>  forward(25);<br\/><br\/>  sleep(3);<br\/><br\/>  back(25);<br\/><br\/>  sleep(3);<br\/><br\/>  stop();<br\/>}<\/code><\/pre> <div class=\"code-embed-infos\"> <\/div> <\/div>\n<p>Compilation du fichier :<\/p>\n<div class=\"code-embed-wrapper\"> <pre class=\"language-c code-embed-pre line-numbers\"  data-start=\"1\" data-line-offset=\"0\"><code class=\"language-c code-embed-code\">gcc sources\/*.c -I header -o Exemple1<\/code><\/pre> <div class=\"code-embed-infos\"> <\/div> <\/div>\n<p>Ex\u00e9cution du programme :<\/p>\n<div class=\"code-embed-wrapper\"> <pre class=\"language-c code-embed-pre line-numbers\"  data-start=\"1\" data-line-offset=\"0\"><code class=\"language-c code-embed-code\">.\/Exemple1<\/code><\/pre> <div class=\"code-embed-infos\"> <\/div> <\/div>\n<p>&nbsp;<\/p>\n<h1>Exemple n\u00b02 : lecture des capteurs laser<\/h1>\n<p>Un exemple pour la lecture des 3 capteurs ToF du robot :<\/p>\n<div class=\"code-embed-wrapper\"> <pre class=\"language-c code-embed-pre line-numbers\"  data-start=\"1\" data-line-offset=\"0\"><code class=\"language-c code-embed-code\">#include &quot;MRPiZ.h&quot;<br\/><br\/><br\/>int main(int argc, char* argv[])<br\/>{<br\/>int p2, p3, p4;<br\/>int c=0;<br\/><br\/>  init();<br\/><br\/>  for(c=0; c &lt; 10; c++)<br\/>  {<br\/>    p2 = proxSensor(2);<br\/>    p3 = proxSensor(3);<br\/>    p4 = proxSensor(4);<br\/><br\/>    printf(&quot;Capteur p1=%d\\n&quot;, p2);<br\/>    printf(&quot;Capteur p2=%d\\n&quot;, p3);<br\/>    printf(&quot;Capteur p3=%d\\n&quot;, p4);<br\/>  <br\/>    sleep(1);<br\/>  }<br\/>  <br\/>}<\/code><\/pre> <div class=\"code-embed-infos\"> <\/div> <\/div>\n<h1>Exemple n\u00b03 : lecture des encodeurs<\/h1>\n<p>Un exemple pour la lecture des 2 encodeurs du robot.<\/p>\n<div class=\"code-embed-wrapper\"> <pre class=\"language-c code-embed-pre line-numbers\"  data-start=\"1\" data-line-offset=\"0\"><code class=\"language-c code-embed-code\">#include &quot;MRPiZ.h&quot;<br\/><br\/><br\/>int main(int argc, char* argv[])<br\/>{<br\/>int eL, eR;<br\/>int c;<br\/><br\/>  init();<br\/><br\/>  for(c=0; c &lt; 10; c++)<br\/>  {<br\/>\t  <br\/>\tforward(30);<br\/>\t<br\/>    eL = encoderLeft();<br\/>    eR = encoderRight();<br\/><br\/>    printf(&quot;encoder left=%d\\n&quot;, eL);<br\/>    printf(&quot;encoder right=%d\\n&quot;, eR);<br\/><br\/>    sleep(1);<br\/>  }<br\/>  <br\/>  stop();<br\/><br\/>}<\/code><\/pre> <div class=\"code-embed-infos\"> <\/div> <\/div>\n<p>&nbsp;<\/p>\n<p>Fin du tuto !<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Un tutoriel pour programmer le robot mobile MRPiZ en langage C. Lien pour l&#8217;API C : https:\/\/github.com\/macerobotics\/MRPiZ\/tree\/master\/Software\/C Les fichiers doivent \u00eatre placer dans des r\u00e9pertoires: les fichiers .c dans le r\u00e9pertoire sources les fichiers .h dans le r\u00e9pertoire header &nbsp; Exemple n\u00b01 : simple d\u00e9placement Un exemple pour d\u00e9placer le robot MRPiZ: Compilation du fichier &hellip;<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[55,46,26],"tags":[],"class_list":["post-2952","post","type-post","status-publish","format-standard","hentry","category-mrpiz","category-robot","category-tutoriel"],"_links":{"self":[{"href":"http:\/\/www.macerobotics.com\/index.php?rest_route=\/wp\/v2\/posts\/2952","targetHints":{"allow":["GET"]}}],"collection":[{"href":"http:\/\/www.macerobotics.com\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/www.macerobotics.com\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/www.macerobotics.com\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/www.macerobotics.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=2952"}],"version-history":[{"count":10,"href":"http:\/\/www.macerobotics.com\/index.php?rest_route=\/wp\/v2\/posts\/2952\/revisions"}],"predecessor-version":[{"id":2962,"href":"http:\/\/www.macerobotics.com\/index.php?rest_route=\/wp\/v2\/posts\/2952\/revisions\/2962"}],"wp:attachment":[{"href":"http:\/\/www.macerobotics.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=2952"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/www.macerobotics.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=2952"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/www.macerobotics.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=2952"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}