{"id":2094,"date":"2018-01-19T15:56:49","date_gmt":"2018-01-19T14:56:49","guid":{"rendered":"https:\/\/www.macerobotics.com\/?p=2094"},"modified":"2018-01-19T16:09:28","modified_gmt":"2018-01-19T15:09:28","slug":"programmer-mrpiz-en-java","status":"publish","type":"post","link":"https:\/\/www.macerobotics.com\/?p=2094","title":{"rendered":"MRPiZ en Java"},"content":{"rendered":"<p lang=\"zxx\">Dans ce <span class=\"ver\" title=\"\">tutorial<\/span> vous allez apprendre \u00e0 programmer le robot MRPiZ en langage Java.<\/p>\n<p lang=\"zxx\"><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter\" src=\"https:\/\/s2.qwant.com\/thumbr\/0x0\/d\/6\/fd58d9bb61ac83d18a35078c4f5265\/b_1_q_0_p_0.jpg?u=http%3A%2F%2Fwww.logospike.com%2Fwp-content%2Fuploads%2F2014%2F11%2FJava_logo-2.jpg&amp;q=0&amp;b=1&amp;p=0&amp;a=1\" alt=\"\" width=\"288\" height=\"173\"><\/p>\n<p lang=\"zxx\"><strong>Remarque :<\/strong> le robot MRPiZ doit etre connect\u00e9 \u00e0 internet.<\/p>\n<h1 lang=\"zxx\">Installation<\/h1>\n<ul>\n<li>Mise \u00e0 jour et installation de java :<\/li>\n<\/ul>\n<pre lang=\"zxx\"><strong>sudo apt-get update &amp;&amp; sudo apt-get install oracle-java7-jdk<\/strong><\/pre>\n<ul>\n<li>Installation de la librairie Pi4J pour l&#8217;acc\u00e8s hardware de la Raspberry Pi:<\/li>\n<\/ul>\n<pre lang=\"zxx\"><strong><tt>curl -s get.pi4j.com | sudo bash<\/tt><\/strong><\/pre>\n<h1>Librairie<\/h1>\n<p>La librairie java est disponible sur le Github : <a href=\"https:\/\/github.com\/macerobotics\/MRPiZ\/tree\/master\/Software\/Java\">ici<\/a><\/p>\n<h1>Exemple<\/h1>\n<p>Voici un exemple de programme (Exemple1.java):<\/p>\n<div class=\"codecolorer-container java default codecolorer-noborder\" style=\"overflow:auto;white-space:nowrap;width:900px;height:900px;\"><table cellspacing=\"0\" cellpadding=\"0\"><tbody><tr><td class=\"line-numbers\"><div>1<br \/>2<br \/>3<br \/>4<br \/>5<br \/>6<br \/>7<br \/>8<br \/>9<br \/>10<br \/>11<br \/>12<br \/>13<br \/>14<br \/>15<br \/>16<br \/>17<br \/>18<br \/>19<br \/>20<br \/>21<br \/>22<br \/>23<br \/>24<br \/>25<br \/>26<br \/>27<br \/>28<br \/>29<br \/>30<br \/>31<br \/>32<br \/>33<br \/>34<br \/>35<br \/>36<br \/>37<br \/>38<br \/>39<br \/>40<br \/>41<br \/>42<br \/>43<br \/>44<br \/>45<br \/>46<br \/>47<br \/><\/div><\/td><td><div class=\"java codecolorer\"><span class=\"kw1\">import<\/span> <span class=\"co2\">java.io.IOException<\/span><span class=\"sy0\">;<\/span><br \/>\n<span class=\"kw1\">import<\/span> <span class=\"co2\">java.util.Date<\/span><span class=\"sy0\">;<\/span><br \/>\n<span class=\"kw1\">import<\/span> <span class=\"co2\">java.util.concurrent.TimeUnit<\/span><span class=\"sy0\">;<\/span><br \/>\n<br \/>\n<span class=\"kw1\">public<\/span> <span class=\"kw1\">class<\/span> Exemple1 <span class=\"br0\">&#123;<\/span><br \/>\n<br \/>\n<span class=\"coMULTI\">\/****************\/<\/span><br \/>\n<span class=\"kw1\">public<\/span> <span class=\"kw1\">static<\/span> <span class=\"kw4\">void<\/span> main<span class=\"br0\">&#40;<\/span><a href=\"http:\/\/www.google.com\/search?hl=en&amp;q=allinurl%3Adocs.oracle.com+javase+docs+api+string\"><span class=\"kw3\">String<\/span><\/a> args<span class=\"br0\">&#91;<\/span><span class=\"br0\">&#93;<\/span><span class=\"br0\">&#41;<\/span> <span class=\"kw1\">throws<\/span> <a href=\"http:\/\/www.google.com\/search?hl=en&amp;q=allinurl%3Adocs.oracle.com+javase+docs+api+interruptedexception\"><span class=\"kw3\">InterruptedException<\/span><\/a>, <a href=\"http:\/\/www.google.com\/search?hl=en&amp;q=allinurl%3Adocs.oracle.com+javase+docs+api+ioexception\"><span class=\"kw3\">IOException<\/span><\/a><br \/>\n<span class=\"br0\">&#123;<\/span><br \/>\n<span class=\"kw4\">float<\/span> tension_batterie<span class=\"sy0\">;<\/span><br \/>\n<span class=\"kw4\">float<\/span> distance_sensor1<span class=\"sy0\">;<\/span><br \/>\n<span class=\"kw4\">float<\/span> distance_sensor2<span class=\"sy0\">;<\/span><br \/>\n<br \/>\nMRPiZ robot <span class=\"sy0\">=<\/span> <span class=\"kw1\">new<\/span> MRPiZ<span class=\"br0\">&#40;<\/span><span class=\"br0\">&#41;<\/span><span class=\"sy0\">;<\/span><br \/>\n<br \/>\n<span class=\"co1\">\/\/ Lecture de la tension de la batterie<\/span><br \/>\ntension_batterie <span class=\"sy0\">=<\/span> robot.<span class=\"me1\">proxSensor<\/span><span class=\"br0\">&#40;<\/span><span class=\"nu0\">1<\/span><span class=\"br0\">&#41;<\/span><span class=\"sy0\">;<\/span><br \/>\n<a href=\"http:\/\/www.google.com\/search?hl=en&amp;q=allinurl%3Adocs.oracle.com+javase+docs+api+system\"><span class=\"kw3\">System<\/span><\/a>.<span class=\"me1\">out<\/span>.<span class=\"me1\">println<\/span><span class=\"br0\">&#40;<\/span><span class=\"st0\">&quot;Batterie = &quot;<\/span> <span class=\"sy0\">+<\/span> tension_batterie<span class=\"br0\">&#41;<\/span><span class=\"sy0\">;<\/span><br \/>\n<br \/>\n<span class=\"co1\">\/\/ avancer le robot pendant 1 seconde<\/span><br \/>\nrobot.<span class=\"me1\">forward<\/span><span class=\"br0\">&#40;<\/span><span class=\"nu0\">30<\/span><span class=\"br0\">&#41;<\/span><span class=\"sy0\">;<\/span><br \/>\n<br \/>\nTimeUnit.<span class=\"me1\">SECONDS<\/span>.<span class=\"me1\">sleep<\/span><span class=\"br0\">&#40;<\/span><span class=\"nu0\">2<\/span><span class=\"br0\">&#41;<\/span><span class=\"sy0\">;<\/span><br \/>\n<br \/>\n<span class=\"co1\">\/\/ reculer le robot pendant 1 seconde<\/span><br \/>\nrobot.<span class=\"me1\">back<\/span><span class=\"br0\">&#40;<\/span><span class=\"nu0\">30<\/span><span class=\"br0\">&#41;<\/span><span class=\"sy0\">;<\/span><br \/>\n<br \/>\nTimeUnit.<span class=\"me1\">SECONDS<\/span>.<span class=\"me1\">sleep<\/span><span class=\"br0\">&#40;<\/span><span class=\"nu0\">2<\/span><span class=\"br0\">&#41;<\/span><span class=\"sy0\">;<\/span><br \/>\n<br \/>\n<span class=\"co1\">\/\/ tourner \u00e0 droite<\/span><br \/>\nrobot.<span class=\"me1\">turnRight<\/span><span class=\"br0\">&#40;<\/span><span class=\"nu0\">30<\/span><span class=\"br0\">&#41;<\/span><span class=\"sy0\">;<\/span><br \/>\n<br \/>\nTimeUnit.<span class=\"me1\">SECONDS<\/span>.<span class=\"me1\">sleep<\/span><span class=\"br0\">&#40;<\/span><span class=\"nu0\">1<\/span><span class=\"br0\">&#41;<\/span><span class=\"sy0\">;<\/span><br \/>\n<br \/>\n<span class=\"co1\">\/\/ arret du robot<\/span><br \/>\nrobot.<span class=\"me1\">stop<\/span><span class=\"br0\">&#40;<\/span><span class=\"br0\">&#41;<\/span><span class=\"sy0\">;<\/span><br \/>\n<br \/>\n<span class=\"co1\">\/\/ Lecture du capteur de proximit\u00e8 n\u00b01 et n\u00b02<\/span><br \/>\ndistance_sensor1 <span class=\"sy0\">=<\/span> robot.<span class=\"me1\">proxSensor<\/span><span class=\"br0\">&#40;<\/span><span class=\"nu0\">1<\/span><span class=\"br0\">&#41;<\/span><span class=\"sy0\">;<\/span><br \/>\ndistance_sensor2 <span class=\"sy0\">=<\/span> robot.<span class=\"me1\">proxSensor<\/span><span class=\"br0\">&#40;<\/span><span class=\"nu0\">2<\/span><span class=\"br0\">&#41;<\/span><span class=\"sy0\">;<\/span><br \/>\n<br \/>\n<span class=\"co1\">\/\/ afficher les valeurs<\/span><br \/>\n<a href=\"http:\/\/www.google.com\/search?hl=en&amp;q=allinurl%3Adocs.oracle.com+javase+docs+api+system\"><span class=\"kw3\">System<\/span><\/a>.<span class=\"me1\">out<\/span>.<span class=\"me1\">println<\/span><span class=\"br0\">&#40;<\/span><span class=\"st0\">&quot;Sensor 1 = &quot;<\/span> <span class=\"sy0\">+<\/span> distance_sensor1<span class=\"br0\">&#41;<\/span><span class=\"sy0\">;<\/span><br \/>\n<a href=\"http:\/\/www.google.com\/search?hl=en&amp;q=allinurl%3Adocs.oracle.com+javase+docs+api+system\"><span class=\"kw3\">System<\/span><\/a>.<span class=\"me1\">out<\/span>.<span class=\"me1\">println<\/span><span class=\"br0\">&#40;<\/span><span class=\"st0\">&quot;Sensor 2 = &quot;<\/span> <span class=\"sy0\">+<\/span> distance_sensor2<span class=\"br0\">&#41;<\/span><span class=\"sy0\">;<\/span><br \/>\n<br \/>\n<span class=\"br0\">&#125;<\/span><br \/>\n<span class=\"br0\">&#125;<\/span><\/div><\/td><\/tr><\/tbody><\/table><\/div>\n<ul>\n<li>Compilation du programme :<\/li>\n<\/ul>\n<pre><strong>javac -classpath .:classes:\/opt\/pi4j\/lib\/'*' -d . Exemple1.java<\/strong><\/pre>\n<ul>\n<li>Ex\u00e9cution du programme :<\/li>\n<\/ul>\n<pre><strong>sudo java -classpath .:classes:\/opt\/pi4j\/lib\/'*' Exemple1\r\n<\/strong><\/pre>\n","protected":false},"excerpt":{"rendered":"<p>Dans ce tutorial vous allez apprendre \u00e0 programmer le robot MRPiZ en langage Java. Remarque : le robot MRPiZ doit etre connect\u00e9 \u00e0 internet. Installation Mise \u00e0 jour et installation de java : sudo apt-get update &amp;&amp; sudo apt-get install oracle-java7-jdk Installation de la librairie Pi4J pour l&#8217;acc\u00e8s hardware de la Raspberry Pi: curl -s &hellip;<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[55,45],"tags":[],"class_list":["post-2094","post","type-post","status-publish","format-standard","hentry","category-mrpiz","category-raspberry-pi"],"_links":{"self":[{"href":"https:\/\/www.macerobotics.com\/index.php?rest_route=\/wp\/v2\/posts\/2094","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.macerobotics.com\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.macerobotics.com\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.macerobotics.com\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.macerobotics.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=2094"}],"version-history":[{"count":2,"href":"https:\/\/www.macerobotics.com\/index.php?rest_route=\/wp\/v2\/posts\/2094\/revisions"}],"predecessor-version":[{"id":2099,"href":"https:\/\/www.macerobotics.com\/index.php?rest_route=\/wp\/v2\/posts\/2094\/revisions\/2099"}],"wp:attachment":[{"href":"https:\/\/www.macerobotics.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=2094"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.macerobotics.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=2094"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.macerobotics.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=2094"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}