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Arduino Como usar codigo com modulo l293d

xandeco1603

Por xandeco1603
em Microcontroladores

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xandeco1603
 

xandeco1603

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#include <Wire.h>
#include "SSD1306Ascii.h"
#include "SSD1306AsciiWire.h"
#define I2C_ADDRESS 0x3C
#define RST_PIN -1
SSD1306AsciiWire oled;
#include "U8glib.h"
U8GLIB_SSD1306_128X64 u8g(U8G_I2C_OPT_NONE|U8G_I2C_OPT_DEV_0);	// I2C / TWI
const uint8_t rook_bitmap[] PROGMEM = {
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x07, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x07, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x07, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x07, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x07, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x07, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x07, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x07, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x07, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x07, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x07, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x07, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x07, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x07, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x07, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x07, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x07, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x07, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x0C, 0x00, 0x0E, 0x00, 0x07, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x1E, 0x00, 0x0F, 0x00, 0x07, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x1F, 0x80, 0x0F, 0xE0, 0x07, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x1F, 0xC0, 0x0F, 0xE0, 0x07, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x1F, 0xE0, 0x0F, 0xF0, 0x07, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x1F, 0xF8, 0x0F, 0xFC, 0x07, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x1F, 0xFC, 0x0F, 0xFE, 0x07, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x1F, 0xFF, 0x0F, 0xFF, 0x87, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x1F, 0xFF, 0x8F, 0xFF, 0xC7, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x1F, 0xFF, 0xCF, 0xFF, 0xE7, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x1F, 0xFF, 0xEF, 0xFF, 0xE7, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
};
#include <Servo.h>
Servo myservo;
#define  EN   6       
#define  M1   4      
#define  M2   7      
#define  OUTA   12       
#define  OUTB    10  
#define  SW    11

int state = 0; 
int statea = 0; 
int Astate = 0;
int Alaststate = 0;
int count = 0;
int PWM=200;
int startpos =120;
int minpos=140;
int maxpos =178;
int pos;
int pause = 20;
int k;
int encoder_pin = 2; // pulse output from the module

int pulses;
int x ;


void draw(void) {
  // graphic commands to redraw the complete screen should be placed here 
  
  u8g.drawBitmapP( 10, 0, 16, 64, rook_bitmap);
 
}



void counter()
{
   //Update count
   pulses++;
}
   
void setup() {
  Wire.begin();
  Wire.setClock(400000L);
  //Serial.begin(9600);
#if RST_PIN >= 0
  oled.begin(&Adafruit128x64, I2C_ADDRESS, RST_PIN);
#else // RST_PIN >= 0
  oled.begin(&Adafruit128x64, I2C_ADDRESS);
#endif // RST_PIN >= 0

  oled.setFont(Adafruit5x7);
  oled.clear();
  pinMode(SW, INPUT_PULLUP);
  pinMode(OUTA, INPUT);
  pinMode(OUTB, INPUT);
  pinMode(EN, OUTPUT);
  pinMode(M1, OUTPUT);
  pinMode(M2, OUTPUT);
 Alaststate = digitalRead(OUTA); 
 myservo.attach(9);
 myservo.write(minpos);
Serial.begin(9600);

pinMode(encoder_pin, INPUT);
   //Interrupt 0 is digital pin 2
   //Triggers on Falling Edge (change from HIGH to LOW)
   attachInterrupt(0, counter, CHANGE);
   // Initialize
   pulses = 0;
}

  
void loop() {
  

     
    
 
  if (state == 0) {
   u8g.firstPage();  
  do {
    draw();
  } while( u8g.nextPage() );

  }
  




if (!digitalRead(SW) && state == 0) {
   oled.clear();
    staticmenu();
    mainmenu();
    mot_stop();
    state = 1;
  }
   
if (state == 1){   
   Astate = digitalRead(OUTA);
  
   
  if (Astate != Alaststate){     
     // If the outputB state is different to the outputA state, that means the encoder is rotating clockwise
     if (digitalRead(OUTB) != Astate) { 
       count ++;
     } else {
       count --;
     }
     Serial.print("Position: ");
     Serial.println(count);
   } 
   Alaststate = Astate; // Updates the previous state of the outputA with the current state
 
 if ( count ==0){
   cursorup();
   statea = 1;
 }
 
 if ( count <0){
   cursordown();
   statea =2;
   
 }
 
 if ( count >0){
   cursordown();
   statea =2;
 }
 


if (count <-2 || count >2){
  count = 0;
 cursorup();
 statea = 1;
}
}





if (statea ==1 && !digitalRead(SW)){
  
oled.clear();
state = 2;
    staticmenu();
    automenu();

}

if (state == 2){   
   Astate = digitalRead(OUTA);
  
   
  if (Astate != Alaststate){     
     // If the outputB state is different to the outputA state, that means the encoder is rotating clockwise
     if (digitalRead(OUTB) != Astate) { 
       count ++;
     } else {
       count --;
     }
     Serial.print("Position: ");
     Serial.println(count);
     oled.set2X();
  oled.setCursor(10, 6);
  oled.println(abs(count));
  oled.setCursor(50, 6);
  oled.println("mtr");
   } 
   Alaststate = Astate; // Updates the previous state of the outputA with the current state
statea =5;
}

if (state ==2 && !digitalRead(SW)){
  oled.clear();
  mot_run();
  start();
  state = 4;
}

if (state == 4){ 
  
  
  for(pos = minpos; pos <= maxpos; pos += 1) 
  {    Serial.println(pulses);                                 
    myservo.write(pos); 
     pulse();
    if (k >= abs(count)){
       state = 10;
      done();
//pulses = 0;        // bail out on sensor detect
       break;
    
    }    // waits 15ms for the servo to reach the position 
    delay(pause); 
  } 
  for(pos = maxpos; pos>=minpos; pos-=1)     // goes from 180 degrees to 0 degrees 
  {      Serial.println(pulses);                            
    myservo.write(pos); 
    pulse();
      // tell servo to go to position in variable 'pos' 
    if (k >= abs(count)){ 
state = 10; 
mot_stop();
done();
//pulses = 0; // bail out on sensor detect
       break;
    
    }                       // waits 15ms for the servo to reach the position
   delay(pause); 
  } 
  
  
  
}







if (statea == 2 && !digitalRead(SW)){
  oled.clear();
    staticmenu();
    manualmenu();
    mot_stop();
statea = 3;
state = 3;
}

 
if ( statea == 3 && !digitalRead(SW)){
  oled.clear();
 
  mot_run();
  start();
  
  statea = 4;
  
}


if (statea ==4){
  
  for(pos = minpos; pos <= maxpos; pos += 1) // goes from 0 degrees to 180 degrees 
  {    Serial.println(pulses);                                // in steps of 1 degree 
    myservo.write(pos); 
     pulse();
    if (!digitalRead(SW)){
        statea = 2;  
pulses = 0;        // bail out on sensor detect
       break;
    
    }    // waits 15ms for the servo to reach the position 
    delay(pause); 
  } 
  for(pos = maxpos; pos>=minpos; pos-=1)     // goes from 180 degrees to 0 degrees 
  {      Serial.println(pulses);                            
    myservo.write(pos); 
    pulse();
      // tell servo to go to position in variable 'pos' 
    if (!digitalRead(SW)){ 
 statea = 2; 
pulses = 0; // bail out on sensor detect
       break;
    
    }                       // waits 15ms for the servo to reach the position
   delay(pause); 
  } 
  
}


 attachInterrupt(0, counter, FALLING); 

}

 void staticmenu() {
  oled.set2X();
  oled.setCursor(0, 0);
  oled.println("BOBINADEIRA");
  oled.set1X();
  oled.setCursor(0, 13);
  oled.println("---------------------");
  //oled.display();

}
 
void mainmenu() {
  oled.set2X();
  oled.setCursor(35, 25);
  oled.println("AUTO  ");
  oled.setCursor(35, 55);
  oled.println("MANUAL");
  

} 

void settingmenu() {
  oled.set2X();
  oled.setCursor(35, 25);
  oled.println("SETTING");
  oled.setCursor(35, 55);
  oled.println(count);
  
  

} 
 
 
 void cursorup() {
  oled.set2X();
  oled.setCursor(10, 3);
  oled.println(">");
  oled.setCursor(10, 5);
  oled.println(" ");
}

void cursordown() {
  oled.set2X();
  oled.setCursor(10, 3);
  oled.println(" ");
  oled.setCursor(10, 5);
  oled.println(">");
}
 
 
void manualmenu() {
  oled.set2X();
  oled.setCursor(25, 65);
  oled.println("PRESS");
  oled.setCursor(10, 250);
  oled.println("TO START");
}



void automenu() {
  oled.set2X();
  oled.setCursor(5, 65);
  oled.println("SET LENGTH");
 
}

void set_length(){
  oled.set2X();
 
  oled.setCursor(10, 250);
  oled.println(count);
}


void start() {
  oled.set2X();
  oled.setCursor(5, 65);
  oled.println("RUNNING.. ");
}
void done() {
 oled.clear();
   oled.set2X();
  oled.setCursor(0, 0);
  oled.println("...DONE...");
  oled.setCursor(10, 65);
  oled.println("       ");  
   oled.setCursor(10, 80);
  oled.println(abs(count));
   oled.setCursor(50, 4);
  oled.println("mtr");
  
  
}
void pulse() {
  k = pulses/450;
  oled.set2X();
  oled.setCursor(10, 5);
  oled.println(k);
  oled.setCursor(60, 5);
  oled.println("mtr");
  
  
}





void mot_run(){
  analogWrite(EN, PWM);
  digitalWrite(M1,HIGH);
  digitalWrite(M2,LOW); 
}

void servo(){
  for(pos = minpos; pos <= maxpos; pos += 1) // goes from 0 degrees to 180 degrees 
  {                                  // in steps of 1 degree 
    myservo.write(pos);              // tell servo to go to position in variable 'pos' 
    delay(15);     // waits 15ms for the servo to reach the position 
  } 
  for(pos = maxpos; pos>=minpos; pos-=1)     // goes from 180 degrees to 0 degrees 
  {                                
    myservo.write(pos);              // tell servo to go to position in variable 'pos' 
    delay(15);                       // waits 15ms for the servo to reach the position 
  } 

  } 


void mot_stop(){
  analogWrite(EN, 0);
  digitalWrite(M1,LOW);
  digitalWrite(M2,LOW);
  
}

Alguém poderia me auxiliar com o código abaixo: Quero usa-lo com modulo L293d, duvida onde ligar
Display Lcd Oled Modulo Para Arduino 0.96 I2c Iic Spi e o Encoder Decoder KY-040 Rotacional.

Outra duvida, muda alguma coisa no código

Em anexo circuito e o código.

 

 


 

CIRCUIT.png

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.if
 

.if

Postado
  • Membro VIP
Postado

I2c liga na saída i2c, spi na spi. Mas antes

-faça um led piscar (x).

Depois, só depois faça uma coisa por vez:

-faça girar o motor ( )

-controle sua velocidade por pwm ( )

-faça mover o servo pra lá e pra cá ( )

-escreva/desenhe algo no display. ( )

-leia algo do rotary encoder e mostre no display ( )

Imprima o texto acima e marque com x cada etapa vencida 😁

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