Réparation grue et MaJ circuit

CircuitCarreraCommande/arduinoNano_PWM/arduinoNano_PWM.ino

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+// High-frequency PWM using Timer2 on pins 3 & 11
+const int pwmPin1 = 11;  // OC2B
+const int pwmPin2 = 3;   // OC2A
+bool readADC2 = true;
+
+void setup() {
+  pinMode(pwmPin1, OUTPUT);
+  pinMode(pwmPin2, OUTPUT);
+
+  // ----- Timer2 Fast PWM (8-bit), no prescaler -----
+  TCCR2A = _BV(WGM20) | _BV(WGM21) | _BV(COM2A1) | _BV(COM2B1);  // Fast PWM mode, enable PWM on Pin 11, enable PWM on Pin 3
+  //TCCR2B = _BV(CS20);  // No prescaler → 16MHz / 256 = 62.5 kHz
+  TCCR2B = _BV(CS21);  // Prescaler 8 → (16MHz / 8) / 256 = 7.812 kHz
+
+  ADCSRA = (1 << ADEN) | (1 << ADPS2);  // Set ADC prescaler to 16 (1MHz ADC clock), 13 cycles to read a value so a readout takes 13 uS
+  // Atmel/Microchip recommends:
+  // 50–200 kHz for full 10-bit accuracy
+  // Up to 1 MHz for reduced accuracy (≈ 8–9 bits)
+  Serial.begin(9600);
+}
+
+int currentSense2 = 0;
+int currentSense3 = 0;
+
+int countdownOffPWM1 = 1024;
+int countdownOffPWM2 = 1024;
+
+void loop() {
+  //int adc0 = analogRead(A0);
+  ADMUX = (1 << REFS0) | (A0 & 0x0F);  // Set ADC reference to AVcc and channel to ADC channel 0, example REFS0 = 1  → 0100 0000 | Channel 3 → 0000 0011 | ADMUX     → 0100 0011
+  ADCSRA |= (1 << ADSC);               // Start ADC conversion
+  while (ADCSRA & (1 << ADSC))
+    ;  //wait or the ADC conversion to finish
+  int adc0 = ADC;
+
+  //int adc1 = analogRead(A1);
+  ADMUX = (1 << REFS0) | (A1 & 0x0F);  // Set ADC reference to AVcc and channel to ADC channel 0, example REFS0 = 1  → 0100 0000 | Channel 3 → 0000 0011 | ADMUX     → 0100 0011
+  ADCSRA |= (1 << ADSC);               // Start ADC conversion
+  while (ADCSRA & (1 << ADSC))
+    ;  //wait or the ADC conversion to finish
+  int adc1 = ADC;
+
+  if (adc0 <= 100) {  //Because the controller has noise on the ADC reading below this value and we want the cars to be still in position.
+    adc0 = 0;
+  }
+  if (adc1 <= 100) {  //Because the controller has noise on the ADC reading below this value and we want the cars to be still in position.
+    adc1 = 0;
+  }
+
+  uint8_t pwm1 = map(adc0, 0, 1023, 0, 255);
+  uint8_t pwm2 = map(adc1, 0, 1023, 0, 255);
+
+  if (countdownOffPWM1 == 1024) {
+    OCR2B = pwm1;  // Output is LOW from 0 to pwm1 value (between 0 and 256) and then goes HIGH from pwm1 value to 255 on Pin 3
+  } else {
+    countdownOffPWM1 = countdownOffPWM1 - 1;
+    if(countdownOffPWM1 == 0){
+      countdownOffPWM1 = 1024;
+      TCCR2A |= _BV(COM2A1);   // Reconnect PWM to pin 11
+    }
+  }
+
+  if (countdownOffPWM1 == 1024) {
+    OCR2A = pwm2;  // Output on pin 11 TCCR2A |= _BV(COM2B1);
+  }
+  else {
+    countdownOffPWM2 = countdownOffPWM2 - 1;
+    if(countdownOffPWM2 == 0){
+      countdownOffPWM2 = 1024;
+      TCCR2A |= _BV(COM2B1);   // Reconnect PWM to pin 3
+    }
+  }
+
+  if (readADC2) {  //Every two cycle we read ADC2 and ADC3
+    //int adc2 = analogRead(A2);
+    while (TCNT2 < 217); // wait until timer 2 is 20uS from resetting to perform the ADC conversion in 13 cycles thus in 13uS
+    ADMUX = (1 << REFS0) | (A2 & 0x0F);  // Set ADC reference to AVcc and channel to ADC channel 0, example REFS0 = 1  → 0100 0000 | Channel 3 → 0000 0011 | ADMUX     → 0100 0011
+    ADCSRA |= (1 << ADSC);               // Start ADC conversion
+    while (ADCSRA & (1 << ADSC));  //wait or the ADC conversion to finish
+    currentSense2 = ADC;
+
+    if(currentSense2 > 128){
+      countdownOffPWM1 = 1023;
+      TCCR2A &= ~_BV(COM2A1); //Disable PWM from pin 11
+      PORTB &= ~_BV(PB3);   // Pin 11 = PB3, force pin 11 LOW
+    }
+
+    readADC2 = false;
+  } else {
+    //int adc2 = analogRead(A3);
+    while (TCNT2 < 217); // wait until timer 2 is 20uS from resetting to perform the ADC conversion in 13 cycles thus in 13uS
+    ADMUX = (1 << REFS0) | (A3 & 0x0F);  // Set ADC reference to AVcc and channel to ADC channel 0, example REFS0 = 1  → 0100 0000 | Channel 3 → 0000 0011 | ADMUX     → 0100 0011
+    ADCSRA |= (1 << ADSC);               // Start ADC conversion
+    while (ADCSRA & (1 << ADSC));  //wait or the ADC conversion to finish
+    currentSense3 = ADC;
+
+    if(currentSense3 > 128){
+      countdownOffPWM2 = 1023;
+      TCCR2A &= ~_BV(COM2B1);; //Disable PWM from pin 3
+      PORTD &= ~_BV(PD3);   // Pin 3 = PD3, force pin 3 LOW
+    }
+
+    readADC2 = true;
+  }
+
+}  //end main loop