tag:blogger.com,1999:blog-88283710516701320122024-02-07T02:03:13.529-08:00> DIY: CutFlower: Tondeuse Robot par arduino.> création d'une tondeuse robot autonome, piloté par un arduino, avec détection par sonar...bennurrehttp://www.blogger.com/profile/12357347908057633434noreply@blogger.comBlogger20125tag:blogger.com,1999:blog-8828371051670132012.post-66620701912987052592013-07-31T14:57:00.003-07:002013-07-31T14:58:44.590-07:00Son Grand Frère ...<div style="text-align: center;">
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<a href="http://bennurre4.blogspot.fr/" target="_blank"><span style="color: lime; font-family: Arial, Helvetica, sans-serif;"><b>CutFlower 2.0 ici</b></span></a></div>
bennurrehttp://www.blogger.com/profile/12357347908057633434noreply@blogger.comtag:blogger.com,1999:blog-8828371051670132012.post-6720445547667102782012-09-06T10:22:00.005-07:002013-07-31T15:02:24.550-07:00Essai en video de CutFlower 1 ...<div align="center">
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bennurrehttp://www.blogger.com/profile/12357347908057633434noreply@blogger.comtag:blogger.com,1999:blog-8828371051670132012.post-60825616094857291322012-07-11T07:00:00.001-07:002012-07-11T07:00:57.222-07:00Code...<div style="text-align: center;">
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Voici le code actuel utilisé par le robot, je vous rappelle que se sont mes premières lignes de code, alors merci de votre indulgence. Le code est à améliorer, mais pour le moment c'est celui là!</div>
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<br />// prog robot IBT 009 007 + parechoc</div>
<br />#include <Servo.h><br />#include "Ultrasonic.h"<br />#include <Time.h> <br />
<br />const int RL_EN=6; <br />const int PWM1D=5;<br />const int PWM2D=4;<br />const int PWM1G=3;<br />const int PWM2G=2;<br />const int BRUSHLESS=7;<br />const int APPUI=0; // constante état du BP - appui sur niveau bas<br />const int PAS_APPUI=1; // constante état du BP - relâché sur niveau haut<br />const int BP=1; //declaration constante de broche <br />int ETAT_BP; // variable d'état du bouton poussoir<br />
int vit_lame=1601; //acceleration lames vitesse max à 2200 et mini à 1600<br />int dist_lateral=35;<br />int dist_face=25;<br />int X=0;<br />
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long Temp_Reference_avance; <br />long Temp_Reference_recul; <br />long Temp_Reference_droite; <br />long Temp_Reference_gauche; <br />long delai_avance=40000; //60000=1minute<br />long delai_recul=15000;<br />long delai_droite=15000;<br />long delai_gauche=15000;<br />
Servo cont_brushless;<br />
<br />#define TRIG_PIN_A 8<br />#define ECHO_PIN_B 9<br />Ultrasonic OurModule_G(TRIG_PIN_A, ECHO_PIN_B);<br />
#define TRIG_PIN_C 10<br />#define ECHO_PIN_D 11<br />Ultrasonic OurModule_M(TRIG_PIN_C, ECHO_PIN_D);<br />
#define TRIG_PIN_E 12<br />#define ECHO_PIN_F 13<br />Ultrasonic OurModule_D(TRIG_PIN_E, ECHO_PIN_F);<br />
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void setup() <br />{<br />pinMode(BP, INPUT); //met la broche en entree <br />digitalWrite(BP, HIGH) ; // activation du pullup de la broche en entrée<br />
cont_brushless.attach(BRUSHLESS);<br />pinMode(BRUSHLESS, OUTPUT);<br />
Temp_Reference_avance=millis();<br />Temp_Reference_recul=millis();<br />Temp_Reference_droite=millis();<br />Temp_Reference_gauche=millis();<br />
//lancement de la coupe<br />delay (5000);<br />ROB_CUT_ON();<br />delay (7000);<br />
<br />pinMode(RL_EN, OUTPUT); <br />pinMode(PWM1D, OUTPUT); <br />pinMode(PWM2D, OUTPUT); <br />pinMode(PWM1G, OUTPUT); <br />pinMode(PWM2G, OUTPUT); <br />
digitalWrite(RL_EN, HIGH);<br />
<br />AVANCE();<br />delay (500);<br />
<br />}<br />
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void loop()<br />{<br />
AVANCE();<br />
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while ( (OurModule_D.Ranging(CM)) < dist_lateral & (OurModule_D.Ranging(CM)) < (OurModule_G.Ranging(CM)))<br /> {<br /> droite();<br /> delay(100);<br /> while ( (OurModule_M.Ranging(CM)) < dist_face )<br /> {<br /> recul();<br /> delay(100);<br /> } <br /> }<br />
<br /> while ( (OurModule_G.Ranging(CM)) < dist_lateral & (OurModule_G.Ranging(CM)) < (OurModule_D.Ranging(CM)))<br /> <br /> {<br /> gauche();<br /> delay(100);<br /> while ( (OurModule_M.Ranging(CM)) < dist_face )<br /> {<br /> recul();<br /> delay(100);<br /> } <br /> }<br /><br />
<br /> while ( (OurModule_M.Ranging(CM)) < dist_face )<br /> {<br /> recul();<br /> delay(100);<br /> }<br />
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<br />}<br />
<br />void AVANCE()<br />{<br />
analogWrite(PWM1D,255);<br />analogWrite(PWM2D,0);<br /> <br />analogWrite(PWM1G,0);<br />analogWrite(PWM2G,255);<br />
ETAT_BP=digitalRead(BP); // lit l'état du BP et met la valeur 0/1 dans la variable <br /> <br />if (ETAT_BP==APPUI)<br />{ // si l'état du BP est appuyé (càd si variable état BP = 0) <br /><br /> recul();<br /> delay(100);<br />
}<br />
else <br />{ // sinon (càd si variable état bp=1)<br />
<br />}<br />
<br />if (millis()>(Temp_Reference_avance+delai_avance))<br /> { <br /> recul();<br /> delay(100);<br /> Temp_Reference_avance=Temp_Reference_avance+delai_avance;<br /> }<br /><br />}<br />
<br />void droite()<br />{<br />
analogWrite(PWM1D,200);<br />analogWrite(PWM2D,0);<br /> <br />analogWrite(PWM1G,0);<br />analogWrite(PWM2G,0);<br />
ETAT_BP=digitalRead(BP); // lit l'état du BP et met la valeur 0/1 dans la variable <br /> <br />if (ETAT_BP==APPUI)<br />{ // si l'état du BP est appuyé (càd si variable état BP = 0) <br /><br /> recul();<br /> delay(100);<br />
}<br />
else <br />{ // sinon (càd si variable état bp=1)<br />
<br />}<br />
<br />}<br />
<br />void gauche()<br />{<br />
analogWrite(PWM1D,0);<br />analogWrite(PWM2D,0);<br /> <br />analogWrite(PWM1G,0);<br />analogWrite(PWM2G,200);<br />
ETAT_BP=digitalRead(BP); // lit l'état du BP et met la valeur 0/1 dans la variable <br /> <br />if (ETAT_BP==APPUI)<br />{ // si l'état du BP est appuyé (càd si variable état BP = 0) <br /><br /> recul();<br /> delay(100);<br />
}<br />
else <br />{ // sinon (càd si variable état bp=1)<br />
<br />}<br />
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}<br />
<br />void recul()<br />{<br /> <br />if (X==0)<br />{<br /> <br />analogWrite(PWM1D,0);<br />analogWrite(PWM2D,0);<br /> <br />analogWrite(PWM1G,0);<br />analogWrite(PWM2G,0);<br />delay(200);<br />
<br />analogWrite(PWM1D,70);<br />analogWrite(PWM2D,140);<br /> <br />analogWrite(PWM1G,140);<br />analogWrite(PWM2G,0);<br />delay(700);<br />
<br />analogWrite(PWM1D,70);<br />analogWrite(PWM2D,140);<br /> <br />analogWrite(PWM1G,0);<br />analogWrite(PWM2G,0);<br />delay(550);<br />X=1;<br />}<br />
else<br />{<br />analogWrite(PWM1D,0);<br />analogWrite(PWM2D,0);<br /> <br />analogWrite(PWM1G,0);<br />analogWrite(PWM2G,0);<br />delay(200);<br />
<br />analogWrite(PWM1D,70);<br />analogWrite(PWM2D,140);<br /> <br />analogWrite(PWM1G,140);<br />analogWrite(PWM2G,0);<br />delay(700);<br />
<br />analogWrite(PWM1D,0);<br />analogWrite(PWM2D,0);<br /> <br />analogWrite(PWM1G,140);<br />analogWrite(PWM2G,0);<br />delay(550);<br />X=0;<br />}<br />
<br />analogWrite(PWM1D,0);<br />analogWrite(PWM2D,0);<br /> <br />analogWrite(PWM1G,0);<br />analogWrite(PWM2G,0);<br />delay(150);<br />
if (millis()>(Temp_Reference_recul+delai_recul))<br /> { <br /> analogWrite(PWM1D,0);<br /> analogWrite(PWM2D,0);<br /> <br /> analogWrite(PWM1G,0);<br /> analogWrite(PWM2G,0);<br /> delay(200); <br /> <br /> analogWrite(PWM1D,175);<br /> analogWrite(PWM2D,0);<br /> <br /> analogWrite(PWM1G,0);<br /> analogWrite(PWM2G,175);<br /> delay(1050);<br />
analogWrite(PWM1D,0);<br /> analogWrite(PWM2D,0);<br /> <br /> analogWrite(PWM1G,0);<br /> analogWrite(PWM2G,0);<br /> delay(50);<br /> Temp_Reference_recul=Temp_Reference_recul+delai_recul;<br /> }<br />
}<br />
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<br />void ROB_CUT_ON() //demarrage de la coupe<br />{<br /> cont_brushless.writeMicroseconds(1470); // génère initialisation du controleur<br /> delay (2000); //attente de 2 secondes pour initialisation du controleur<br />
int robcuton;<br /> for(robcuton = 1470 ; robcuton <= vit_lame; robcuton+=1) //acceleration vitesse max à 2200 et mini à 1600<br /> {<br /> <br /> cont_brushless.writeMicroseconds(robcuton);<br /> <br /> }<br />
delay(3000);<br /> cont_brushless.writeMicroseconds((robcuton-19)); //-15 pas de changement ** -21 bien **-24 arret moteur <br />
<br /><br />}<br />
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enfin un projet avec le code !!!! ;-)bennurrehttp://www.blogger.com/profile/12357347908057633434noreply@blogger.comtag:blogger.com,1999:blog-8828371051670132012.post-66867132795497497352012-07-11T06:53:00.001-07:002012-07-11T07:02:40.614-07:00Modification...<div align="center">
Si le robot devrait être modifié, j'opterais pour une caisse ronde ( moins d'accrochage aux obstacles), </div>
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des moteurs de tractions en 24v, 3 disques et 3 moteurs de coupe (augmentation de son diamètre de coupe et peu de consommation des batteries en plus), sur 4 roues au lieu de 3 ( meilleur stabilité dans les terrains accidenté), gestion du terrain par le programme (optimiser les passages au même endroit et faire une grille de tonte). Toutes ces modifs dans une prochaine version!</div>bennurrehttp://www.blogger.com/profile/12357347908057633434noreply@blogger.comtag:blogger.com,1999:blog-8828371051670132012.post-6946369303620585582012-07-11T06:45:00.002-07:002012-07-11T07:03:10.832-07:00Autonomie et poids...<div align="center">
Vu le dimensionnement des moteurs de traction, j'ai ajouté une batterie supplémentaire</div>
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afin d'augmenter l'autonomie du robot. Les moteurs étant suffisamment puissant pour </div>
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pouvoir transporter 2 batteries au plomb! La première batterie étant une batterie de récupération, </div>
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je ne connais pas sa performance, la seconde est neuve. Autonomie plus de 40 minutes. </div>
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Batterie scotché sur son dos pour les essais...</div>
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<br /></div>bennurrehttp://www.blogger.com/profile/12357347908057633434noreply@blogger.comtag:blogger.com,1999:blog-8828371051670132012.post-63353334128751470742012-07-11T06:38:00.002-07:002012-07-11T07:03:36.752-07:00Pare-choc !!!<div align="center">
Installation de 2 pare-choc contact à l'avant, pour les obstacles trop bas pour les capteurs US.</div>
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Les pare-chocs sont montés sur charnières pour pouvoir se relever lors</div>
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d'une marche arrière sans tout arracher !</div>
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</div>bennurrehttp://www.blogger.com/profile/12357347908057633434noreply@blogger.comtag:blogger.com,1999:blog-8828371051670132012.post-81906940056531897802012-04-15T13:27:00.001-07:002012-04-17T07:47:56.010-07:00Il a maintenant un nom...!<br />
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Il s'appelle robot <strong><span style="font-size: large;">CutFlowers !</span></strong></div>
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<br /></div>bennurrehttp://www.blogger.com/profile/12357347908057633434noreply@blogger.comtag:blogger.com,1999:blog-8828371051670132012.post-82891828374116438562012-04-12T10:29:00.000-07:002012-04-23T06:27:58.822-07:00Essai terrain...<div align="center">
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Essai avec les 2 cartes de gestion des MEGs, bon conportement et plus facile à</div>
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programmer que l'ancienne. Modif du prog pour essayer de gérer les réactions du robot</div>
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en cas d'enlisement de la caisse et augmentation de la vitesse de coupe, la fonction recul alterne maintenant le coté de dégagement pour mieux se sortir des impasses.</div>
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J'ai fait des test avec un pack d'accus maison (SUB ni-mh en 12V 6A), les réactions sont</div>
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beaucoup plus fluide qu'avec la batterie au plomb à l'avant qui fait piquer du nez le robot</div>
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lors des marches AR, mais au niveau autonomie rien à voir avec la grosse batterie au plomb...</div>bennurrehttp://www.blogger.com/profile/12357347908057633434noreply@blogger.comtag:blogger.com,1999:blog-8828371051670132012.post-2067846298597830912012-04-07T09:09:00.000-07:002012-04-23T06:22:56.527-07:00Carte de puissance et H-bridges<div align="center">
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après avoir grillé la moitié de ma carte driver moteur, je m'en suis procuré une autre sur ebay,</div>
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qui doit tenir jusque 43A ! (une par moteur)</div>
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Double BTS7960B 43A Motor Driver High-power module/smart car driver Arduino</div>
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voici un bout de code pour tester 2 cartes pour 2 moteurs :</div>
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câbler VCC (5v) et GND.</div>
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const int RL_EN=6; // relier tous les R_EN et L_EN ensemble<br />
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const int PWM1D=5; //moteur D</div>
const int PWM2D=4; //moteur D<br />
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const int PWM1G=3; //moteur G</div>
const int PWM2G=2; //moteur G<br />
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void setup() <br />
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{ </div>
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pinMode(RL_EN, OUTPUT); </div>
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pinMode(PWM1D, OUTPUT); </div>
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pinMode(PWM2D, OUTPUT); </div>
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pinMode(PWM1G, OUTPUT);</div>
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pinMode(PWM2G, OUTPUT);</div>
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digitalWrite(RL_EN, HIGH); // mets tous les R_EN et L_EN à un niveau HAUT</div>
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} </div>
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void loop()</div>
{ <br />
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analogWrite(PWM1D,255); // moteur D avant à fond</div>
analogWrite(PWM2D,0); // moteur G avant à fond<br />
<br />
analogWrite(PWM1G,0); // moteur G avant à fond<br />
analogWrite(PWM2G,255); // moteur G avant à fond<br />
} <br />
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pour la marche arrière, inverser les valeurs 0 et 255.</div>
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</div>bennurrehttp://www.blogger.com/profile/12357347908057633434noreply@blogger.comtag:blogger.com,1999:blog-8828371051670132012.post-19423126383174497602012-03-25T08:24:00.003-07:002012-03-25T13:14:22.980-07:00Correctifs...<div style="text-align: center;">
Démontage et renforcement du support de moteur de coupe et réglage du </div>
<div style="text-align: center;">
disque à lames afin qu'il soit bien à plat. Vérification de l'équilibrage du disque.
</div>
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<br /></div>
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Modification du programme pour:</div>
<div style="text-align: center;">
<br /></div>
<div style="text-align: left;">
-- la mise en marche du brushless à haute vitesse pour être sûr qu'il s'initialise correctement </div>
<div style="text-align: left;">
( le frottement de l'herbe ralenti le démarrage et il risque de ne pas se lancer ), puis réduction </div>
<div style="text-align: left;">
de la vitesse pour limiter la consommation et le bruit...</div>
<div style="text-align: left;">
-- modification du comportement lors d'un obstacle de face...</div>
<div style="text-align: left;">
-- marche arrière progressive, pour que le robot ne lève pas la roue AR...</div>
<div style="text-align: left;">
<br /></div>
<div align="left" style="text-align: center;">
<strike></strike></div>bennurrehttp://www.blogger.com/profile/12357347908057633434noreply@blogger.comtag:blogger.com,1999:blog-8828371051670132012.post-30381912153791571932012-03-15T08:42:00.000-07:002012-03-18T08:27:33.543-07:00Touchdown !!!<div align="center">
<br /></div>
<div align="center">
Essai !!! sur la pelouse de l'hiver, dur dur !!! et, encore des petits réglages...</div>
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<br /></div>
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<iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='550' height='500' src='https://www.youtube.com/embed/zPfkBEWdQuY?feature=player_embedded' frameborder='0'></iframe></div>
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<br /></div>
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Problème : à la fin de l'essai, le robot a reculé contre un mur et la carte de driver</div>
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des moteurs a griller à moitier...</div>
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Avec l'utilisation de transistor Darlington du type TIP120 et TIP 125 on ne recupère pas</div>
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en sortie 100% de la puissance contrerement à l'utilisation de Mosfet où le rendement est meilleur.</div>
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Ce qui explique pourquoi le robot se déplace plus vite quand les moteurs sont branchés en </div>
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directe sur la batterie, plutot que quand ils sont gérés par la carte de puissance...</div>
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<br /></div>bennurrehttp://www.blogger.com/profile/12357347908057633434noreply@blogger.comtag:blogger.com,1999:blog-8828371051670132012.post-5888575445014531212012-03-14T05:07:00.000-07:002012-03-15T09:46:56.866-07:00Serrage des vis !!!<div align="center">
<br /></div>
<div align="center">
Premier essai avec le système de coupe ! Toutes les vis se sont dévissés et </div>
<div align="center">
le moteur est tombé !</div>
<div align="center">
<br /></div>
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Support du brushless...</div>
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Le remède: la Loctite !</div>
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Remontage du moteur sur le chassis...</div>
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</div>bennurrehttp://www.blogger.com/profile/12357347908057633434noreply@blogger.comtag:blogger.com,1999:blog-8828371051670132012.post-57732210278575231902012-03-10T08:51:00.000-08:002012-03-15T09:27:50.435-07:00Tests ...<div align="center">
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<div align="center">
Premier test avec les MEG, et une batterie au plomb de 7A, détection calibrée à 40cm...</div>
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<iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='550' height='500' src='https://www.youtube.com/embed/8TZKkwvtTlQ?feature=player_embedded' frameborder='0'></iframe></div>
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<br /></div>bennurrehttp://www.blogger.com/profile/12357347908057633434noreply@blogger.comtag:blogger.com,1999:blog-8828371051670132012.post-67921513918786485502012-03-09T05:43:00.000-08:002012-03-09T05:44:13.984-08:00Montage...<div align="center">
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Montage et cablage...</div>
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Now, rectification du programme afin de régler les news moteurs et tests...</div>
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<br /></div>
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</div>bennurrehttp://www.blogger.com/profile/12357347908057633434noreply@blogger.comtag:blogger.com,1999:blog-8828371051670132012.post-541854494037809432012-03-05T03:20:00.000-08:002012-03-14T06:52:36.740-07:00Démontage ...<div style="text-align: center;">
Démontage de toute la partie électronique de l'ancien chassis...</div>
<div style="text-align: center;">
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Découpage de la nouvelle caisse plus haute pour recevoir les MEG...</div>
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</div>bennurrehttp://www.blogger.com/profile/12357347908057633434noreply@blogger.comtag:blogger.com,1999:blog-8828371051670132012.post-91378122255868631172012-03-02T03:53:00.000-08:002012-03-15T09:28:25.393-07:00... suite ...<div align="center">
</div>
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... suite du test au sol, la ligne
droite et bien gérée par les codeurs, mais un new problème !<o:p></o:p></div>
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</div>
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Les moteurs tournent à 500 tr/mn et
je dois donc les ralentir pour tourner aux environs de 100tr/mn <o:p></o:p></div>
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</div>
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( no prob avec la prog sur
l'arduino!), mais vu le ralentissement, les moteurs perdent beaucoup de <o:p></o:p></div>
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</div>
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couple et deviennent trop faible pour
promener correctement le robot !!! GRRRR!!!!!<o:p></o:p></div>
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</div>
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Mise en place de new moteurs: des MEG
! Moteur d'essuie-glace de Kangoo </div>
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( et chui pas trop voiture française !!! lol
)<o:p></o:p></div>
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</div>
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J'ai donc bricolé avec mon filleul Hugo (un futur grand bricoleur)</div>
<div align="center" style="text-align: center;">
une caisse bidon avec 2 MEG plus la batterie et un peu de poids, </div>
<div align="center" style="text-align: center;">
le tout à
l'arrache pour voir si les moteurs se comportent bien !!! </div>
<div align="center" style="text-align: center;">
et surprise, jusque-là
ça marche plutôt bien et pas besoin de réguler la vitesse,</div>
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c'est pas beau ça
!!!<o:p></o:p></div>
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</div>bennurrehttp://www.blogger.com/profile/12357347908057633434noreply@blogger.comtag:blogger.com,1999:blog-8828371051670132012.post-29429019884978990922012-02-15T09:00:00.000-08:002012-03-15T09:28:57.770-07:00Premier test au sol...<div style="text-align: center;">
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<iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='550' height='500' src='https://www.youtube.com/embed/CDVSSpWecJU?feature=player_embedded' frameborder='0'></iframe></div>
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Premier test au sol avec les moteurs codés, et la batterie de 284Kg!</div>
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Merci mon pote Nico pour le code de dingo des codeurs !!</div>
<div style="text-align: center;">
</div>bennurrehttp://www.blogger.com/profile/12357347908057633434noreply@blogger.comtag:blogger.com,1999:blog-8828371051670132012.post-21969595898036780562012-02-06T16:01:00.000-08:002012-02-15T09:06:03.843-08:00Codage des moteurs...<div style="text-align: center;">
Après un premier test au sol, il faut absolument créer un asservissement </div>
<div style="text-align: center;">
pour gérer les vitesses des 2 motoréducteurs et la trajectoire...</div>
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Découpage de rondelle en plastique...</div>
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Impression de roue de codage...</div>
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Découpe à la meuleuse des encoches...</div>
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Montage sur l'axe de la roue...</div>
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Test d'un optocoupleur récupéré dans une imprimante...</div>
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Installation sur le chassis du robot...</div>
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<br /></div>bennurrehttp://www.blogger.com/profile/12357347908057633434noreply@blogger.comtag:blogger.com,1999:blog-8828371051670132012.post-56931401414396766102012-02-06T15:52:00.000-08:002012-10-12T02:22:59.785-07:00Mise en place des composants...<div class="separator" style="clear: both; text-align: center;">
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Conception du sonar monté sur tourelle...</div>
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Réalisation de la carte de puissance...</div>
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Insertion des 2 motoréducteurs et du moteur brushless pour la coupe...</div>
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<iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='320' height='266' src='https://www.youtube.com/embed/2ry6ZuZaR5k?feature=player_embedded' frameborder='0'></iframe></div>
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exemple de code pour tester le moteur brusless:</div>
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// lignes de code pour demarrer un moteur brushless...</div>
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<br />#include <Servo.h> // librairie pour servomoteur</div>
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const int BRUSHLESS=3; //declaration constante de broche</div>
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Servo cont_brushless; // crée un objet servo pour contrôler le servomoteur</div>
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void setup() <br />{ </div>
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cont_brushless.attach(BRUSHLESS); // attache l'objet servo à la broche de cmd du servo</div>
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pinMode(BRUSHLESS, OUTPUT); //met la broche en sortie</div>
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<br /> cont_brushless.writeMicroseconds(1470); // génère milieu servo<br /> delay (2000); //attente de 2 secondes pour initialisation du controleur</div>
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int robcuton;<br /> for(robcuton = 1470 ; robcuton <= 2200; robcuton+=1) //acceleration vitesse max à 2200<br /> {<br /> cont_brushless.writeMicroseconds(robcuton);<br /> }</div>
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} </div>
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void loop()</div>
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{ // debut de la fonction loop()</div>
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}</div>
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Fabrication d'une boite autour de la carte de puissance pour faire un système " air forcé "...</div>
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bennurrehttp://www.blogger.com/profile/12357347908057633434noreply@blogger.comtag:blogger.com,1999:blog-8828371051670132012.post-40466793950131391732012-02-06T15:38:00.000-08:002012-02-06T15:38:48.950-08:00Création de la caisse...<div class="separator" style="clear: both; text-align: center;">
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Découpe des roues dans de l'alu...</div>
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Corps en PVC et Plexi...</div>
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