diff --git a/Documentation/Pre-projet/Custom Dongle/Arduino code/Code_Dongle_FASTbot/CH341SER/CH341M64.sys b/Documentation/Pre-projet/Custom Dongle/Arduino code/Code_Dongle_FASTbot/CH341SER/CH341M64.sys
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index 0000000000000000000000000000000000000000..33ab5ce3d4a6767ea4d7aa11f042a727e8fe3041
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diff --git a/Documentation/Pre-projet/Custom Dongle/Arduino code/Code_Dongle_FASTbot/CH341SER/CH341PORTS.DLL b/Documentation/Pre-projet/Custom Dongle/Arduino code/Code_Dongle_FASTbot/CH341SER/CH341PORTS.DLL
new file mode 100644
index 0000000000000000000000000000000000000000..0ce942305a4008f2891dd050101e2fb3e3270f6c
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diff --git a/Documentation/Pre-projet/Custom Dongle/Arduino code/Code_Dongle_FASTbot/CH341SER/CH341PORTSA64.DLL b/Documentation/Pre-projet/Custom Dongle/Arduino code/Code_Dongle_FASTbot/CH341SER/CH341PORTSA64.DLL
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index 0000000000000000000000000000000000000000..efaa94f168c6e2af47db19885b48fb522a711b8f
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diff --git a/Documentation/Pre-projet/Custom Dongle/Arduino code/Code_Dongle_FASTbot/CH341SER/CH341PT.DLL b/Documentation/Pre-projet/Custom Dongle/Arduino code/Code_Dongle_FASTbot/CH341SER/CH341PT.DLL
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index 0000000000000000000000000000000000000000..e3113c560200f55fa1d3839b6cd9403daf7e5d26
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diff --git a/Documentation/Pre-projet/Custom Dongle/Arduino code/Code_Dongle_FASTbot/CH341SER/CH341PTA64.DLL b/Documentation/Pre-projet/Custom Dongle/Arduino code/Code_Dongle_FASTbot/CH341SER/CH341PTA64.DLL
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index 0000000000000000000000000000000000000000..9d17d7d160c5f026ebd76e57caa352ca2ca488bb
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index 0000000000000000000000000000000000000000..3784a49457d671c206330e3341c91ec41566d19c
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diff --git a/Documentation/Pre-projet/Custom Dongle/Arduino code/Code_Dongle_FASTbot/CH341SER/CH341S98.SYS b/Documentation/Pre-projet/Custom Dongle/Arduino code/Code_Dongle_FASTbot/CH341SER/CH341S98.SYS
new file mode 100644
index 0000000000000000000000000000000000000000..261f0844226d70016230718183a0349ff9c2b432
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diff --git a/Documentation/Pre-projet/Custom Dongle/Arduino code/Code_Dongle_FASTbot/CH341SER/CH341SER.CAT b/Documentation/Pre-projet/Custom Dongle/Arduino code/Code_Dongle_FASTbot/CH341SER/CH341SER.CAT
new file mode 100644
index 0000000000000000000000000000000000000000..b13745e17eb77a1119cdc1c364c3f0b61b4446aa
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diff --git a/Documentation/Pre-projet/Custom Dongle/Arduino code/Code_Dongle_FASTbot/CH341SER/CH341SER.INF b/Documentation/Pre-projet/Custom Dongle/Arduino code/Code_Dongle_FASTbot/CH341SER/CH341SER.INF
new file mode 100644
index 0000000000000000000000000000000000000000..3da3a76d3afa30e1ef7bfed2dbcd059e37b49839
--- /dev/null
+++ b/Documentation/Pre-projet/Custom Dongle/Arduino code/Code_Dongle_FASTbot/CH341SER/CH341SER.INF
@@ -0,0 +1,282 @@
+; CH341SER.INF
+; Driver for CH340/CH341 (USB=>SERIAL chip) V3.7
+; WDM&VXD for Windows 98/Me/2000/XP/Vista/7/8/8.1/10/11/SERVER 2003/2008/2012/2016/2019/2022
+; Copyright (C) W.ch 2001-2022
+;
+
+[Version]
+Signature = "$Chicago$"
+Class = Ports
+ClassGuid = {4D36E978-E325-11CE-BFC1-08002BE10318}
+Provider = %WinChipHead%
+DriverVer = 01/18/2022, 3.7.2022.01
+CatalogFile =CH341SER.CAT
+
+
+[ControlFlags]
+ExcludeFromSelect = USB\VID_1A86&PID_7523
+ExcludeFromSelect = USB\VID_1A86&PID_5523
+ExcludeFromSelect = USB\VID_1A86&PID_7522
+ExcludeFromSelect = USB\VID_1A86&PID_E523
+ExcludeFromSelect = USB\VID_4348&PID_5523
+ExcludeFromSelect = USB\VID_4348&PID_5523&REV_0250
+ExcludeFromSelect = USBSERPORT\SER5523
+ExcludeFromSelect = CH341PORT\SER5523
+
+[Manufacturer]
+%WinChipHead% = WinChipHead,NT,NTamd64,NTia64,NTARM64
+
+[WinChipHead]
+%CH340SER.DeviceDesc% = CH341SER_Install, USB\VID_1A86&PID_7523
+%CH341ASER.DeviceDesc% = CH341SER_Install, USB\VID_1A86&PID_5523
+%CH340KSER.DeviceDesc% = CH341SER_Install, USB\VID_1A86&PID_7522
+%CH330SER.DeviceDesc% = CH341SER_Install, USB\VID_1A86&PID_E523
+%CH341SER.DeviceDesc% = CH341SER_Install, USB\VID_4348&PID_5523
+%CH340SER.DeviceDesc% = CH341SER_Install, USB\VID_4348&PID_5523&REV_0250
+%CH341S98.DeviceDesc% = CH341S98_Install, USBSERPORT\SER5523
+%CH341S98.DeviceDesc% = CH341S98_Install, CH341PORT\SER5523
+
+[WinChipHead.NT]
+%CH340SER.DeviceDesc% = CH341SER_Install.NT, USB\VID_1A86&PID_7523
+%CH341ASER.DeviceDesc% = CH341SER_Install.NT, USB\VID_1A86&PID_5523
+%CH340KSER.DeviceDesc% = CH341SER_Install.NT, USB\VID_1A86&PID_7522
+%CH330SER.DeviceDesc% = CH341SER_Install.NT, USB\VID_1A86&PID_E523
+%CH341SER.DeviceDesc% = CH341SER_Install.NT, USB\VID_4348&PID_5523
+%CH340SER.DeviceDesc% = CH341SER_Install.NT, USB\VID_4348&PID_5523&REV_0250
+
+[WinChipHead.NTamd64]
+%CH340SER.DeviceDesc% = CH341SER_Inst.NTamd64, USB\VID_1A86&PID_7523
+%CH341ASER.DeviceDesc% = CH341SER_Inst.NTamd64, USB\VID_1A86&PID_5523
+%CH340KSER.DeviceDesc% = CH341SER_Inst.NTamd64, USB\VID_1A86&PID_7522
+%CH330SER.DeviceDesc% = CH341SER_Inst.NTamd64, USB\VID_1A86&PID_E523
+%CH341SER.DeviceDesc% = CH341SER_Inst.NTamd64, USB\VID_4348&PID_5523
+%CH340SER.DeviceDesc% = CH341SER_Inst.NTamd64, USB\VID_4348&PID_5523&REV_0250
+
+[WinChipHead.NTia64]
+%CH340SER.DeviceDesc% = CH341SER_Inst.NTia64, USB\VID_1A86&PID_7523
+%CH341ASER.DeviceDesc% = CH341SER_Inst.NTia64, USB\VID_1A86&PID_5523
+%CH340KSER.DeviceDesc% = CH341SER_Inst.NTia64, USB\VID_1A86&PID_7522
+%CH330SER.DeviceDesc% = CH341SER_Inst.NTia64, USB\VID_1A86&PID_E523
+%CH341SER.DeviceDesc% = CH341SER_Inst.NTia64, USB\VID_4348&PID_5523
+%CH340SER.DeviceDesc% = CH341SER_Inst.NTia64, USB\VID_4348&PID_5523&REV_0250
+
+[WinChipHead.NTARM64]
+%CH340SER.DeviceDesc% = CH341SER_Inst.NTARM64, USB\VID_1A86&PID_7523
+%CH341ASER.DeviceDesc% = CH341SER_Inst.NTARM64, USB\VID_1A86&PID_5523
+%CH340KSER.DeviceDesc% = CH341SER_Inst.NTARM64, USB\VID_1A86&PID_7522
+%CH330SER.DeviceDesc% = CH341SER_Inst.NTARM64, USB\VID_1A86&PID_E523
+%CH341SER.DeviceDesc% = CH341SER_Inst.NTARM64, USB\VID_4348&PID_5523
+%CH340SER.DeviceDesc% = CH341SER_Inst.NTARM64, USB\VID_4348&PID_5523&REV_0250
+
+[CH341SER_Install]
+DelFiles = CH341S98.DelFiles.SYS
+CopyFiles = CH341SER.CopyFiles.SYS, CH341SER.CopyFiles.DLL
+AddReg = CH341SER.9X.AddReg, CH341SER.AddReg
+
+[CH341SER_Install.NT]
+CopyFiles = CH341SER.NT.CopyFiles.SYS, CH341SER.CopyFiles.DLL
+AddReg = CH341SER.NT.AddReg, CH341SER.AddReg
+
+[CH341SER_Install.NT.HW]
+AddReg = CH341SER.NT.HW.AddReg
+
+[CH341SER_Inst.NTamd64]
+CopyFiles = CH341SER.NT.CopyFiles.SYSA64, CH341SER.CopyFiles.DLLA64, CH341SER.CopyFiles.WOWDLL
+AddReg = CH341SER.NTAMD64.AddReg, CH341SER.AddReg
+
+[CH341SER_Inst.NTamd64.HW]
+AddReg = CH341SER.NT.HW.AddReg
+
+[CH341SER_Inst.NTia64]
+CopyFiles = CH341SER.NT.CopyFiles.SYSI64,CH341SER.CopyFiles.DLLA64
+AddReg = CH341SER.NT.AddReg, CH341SER.AddReg
+
+[CH341SER_Inst.NTia64.HW]
+AddReg = CH341SER.NT.HW.AddReg
+
+[CH341SER_Inst.NTARM64]
+CopyFiles = CH341SER.NT.CopyFiles.SYSM64,CH341SER.CopyFiles.DLLA64, CH341SER.CopyFiles.WOWDLL
+AddReg = CH341SER.NTARM64.AddReg, CH341SER.AddReg
+
+[CH341SER_Inst.NTARM64.HW]
+AddReg = CH341SER.NT.HW.AddReg
+
+[CH341S98_Install]
+DelFiles = CH341S98.DelFiles.SYS
+CopyFiles = CH341S98.CopyFiles.VXD, CH341SER.CopyFiles.SYS
+AddReg = CH341S98.9X.AddReg, CH341S98.AddReg
+
+;[CH341S98_Install.NT]
+
+[CH341S98.DelFiles.SYS]
+CH341S98.SYS, , , 1
+
+[CH341SER.CopyFiles.SYS]
+CH341S98.SYS, , , 2
+
+[CH341SER.NT.CopyFiles.SYS]
+CH341SER.SYS, , , 2
+
+[CH341SER.NT.CopyFiles.SYSA64]
+CH341S64.SYS, , , 2
+
+[CH341SER.NT.CopyFiles.SYSI64]
+;CH341I64.SYS, , , 2
+
+[CH341SER.NT.CopyFiles.SYSM64]
+CH341M64.SYS, , , 2
+
+[CH341S98.CopyFiles.VXD]
+CH341SER.VXD, , , 2
+
+[CH341SER.CopyFiles.DLL]
+CH341PT.DLL, , , 2
+CH341PORTS.DLL, , , 2
+
+[CH341SER.CopyFiles.DLLA64]
+CH341PTA64.DLL, , , 2
+CH341PORTSA64.DLL, , , 2
+
+[CH341SER.CopyFiles.WOWDLL]
+CH341PT.DLL, , , 2
+;��װDLL�ǿ�ѡ��,DLL��������ʶ��CH341�˿ںͼ���CH341�˿ڵIJ���¼�
+
+[CH341SER.9X.AddReg]
+HKR, , DevLoader, , *NTKERN
+HKR, , NTMPDriver, , CH341S98.SYS
+
+[CH341SER.NT.AddReg]
+HKR,,EnumPropPages32,,"CH341PORTS.dll,SerialPortPropPageProvider"
+
+[CH341SER.NTAMD64.AddReg]
+HKR,,EnumPropPages32,,"CH341PORTSA64.dll,SerialPortPropPageProvider"
+
+[CH341SER.NTARM64.AddReg]
+HKR,,EnumPropPages32,,"CH341PORTSA64.dll,SerialPortPropPageProvider"
+
+[CH341SER.NT.HW.AddReg]
+;HKR,,"EnableBRA",0x00010001,1
+;HKR,,"BRAVal",0x00010001,1
+;�����������ڲ����ʵ����������������ɽ��������зֺ�ȥ��
+;HKR,,"UpperFilters",0x00010000,"serenum"
+;������������ö�ٽ��ڴ��ڵļ��弴���豸,����ʱ������DTR��RTS�ź�,�����Ҫö��,�뽫�������еķֺ�ȥ��
+
+[CH341S98.9X.AddReg]
+HKR, , DevLoader, , *vcomm
+HKR, , PortDriver, , CH341SER.VXD
+HKR, , Contention, , *vcd
+HKR, , ConfigDialog, , serialui.dll
+HKR, , DCB, 3, 1C,00,00,00, 80,25,00,00, 11,00,00,00, 00,00,0A,00, 0A,00,08,00, 00,11,13,00, 00,00,00,00
+HKR, , PortSubClass, 1, 01
+HKR, , EnumPropPages, , "serialui.dll,EnumPropPages"
+;HKR, , Enumerator, , serenum.vxd
+;������������ö�ٽ��ڴ��ڵļ��弴���豸,����ʱ������DTR��RTS�ź�,�����Ҫö��,�뽫�������еķֺ�ȥ��
+
+[CH341SER.AddReg]
+HKLM, SOFTWARE\WinChipHead\IC\CH341SER, WDM, 0x00010001, 0x00000034
+HKLM, SOFTWARE\WinChipHead\IC\CH341PORT, DLL, 0x00010001, 0x00000010
+HKLM, SOFTWARE\WinChipHead\IC\CH341SER, Function, , "USB=>Serial"
+;HKLM, SYSTEM\CurrentControlSet\Services\CH341SER, UserRemoval, 0x00010001, 0x00000001
+;��������������ϵͳ��������ʾ����ȫɾ��USBתSERIALӲ���豸���������û��ֹ�ɾ��Ӳ��
+
+[CH341S98.AddReg]
+HKLM, SOFTWARE\WinChipHead\IC\CH341SER, VXD, 0x00010001, 0x00000023
+
+[CH341SER_Install.NT.Services]
+AddService = CH341SER, 2, CH341SER.Service
+;AddService = Serenum, , Serenum_Service_Inst
+
+[CH341SER_Inst.NTamd64.Services]
+AddService = CH341SER_A64, 2, CH341SER.ServiceA64
+;AddService = Serenum, , Serenum_Service_Inst
+
+[CH341SER_Inst.NTia64.Services]
+AddService = CH341SER_I64, 2, CH341SER.ServiceI64
+;AddService = Serenum, , Serenum_Service_Inst
+
+[CH341SER_Inst.NTARM64.Services]
+AddService = CH341SER_M64, 2, CH341SER.ServiceM64
+;AddService = Serenum, , Serenum_Service_Inst
+
+[CH341SER.Service]
+DisplayName = "CH341SER"
+ServiceType = 1
+StartType = 3
+ErrorControl = 1
+ServiceBinary = %10%\System32\Drivers\CH341SER.SYS
+
+[CH341SER.ServiceA64]
+DisplayName = "CH341SER_A64"
+ServiceType = 1
+StartType = 3
+ErrorControl = 1
+ServiceBinary = %10%\System32\Drivers\CH341S64.SYS
+
+[CH341SER.ServiceI64]
+DisplayName = "CH341SER_I64"
+ServiceType = 1
+StartType = 3
+ErrorControl = 1
+ServiceBinary = %10%\System32\Drivers\CH341I64.SYS
+
+[CH341SER.ServiceM64]
+DisplayName = "CH341SER_M64"
+ServiceType = 1
+StartType = 3
+ErrorControl = 1
+ServiceBinary = %10%\System32\Drivers\CH341M64.SYS
+
+[Serenum_Service_Inst]
+DisplayName = "SerEnum"
+ServiceType = 1
+StartType = 3
+ErrorControl = 1
+ServiceBinary = %12%\serenum.sys
+LoadOrderGroup = PNP Filter
+
+[DestinationDirs]
+DefaultDestDir = 10, System32\Drivers
+CH341S98.DelFiles.SYS = 11
+CH341SER.CopyFiles.SYS = 10, System32\Drivers
+CH341SER.NT.CopyFiles.SYS = 10, System32\Drivers
+CH341S98.CopyFiles.VXD = 11
+CH341SER.CopyFiles.DLL = 11
+CH341SER.CopyFiles.DLLA64 = 11
+CH341SER.CopyFiles.WOWDLL = 10,SysWOW64
+CH341SER.NT.CopyFiles.SYSA64 = 10, System32\Drivers
+CH341SER.NT.CopyFiles.SYSM64 = 10, System32\Drivers
+;CH341SER.NT.CopyFiles.SYSI64 = 10, System32\Drivers
+
+[SourceDisksFiles]
+CH341M64.SYS = 1
+CH341PT.DLL = 1
+CH341PTA64.DLL= 1
+CH341SER.SYS = 1
+CH341S98.SYS = 1
+CH341SER.VXD = 1
+CH341S64.SYS = 1
+CH341PORTS.DLL = 1
+CH341PORTSA64.DLL = 1
+;CH341I64.SYS = 1
+
+[SourceDisksNames]
+1 = %DISK_NAME%, , ,
+
+[SourceDisksNames.amd64]
+1 = %DISK_NAME%, , ,
+
+[SourceDisksNames.ia64]
+1 = %DISK_NAME%, , ,
+
+[SourceDisksNames.arm64]
+1 = %DISK_NAME%, , ,
+
+[Strings]
+WinChipHead = "wch.cn"
+CH341SER.DeviceDesc = "USB-SERIAL CH341"
+CH341S98.DeviceDesc = "USB-SERIAL CH341"
+CH340SER.DeviceDesc = "USB-SERIAL CH340"
+CH341ASER.DeviceDesc = "USB-SERIAL CH341A"
+CH340KSER.DeviceDesc = "USB-SERIAL CH340K"
+CH330SER.DeviceDesc = "USB-SERIAL CH330"
+DISK_NAME = "CH341 Serial Installation Disk"
diff --git a/Documentation/Pre-projet/Custom Dongle/Arduino code/Code_Dongle_FASTbot/CH341SER/CH341SER.SYS b/Documentation/Pre-projet/Custom Dongle/Arduino code/Code_Dongle_FASTbot/CH341SER/CH341SER.SYS
new file mode 100644
index 0000000000000000000000000000000000000000..a4c846c89272555409034bb91cd0ee11a4fc796d
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new file mode 100644
index 0000000000000000000000000000000000000000..1c04d3dfafbdc94db4a03e4163022449f1ddf21f
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diff --git a/Documentation/Pre-projet/Custom Dongle/Arduino code/Code_Dongle_FASTbot/CH341SER/DRVSETUP64/DRVSETUP64.exe b/Documentation/Pre-projet/Custom Dongle/Arduino code/Code_Dongle_FASTbot/CH341SER/DRVSETUP64/DRVSETUP64.exe
new file mode 100644
index 0000000000000000000000000000000000000000..826fdc342edac270e6e7d2eabd803b15fa3645f4
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new file mode 100644
index 0000000000000000000000000000000000000000..bf142f96c4ca7e3ba3a1528de304da231b074d15
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diff --git a/Documentation/Pre-projet/Custom Dongle/Arduino code/Code_Dongle_FASTbot/CH341SER/WIN 1X/CH341M64.sys b/Documentation/Pre-projet/Custom Dongle/Arduino code/Code_Dongle_FASTbot/CH341SER/WIN 1X/CH341M64.sys
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index 0000000000000000000000000000000000000000..cf588a3023f27e5634c61c3617ee7e419374146f
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diff --git a/Documentation/Pre-projet/Custom Dongle/Arduino code/Code_Dongle_FASTbot/CH341SER/WIN 1X/CH341PORTS.DLL b/Documentation/Pre-projet/Custom Dongle/Arduino code/Code_Dongle_FASTbot/CH341SER/WIN 1X/CH341PORTS.DLL
new file mode 100644
index 0000000000000000000000000000000000000000..d040b9c9bc84e99ea78c9f1b9791c5eecb37cb57
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diff --git a/Documentation/Pre-projet/Custom Dongle/Arduino code/Code_Dongle_FASTbot/CH341SER/WIN 1X/CH341PORTSA64.DLL b/Documentation/Pre-projet/Custom Dongle/Arduino code/Code_Dongle_FASTbot/CH341SER/WIN 1X/CH341PORTSA64.DLL
new file mode 100644
index 0000000000000000000000000000000000000000..785cd64231c6752a0963d5c6f1655ed42cef5505
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diff --git a/Documentation/Pre-projet/Custom Dongle/Arduino code/Code_Dongle_FASTbot/CH341SER/WIN 1X/CH341PT.DLL b/Documentation/Pre-projet/Custom Dongle/Arduino code/Code_Dongle_FASTbot/CH341SER/WIN 1X/CH341PT.DLL
new file mode 100644
index 0000000000000000000000000000000000000000..37cadfc6b084e984ace1fc87a61f51da7a4d8982
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diff --git a/Documentation/Pre-projet/Custom Dongle/Arduino code/Code_Dongle_FASTbot/CH341SER/WIN 1X/CH341PTA64.DLL b/Documentation/Pre-projet/Custom Dongle/Arduino code/Code_Dongle_FASTbot/CH341SER/WIN 1X/CH341PTA64.DLL
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index 0000000000000000000000000000000000000000..c5c69afbe150b7cc6327185bbdc8845417de35d2
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diff --git a/Documentation/Pre-projet/Custom Dongle/Arduino code/Code_Dongle_FASTbot/CH341SER/WIN 1X/CH341S64.SYS b/Documentation/Pre-projet/Custom Dongle/Arduino code/Code_Dongle_FASTbot/CH341SER/WIN 1X/CH341S64.SYS
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index 0000000000000000000000000000000000000000..440e9e5cc10ef257fc3ad53036f662e11a51fa28
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diff --git a/Documentation/Pre-projet/Custom Dongle/Arduino code/Code_Dongle_FASTbot/CH341SER/WIN 1X/CH341S98.SYS b/Documentation/Pre-projet/Custom Dongle/Arduino code/Code_Dongle_FASTbot/CH341SER/WIN 1X/CH341S98.SYS
new file mode 100644
index 0000000000000000000000000000000000000000..c2939dde68294e972cbef2f583bafe912dae877e
Binary files /dev/null and b/Documentation/Pre-projet/Custom Dongle/Arduino code/Code_Dongle_FASTbot/CH341SER/WIN 1X/CH341S98.SYS differ
diff --git a/Documentation/Pre-projet/Custom Dongle/Arduino code/Code_Dongle_FASTbot/CH341SER/WIN 1X/CH341SER.CAT b/Documentation/Pre-projet/Custom Dongle/Arduino code/Code_Dongle_FASTbot/CH341SER/WIN 1X/CH341SER.CAT
new file mode 100644
index 0000000000000000000000000000000000000000..a79e9f5cfd66af8e128d38ba158febe6ab19b067
Binary files /dev/null and b/Documentation/Pre-projet/Custom Dongle/Arduino code/Code_Dongle_FASTbot/CH341SER/WIN 1X/CH341SER.CAT differ
diff --git a/Documentation/Pre-projet/Custom Dongle/Arduino code/Code_Dongle_FASTbot/CH341SER/WIN 1X/CH341SER.INF b/Documentation/Pre-projet/Custom Dongle/Arduino code/Code_Dongle_FASTbot/CH341SER/WIN 1X/CH341SER.INF
new file mode 100644
index 0000000000000000000000000000000000000000..3da3a76d3afa30e1ef7bfed2dbcd059e37b49839
--- /dev/null
+++ b/Documentation/Pre-projet/Custom Dongle/Arduino code/Code_Dongle_FASTbot/CH341SER/WIN 1X/CH341SER.INF
@@ -0,0 +1,282 @@
+; CH341SER.INF
+; Driver for CH340/CH341 (USB=>SERIAL chip) V3.7
+; WDM&VXD for Windows 98/Me/2000/XP/Vista/7/8/8.1/10/11/SERVER 2003/2008/2012/2016/2019/2022
+; Copyright (C) W.ch 2001-2022
+;
+
+[Version]
+Signature = "$Chicago$"
+Class = Ports
+ClassGuid = {4D36E978-E325-11CE-BFC1-08002BE10318}
+Provider = %WinChipHead%
+DriverVer = 01/18/2022, 3.7.2022.01
+CatalogFile =CH341SER.CAT
+
+
+[ControlFlags]
+ExcludeFromSelect = USB\VID_1A86&PID_7523
+ExcludeFromSelect = USB\VID_1A86&PID_5523
+ExcludeFromSelect = USB\VID_1A86&PID_7522
+ExcludeFromSelect = USB\VID_1A86&PID_E523
+ExcludeFromSelect = USB\VID_4348&PID_5523
+ExcludeFromSelect = USB\VID_4348&PID_5523&REV_0250
+ExcludeFromSelect = USBSERPORT\SER5523
+ExcludeFromSelect = CH341PORT\SER5523
+
+[Manufacturer]
+%WinChipHead% = WinChipHead,NT,NTamd64,NTia64,NTARM64
+
+[WinChipHead]
+%CH340SER.DeviceDesc% = CH341SER_Install, USB\VID_1A86&PID_7523
+%CH341ASER.DeviceDesc% = CH341SER_Install, USB\VID_1A86&PID_5523
+%CH340KSER.DeviceDesc% = CH341SER_Install, USB\VID_1A86&PID_7522
+%CH330SER.DeviceDesc% = CH341SER_Install, USB\VID_1A86&PID_E523
+%CH341SER.DeviceDesc% = CH341SER_Install, USB\VID_4348&PID_5523
+%CH340SER.DeviceDesc% = CH341SER_Install, USB\VID_4348&PID_5523&REV_0250
+%CH341S98.DeviceDesc% = CH341S98_Install, USBSERPORT\SER5523
+%CH341S98.DeviceDesc% = CH341S98_Install, CH341PORT\SER5523
+
+[WinChipHead.NT]
+%CH340SER.DeviceDesc% = CH341SER_Install.NT, USB\VID_1A86&PID_7523
+%CH341ASER.DeviceDesc% = CH341SER_Install.NT, USB\VID_1A86&PID_5523
+%CH340KSER.DeviceDesc% = CH341SER_Install.NT, USB\VID_1A86&PID_7522
+%CH330SER.DeviceDesc% = CH341SER_Install.NT, USB\VID_1A86&PID_E523
+%CH341SER.DeviceDesc% = CH341SER_Install.NT, USB\VID_4348&PID_5523
+%CH340SER.DeviceDesc% = CH341SER_Install.NT, USB\VID_4348&PID_5523&REV_0250
+
+[WinChipHead.NTamd64]
+%CH340SER.DeviceDesc% = CH341SER_Inst.NTamd64, USB\VID_1A86&PID_7523
+%CH341ASER.DeviceDesc% = CH341SER_Inst.NTamd64, USB\VID_1A86&PID_5523
+%CH340KSER.DeviceDesc% = CH341SER_Inst.NTamd64, USB\VID_1A86&PID_7522
+%CH330SER.DeviceDesc% = CH341SER_Inst.NTamd64, USB\VID_1A86&PID_E523
+%CH341SER.DeviceDesc% = CH341SER_Inst.NTamd64, USB\VID_4348&PID_5523
+%CH340SER.DeviceDesc% = CH341SER_Inst.NTamd64, USB\VID_4348&PID_5523&REV_0250
+
+[WinChipHead.NTia64]
+%CH340SER.DeviceDesc% = CH341SER_Inst.NTia64, USB\VID_1A86&PID_7523
+%CH341ASER.DeviceDesc% = CH341SER_Inst.NTia64, USB\VID_1A86&PID_5523
+%CH340KSER.DeviceDesc% = CH341SER_Inst.NTia64, USB\VID_1A86&PID_7522
+%CH330SER.DeviceDesc% = CH341SER_Inst.NTia64, USB\VID_1A86&PID_E523
+%CH341SER.DeviceDesc% = CH341SER_Inst.NTia64, USB\VID_4348&PID_5523
+%CH340SER.DeviceDesc% = CH341SER_Inst.NTia64, USB\VID_4348&PID_5523&REV_0250
+
+[WinChipHead.NTARM64]
+%CH340SER.DeviceDesc% = CH341SER_Inst.NTARM64, USB\VID_1A86&PID_7523
+%CH341ASER.DeviceDesc% = CH341SER_Inst.NTARM64, USB\VID_1A86&PID_5523
+%CH340KSER.DeviceDesc% = CH341SER_Inst.NTARM64, USB\VID_1A86&PID_7522
+%CH330SER.DeviceDesc% = CH341SER_Inst.NTARM64, USB\VID_1A86&PID_E523
+%CH341SER.DeviceDesc% = CH341SER_Inst.NTARM64, USB\VID_4348&PID_5523
+%CH340SER.DeviceDesc% = CH341SER_Inst.NTARM64, USB\VID_4348&PID_5523&REV_0250
+
+[CH341SER_Install]
+DelFiles = CH341S98.DelFiles.SYS
+CopyFiles = CH341SER.CopyFiles.SYS, CH341SER.CopyFiles.DLL
+AddReg = CH341SER.9X.AddReg, CH341SER.AddReg
+
+[CH341SER_Install.NT]
+CopyFiles = CH341SER.NT.CopyFiles.SYS, CH341SER.CopyFiles.DLL
+AddReg = CH341SER.NT.AddReg, CH341SER.AddReg
+
+[CH341SER_Install.NT.HW]
+AddReg = CH341SER.NT.HW.AddReg
+
+[CH341SER_Inst.NTamd64]
+CopyFiles = CH341SER.NT.CopyFiles.SYSA64, CH341SER.CopyFiles.DLLA64, CH341SER.CopyFiles.WOWDLL
+AddReg = CH341SER.NTAMD64.AddReg, CH341SER.AddReg
+
+[CH341SER_Inst.NTamd64.HW]
+AddReg = CH341SER.NT.HW.AddReg
+
+[CH341SER_Inst.NTia64]
+CopyFiles = CH341SER.NT.CopyFiles.SYSI64,CH341SER.CopyFiles.DLLA64
+AddReg = CH341SER.NT.AddReg, CH341SER.AddReg
+
+[CH341SER_Inst.NTia64.HW]
+AddReg = CH341SER.NT.HW.AddReg
+
+[CH341SER_Inst.NTARM64]
+CopyFiles = CH341SER.NT.CopyFiles.SYSM64,CH341SER.CopyFiles.DLLA64, CH341SER.CopyFiles.WOWDLL
+AddReg = CH341SER.NTARM64.AddReg, CH341SER.AddReg
+
+[CH341SER_Inst.NTARM64.HW]
+AddReg = CH341SER.NT.HW.AddReg
+
+[CH341S98_Install]
+DelFiles = CH341S98.DelFiles.SYS
+CopyFiles = CH341S98.CopyFiles.VXD, CH341SER.CopyFiles.SYS
+AddReg = CH341S98.9X.AddReg, CH341S98.AddReg
+
+;[CH341S98_Install.NT]
+
+[CH341S98.DelFiles.SYS]
+CH341S98.SYS, , , 1
+
+[CH341SER.CopyFiles.SYS]
+CH341S98.SYS, , , 2
+
+[CH341SER.NT.CopyFiles.SYS]
+CH341SER.SYS, , , 2
+
+[CH341SER.NT.CopyFiles.SYSA64]
+CH341S64.SYS, , , 2
+
+[CH341SER.NT.CopyFiles.SYSI64]
+;CH341I64.SYS, , , 2
+
+[CH341SER.NT.CopyFiles.SYSM64]
+CH341M64.SYS, , , 2
+
+[CH341S98.CopyFiles.VXD]
+CH341SER.VXD, , , 2
+
+[CH341SER.CopyFiles.DLL]
+CH341PT.DLL, , , 2
+CH341PORTS.DLL, , , 2
+
+[CH341SER.CopyFiles.DLLA64]
+CH341PTA64.DLL, , , 2
+CH341PORTSA64.DLL, , , 2
+
+[CH341SER.CopyFiles.WOWDLL]
+CH341PT.DLL, , , 2
+;��װDLL�ǿ�ѡ��,DLL��������ʶ��CH341�˿ںͼ���CH341�˿ڵIJ���¼�
+
+[CH341SER.9X.AddReg]
+HKR, , DevLoader, , *NTKERN
+HKR, , NTMPDriver, , CH341S98.SYS
+
+[CH341SER.NT.AddReg]
+HKR,,EnumPropPages32,,"CH341PORTS.dll,SerialPortPropPageProvider"
+
+[CH341SER.NTAMD64.AddReg]
+HKR,,EnumPropPages32,,"CH341PORTSA64.dll,SerialPortPropPageProvider"
+
+[CH341SER.NTARM64.AddReg]
+HKR,,EnumPropPages32,,"CH341PORTSA64.dll,SerialPortPropPageProvider"
+
+[CH341SER.NT.HW.AddReg]
+;HKR,,"EnableBRA",0x00010001,1
+;HKR,,"BRAVal",0x00010001,1
+;�����������ڲ����ʵ����������������ɽ��������зֺ�ȥ��
+;HKR,,"UpperFilters",0x00010000,"serenum"
+;������������ö�ٽ��ڴ��ڵļ��弴���豸,����ʱ������DTR��RTS�ź�,�����Ҫö��,�뽫�������еķֺ�ȥ��
+
+[CH341S98.9X.AddReg]
+HKR, , DevLoader, , *vcomm
+HKR, , PortDriver, , CH341SER.VXD
+HKR, , Contention, , *vcd
+HKR, , ConfigDialog, , serialui.dll
+HKR, , DCB, 3, 1C,00,00,00, 80,25,00,00, 11,00,00,00, 00,00,0A,00, 0A,00,08,00, 00,11,13,00, 00,00,00,00
+HKR, , PortSubClass, 1, 01
+HKR, , EnumPropPages, , "serialui.dll,EnumPropPages"
+;HKR, , Enumerator, , serenum.vxd
+;������������ö�ٽ��ڴ��ڵļ��弴���豸,����ʱ������DTR��RTS�ź�,�����Ҫö��,�뽫�������еķֺ�ȥ��
+
+[CH341SER.AddReg]
+HKLM, SOFTWARE\WinChipHead\IC\CH341SER, WDM, 0x00010001, 0x00000034
+HKLM, SOFTWARE\WinChipHead\IC\CH341PORT, DLL, 0x00010001, 0x00000010
+HKLM, SOFTWARE\WinChipHead\IC\CH341SER, Function, , "USB=>Serial"
+;HKLM, SYSTEM\CurrentControlSet\Services\CH341SER, UserRemoval, 0x00010001, 0x00000001
+;��������������ϵͳ��������ʾ����ȫɾ��USBתSERIALӲ���豸���������û��ֹ�ɾ��Ӳ��
+
+[CH341S98.AddReg]
+HKLM, SOFTWARE\WinChipHead\IC\CH341SER, VXD, 0x00010001, 0x00000023
+
+[CH341SER_Install.NT.Services]
+AddService = CH341SER, 2, CH341SER.Service
+;AddService = Serenum, , Serenum_Service_Inst
+
+[CH341SER_Inst.NTamd64.Services]
+AddService = CH341SER_A64, 2, CH341SER.ServiceA64
+;AddService = Serenum, , Serenum_Service_Inst
+
+[CH341SER_Inst.NTia64.Services]
+AddService = CH341SER_I64, 2, CH341SER.ServiceI64
+;AddService = Serenum, , Serenum_Service_Inst
+
+[CH341SER_Inst.NTARM64.Services]
+AddService = CH341SER_M64, 2, CH341SER.ServiceM64
+;AddService = Serenum, , Serenum_Service_Inst
+
+[CH341SER.Service]
+DisplayName = "CH341SER"
+ServiceType = 1
+StartType = 3
+ErrorControl = 1
+ServiceBinary = %10%\System32\Drivers\CH341SER.SYS
+
+[CH341SER.ServiceA64]
+DisplayName = "CH341SER_A64"
+ServiceType = 1
+StartType = 3
+ErrorControl = 1
+ServiceBinary = %10%\System32\Drivers\CH341S64.SYS
+
+[CH341SER.ServiceI64]
+DisplayName = "CH341SER_I64"
+ServiceType = 1
+StartType = 3
+ErrorControl = 1
+ServiceBinary = %10%\System32\Drivers\CH341I64.SYS
+
+[CH341SER.ServiceM64]
+DisplayName = "CH341SER_M64"
+ServiceType = 1
+StartType = 3
+ErrorControl = 1
+ServiceBinary = %10%\System32\Drivers\CH341M64.SYS
+
+[Serenum_Service_Inst]
+DisplayName = "SerEnum"
+ServiceType = 1
+StartType = 3
+ErrorControl = 1
+ServiceBinary = %12%\serenum.sys
+LoadOrderGroup = PNP Filter
+
+[DestinationDirs]
+DefaultDestDir = 10, System32\Drivers
+CH341S98.DelFiles.SYS = 11
+CH341SER.CopyFiles.SYS = 10, System32\Drivers
+CH341SER.NT.CopyFiles.SYS = 10, System32\Drivers
+CH341S98.CopyFiles.VXD = 11
+CH341SER.CopyFiles.DLL = 11
+CH341SER.CopyFiles.DLLA64 = 11
+CH341SER.CopyFiles.WOWDLL = 10,SysWOW64
+CH341SER.NT.CopyFiles.SYSA64 = 10, System32\Drivers
+CH341SER.NT.CopyFiles.SYSM64 = 10, System32\Drivers
+;CH341SER.NT.CopyFiles.SYSI64 = 10, System32\Drivers
+
+[SourceDisksFiles]
+CH341M64.SYS = 1
+CH341PT.DLL = 1
+CH341PTA64.DLL= 1
+CH341SER.SYS = 1
+CH341S98.SYS = 1
+CH341SER.VXD = 1
+CH341S64.SYS = 1
+CH341PORTS.DLL = 1
+CH341PORTSA64.DLL = 1
+;CH341I64.SYS = 1
+
+[SourceDisksNames]
+1 = %DISK_NAME%, , ,
+
+[SourceDisksNames.amd64]
+1 = %DISK_NAME%, , ,
+
+[SourceDisksNames.ia64]
+1 = %DISK_NAME%, , ,
+
+[SourceDisksNames.arm64]
+1 = %DISK_NAME%, , ,
+
+[Strings]
+WinChipHead = "wch.cn"
+CH341SER.DeviceDesc = "USB-SERIAL CH341"
+CH341S98.DeviceDesc = "USB-SERIAL CH341"
+CH340SER.DeviceDesc = "USB-SERIAL CH340"
+CH341ASER.DeviceDesc = "USB-SERIAL CH341A"
+CH340KSER.DeviceDesc = "USB-SERIAL CH340K"
+CH330SER.DeviceDesc = "USB-SERIAL CH330"
+DISK_NAME = "CH341 Serial Installation Disk"
diff --git a/Documentation/Pre-projet/Custom Dongle/Arduino code/Code_Dongle_FASTbot/CH341SER/WIN 1X/CH341SER.SYS b/Documentation/Pre-projet/Custom Dongle/Arduino code/Code_Dongle_FASTbot/CH341SER/WIN 1X/CH341SER.SYS
new file mode 100644
index 0000000000000000000000000000000000000000..75c3d073f04b6b08f063eeaca8019144047250d6
Binary files /dev/null and b/Documentation/Pre-projet/Custom Dongle/Arduino code/Code_Dongle_FASTbot/CH341SER/WIN 1X/CH341SER.SYS differ
diff --git a/Documentation/Pre-projet/Custom Dongle/Arduino code/Code_Dongle_FASTbot/CH341SER/WIN 1X/CH341SER.VXD b/Documentation/Pre-projet/Custom Dongle/Arduino code/Code_Dongle_FASTbot/CH341SER/WIN 1X/CH341SER.VXD
new file mode 100644
index 0000000000000000000000000000000000000000..1c04d3dfafbdc94db4a03e4163022449f1ddf21f
Binary files /dev/null and b/Documentation/Pre-projet/Custom Dongle/Arduino code/Code_Dongle_FASTbot/CH341SER/WIN 1X/CH341SER.VXD differ
diff --git a/Documentation/Pre-projet/Custom Dongle/Arduino code/Code_Dongle_FASTbot/Code_Dongle_FASTbot.ino b/Documentation/Pre-projet/Custom Dongle/Arduino code/Code_Dongle_FASTbot/Code_Dongle_FASTbot.ino
new file mode 100644
index 0000000000000000000000000000000000000000..e9227eb858e3ee9672492e270e00b28b94ee64a1
--- /dev/null
+++ b/Documentation/Pre-projet/Custom Dongle/Arduino code/Code_Dongle_FASTbot/Code_Dongle_FASTbot.ino
@@ -0,0 +1,148 @@
+/*
+ See documentation at https://nRF24.github.io/RF24
+ See License information at root directory of this library
+ Author: Brendan Doherty (2bndy5)
+*/
+
+/**
+ A simple example of sending data from 1 nRF24L01 transceiver to another.
+
+ This example was written to be used on 2 devices acting as "nodes".
+ Use the Serial Monitor to change each node's behavior.
+*/
+#include <SPI.h>
+#include "printf.h"
+#include "RF24.h"
+
+
+RF24 radio( 9,8);
+
+uint8_t address[][6] = { "1Node", "2Node" };
+
+bool radioNumber = 1; // 0 uses address[0] to transmit, 1 uses address[1] to transmit
+
+float payload[3] = {0.0, 0.0, 0.0};
+
+//#define DEBUG
+
+void setup() {
+
+ Serial.begin(9600);
+ while (!Serial) {
+ // some boards need to wait to ensure access to serial over USB
+ }
+
+#ifdef DEBUG
+Serial.println("Dongle Par FastBot");
+#endif
+
+ // initialize the transceiver on the SPI bus
+ if (!radio.begin()) {
+ Serial.println(F("radio hardware is not responding!!"));
+ while (1) {} // hold in infinite loop
+ }
+
+
+ //radio.setPALevel(RF24_PA_LOW); // RF24_PA_MAX is default.
+
+ radio.setDataRate(RF24_250KBPS);
+
+ radio.setPayloadSize(sizeof(payload));
+
+ radio.openWritingPipe(address[radioNumber]); // always uses pipe 0
+
+ radio.openReadingPipe(1, address[!radioNumber]); // using pipe 1
+
+ radio.startListening();
+
+ Serial.println("angle commande output"); // réglage pid
+
+} // setup
+
+unsigned long Timeout_time = 200;
+unsigned long Timeout = 0;
+
+bool Ping = true;
+
+void loop() {
+
+ // Il faut faire un ping pong le dongle possède un timer de reset le dongle envoie les trois valeurs et l'autre renvoie
+
+ if (Serial.available()>0) {
+
+ int space = 0;
+ Serial.print("Données reçu");
+ while (Serial.available()>0 && space < 3) {
+ payload[space] = Serial.parseFloat();
+ #ifdef DEBUG
+ Serial.print(payload[space]);
+ Serial.print(':');
+ #endif
+ space++;
+
+ }
+// Serial.print('\n');
+
+ while (Serial.available())
+ {
+ Serial.read();
+ }
+
+
+ }
+//
+ unsigned long actualTime = millis();
+
+ if (((actualTime - Timeout) > Timeout_time) & (Ping == false) )
+ {
+// Serial.println("Timeout reach");
+ Ping = true;
+ }
+//
+ if (Ping == true)
+ {
+ Ping = false;
+
+ Timeout = millis();
+
+ radio.stopListening();
+
+ bool report =radio.write(&payload, sizeof(payload));
+ #ifdef DEBUG
+ if (report) {
+ Serial.print(F("Transmission successful! ")); // payload was delivered
+ } else {
+ Serial.println(F("Transmission failed or timed out")); // payload was not delivered
+ }
+ #endif
+
+ radio.startListening();
+
+ }
+ else
+ {
+
+ uint8_t pipe;
+
+ float receive[3];
+
+ if (radio.available(&pipe)) { // is there a payload? get the pipe number that recieved it
+ uint8_t bytes = radio.getPayloadSize(); // get the size of the payload
+ radio.read(&receive, bytes); // fetch payload from FIFO
+ //Serial.print("Received package \n");
+ Ping = true;
+
+ Serial.print(receive[0]);
+ Serial.print(",");
+ Serial.print(receive[1]);
+ Serial.print(",");
+ Serial.print(receive[2]);
+ Serial.println();
+
+
+ }
+
+ }
+
+
+} // loop
diff --git a/Documentation/Pre-projet/Custom Dongle/Arduino code/GettingStarted/GettingStarted.ino b/Documentation/Pre-projet/Custom Dongle/Arduino code/GettingStarted/GettingStarted.ino
index 70ac363a5157ba8e69682c03f54ed82dcbe52ae9..33478dd19e0246adcc61dbbfd7b6113832a16af3 100644
--- a/Documentation/Pre-projet/Custom Dongle/Arduino code/GettingStarted/GettingStarted.ino
+++ b/Documentation/Pre-projet/Custom Dongle/Arduino code/GettingStarted/GettingStarted.ino
@@ -27,7 +27,7 @@ uint8_t address[][6] = { "1Node", "2Node" };
bool radioNumber = 1; // 0 uses address[0] to transmit, 1 uses address[1] to transmit
// Used to control whether this node is sending or receiving
-bool role = false; // true = TX role, false = RX role
+bool role = true; // true = TX role, false = RX role
// For this example, we'll be using a payload containing
// a single float number that will be incremented
@@ -50,13 +50,13 @@ void setup() {
// print example's introductory prompt
Serial.println(F("RF24/examples/GettingStarted"));
- // To set the radioNumber via the Serial monitor on startup
- Serial.println(F("Which radio is this? Enter '0' or '1'. Defaults to '0'"));
- while (!Serial.available()) {
- // wait for user input
- }
- char input = Serial.parseInt();
- radioNumber = input == 1;
+// // To set the radioNumber via the Serial monitor on startup
+// Serial.println(F("Which radio is this? Enter '0' or '1'. Defaults to '0'"));
+// while (!Serial.available()) {
+// // wait for user input
+// }
+// char input = Serial.parseInt();
+// radioNumber = input == 1;
Serial.print(F("radioNumber = "));
Serial.println((int)radioNumber);
diff --git a/Documentation/Pre-projet/Custom Dongle/Arduino code/GettingStarted_dongle/GettingStarted_dongle.ino b/Documentation/Pre-projet/Custom Dongle/Arduino code/GettingStarted_dongle/GettingStarted_dongle.ino
new file mode 100644
index 0000000000000000000000000000000000000000..0ef56f0264bbdce88039af74a73e276b5a0977a1
--- /dev/null
+++ b/Documentation/Pre-projet/Custom Dongle/Arduino code/GettingStarted_dongle/GettingStarted_dongle.ino
@@ -0,0 +1,156 @@
+/*
+ * See documentation at https://nRF24.github.io/RF24
+ * See License information at root directory of this library
+ * Author: Brendan Doherty (2bndy5)
+ */
+
+/**
+ * A simple example of sending data from 1 nRF24L01 transceiver to another.
+ *
+ * This example was written to be used on 2 devices acting as "nodes".
+ * Use the Serial Monitor to change each node's behavior.
+ */
+#include <SPI.h>
+#include "printf.h"
+#include "RF24.h"
+
+// instantiate an object for the nRF24L01 transceiver
+RF24 radio(9, 8); // using pin 7 for the CE pin, and pin 8 for the CSN pin
+
+// Let these addresses be used for the pair
+uint8_t address[][6] = { "1Node", "2Node" };
+// It is very helpful to think of an address as a path instead of as
+// an identifying device destination
+
+// to use different addresses on a pair of radios, we need a variable to
+// uniquely identify which address this radio will use to transmit
+bool radioNumber = 1; // 0 uses address[0] to transmit, 1 uses address[1] to transmit
+
+// Used to control whether this node is sending or receiving
+bool role = true; // true = TX role, false = RX role
+
+// For this example, we'll be using a payload containing
+// a single float number that will be incremented
+// on every successful transmission
+float payload= 0.0;
+
+void setup() {
+
+ Serial.begin(115200);
+ while (!Serial) {
+ // some boards need to wait to ensure access to serial over USB
+ }
+
+ // initialize the transceiver on the SPI bus
+ if (!radio.begin()) {
+ Serial.println(F("radio hardware is not responding!!"));
+ while (1) {} // hold in infinite loop
+ }
+
+ // print example's introductory prompt
+ Serial.println(F("RF24/examples/GettingStarted"));
+
+// // To set the radioNumber via the Serial monitor on startup
+// Serial.println(F("Which radio is this? Enter '0' or '1'. Defaults to '0'"));
+// while (!Serial.available()) {
+// // wait for user input
+// }
+// char input = Serial.parseInt();
+// radioNumber = input == 1;
+ Serial.print(F("radioNumber = "));
+ Serial.println((int)radioNumber);
+
+ // role variable is hardcoded to RX behavior, inform the user of this
+ Serial.println(F("*** PRESS 'T' to begin transmitting to the other node"));
+
+ // Set the PA Level low to try preventing power supply related problems
+ // because these examples are likely run with nodes in close proximity to
+ // each other.
+ //radio.setPALevel(RF24_PA_LOW); // RF24_PA_MAX is default.
+
+ // save on transmission time by setting the radio to only transmit the
+ // number of bytes we need to transmit a float
+ radio.setDataRate(RF24_250KBPS);
+
+ radio.setPayloadSize(sizeof(payload)); // float datatype occupies 4 bytes
+
+ // set the TX address of the RX node into the TX pipe
+ radio.openWritingPipe(address[radioNumber]); // always uses pipe 0
+
+ // set the RX address of the TX node into a RX pipe
+ radio.openReadingPipe(1, address[!radioNumber]); // using pipe 1
+
+ // additional setup specific to the node's role
+ if (role) {
+ radio.stopListening(); // put radio in TX mode
+ } else {
+ radio.startListening(); // put radio in RX mode
+ }
+
+ // For debugging info
+ // printf_begin(); // needed only once for printing details
+ // radio.printDetails(); // (smaller) function that prints raw register values
+ // radio.printPrettyDetails(); // (larger) function that prints human readable data
+
+} // setup
+
+void loop() {
+
+ if (role) {
+ // This device is a TX node
+
+ unsigned long start_timer = micros(); // start the timer
+ bool report = radio.write(&payload, sizeof(float)); // transmit & save the report
+ unsigned long end_timer = micros(); // end the timer
+
+ if (report) {
+ Serial.print(F("Transmission successful! ")); // payload was delivered
+ Serial.print(F("Time to transmit = "));
+ Serial.print(end_timer - start_timer); // print the timer result
+ Serial.print(F(" us. Sent: "));
+ Serial.println(payload); // print payload sent
+ payload += 0.01; // increment float payload
+ } else {
+ Serial.println(F("Transmission failed or timed out")); // payload was not delivered
+ }
+
+ // to make this example readable in the serial monitor
+ delay(1000); // slow transmissions down by 1 second
+
+ } else {
+ // This device is a RX node
+
+ uint8_t pipe;
+ if (radio.available(&pipe)) { // is there a payload? get the pipe number that recieved it
+ uint8_t bytes = radio.getPayloadSize(); // get the size of the payload
+ radio.read(&payload, bytes); // fetch payload from FIFO
+ Serial.print(F("Received "));
+ Serial.print(bytes); // print the size of the payload
+ Serial.print(F(" bytes on pipe "));
+ Serial.print(pipe); // print the pipe number
+ Serial.print(F(": "));
+ Serial.println(payload); // print the payload's value
+ }
+ } // role
+
+ if (Serial.available()) {
+ // change the role via the serial monitor
+
+ char c = toupper(Serial.read());
+ if (c == 'T' && !role) {
+ // Become the TX node
+
+ role = true;
+ Serial.println(F("*** CHANGING TO TRANSMIT ROLE -- PRESS 'R' TO SWITCH BACK"));
+ radio.stopListening();
+
+ } else if (c == 'R' && role) {
+ // Become the RX node
+
+ role = false;
+ Serial.println(F("*** CHANGING TO RECEIVE ROLE -- PRESS 'T' TO SWITCH BACK"));
+ radio.startListening();
+ }
+ }
+
+} // loop
diff --git a/Documentation/Pre-projet/Voiture RC/Code Arduino/Code_Voiture_RC/Code_Voiture_RC.ino b/Documentation/Pre-projet/Voiture RC/Code Arduino/Code_Voiture_RC/Code_Voiture_RC.ino
new file mode 100644
index 0000000000000000000000000000000000000000..d2df72a44d8d2b5519c7c86461a3dc82c9cf83ce
--- /dev/null
+++ b/Documentation/Pre-projet/Voiture RC/Code Arduino/Code_Voiture_RC/Code_Voiture_RC.ino
@@ -0,0 +1,154 @@
+/*
+ * See documentation at https://nRF24.github.io/RF24
+ * See License information at root directory of this library
+ * Author: Brendan Doherty (2bndy5)
+ */
+
+/**
+ * A simple example of sending data from 1 nRF24L01 transceiver to another.
+ *
+ * This example was written to be used on 2 devices acting as "nodes".
+ * Use the Serial Monitor to change each node's behavior.
+ */
+#include <SPI.h>
+#include "printf.h"
+#include "RF24.h"
+
+// instantiate an object for the nRF24L01 transceiver
+RF24 radio(8, 7); // using pin 7 for the CE pin, and pin 8 for the CSN pin
+
+// Let these addresses be used for the pair
+uint8_t address[][6] = { "1Node", "2Node" };
+// It is very helpful to think of an address as a path instead of as
+// an identifying device destination
+
+// to use different addresses on a pair of radios, we need a variable to
+// uniquely identify which address this radio will use to transmit
+bool radioNumber = 1; // 0 uses address[0] to transmit, 1 uses address[1] to transmit
+
+// Used to control whether this node is sending or receiving
+bool role = false; // true = TX role, false = RX role
+
+// For this example, we'll be using a payload containing
+// a single float number that will be incremented
+// on every successful transmission
+float payload = 0.0;
+
+void setup() {
+
+ Serial.begin(115200);
+ while (!Serial) {
+ // some boards need to wait to ensure access to serial over USB
+ }
+
+ // initialize the transceiver on the SPI bus
+ if (!radio.begin()) {
+ Serial.println(F("radio hardware is not responding!!"));
+ while (1) {} // hold in infinite loop
+ }
+
+ // print example's introductory prompt
+ Serial.println(F("RF24/examples/GettingStarted"));
+
+ // To set the radioNumber via the Serial monitor on startup
+ Serial.println(F("Which radio is this? Enter '0' or '1'. Defaults to '0'"));
+ while (!Serial.available()) {
+ // wait for user input
+ }
+ char input = Serial.parseInt();
+ radioNumber = input == 1;
+ Serial.print(F("radioNumber = "));
+ Serial.println((int)radioNumber);
+
+ // role variable is hardcoded to RX behavior, inform the user of this
+ Serial.println(F("*** PRESS 'T' to begin transmitting to the other node"));
+
+ // Set the PA Level low to try preventing power supply related problems
+ // because these examples are likely run with nodes in close proximity to
+ // each other.
+ radio.setPALevel(RF24_PA_LOW); // RF24_PA_MAX is default.
+
+ // save on transmission time by setting the radio to only transmit the
+ // number of bytes we need to transmit a float
+ radio.setPayloadSize(sizeof(payload)); // float datatype occupies 4 bytes
+
+ // set the TX address of the RX node into the TX pipe
+ radio.openWritingPipe(address[radioNumber]); // always uses pipe 0
+
+ // set the RX address of the TX node into a RX pipe
+ radio.openReadingPipe(1, address[!radioNumber]); // using pipe 1
+
+ // additional setup specific to the node's role
+ if (role) {
+ radio.stopListening(); // put radio in TX mode
+ } else {
+ radio.startListening(); // put radio in RX mode
+ }
+
+ // For debugging info
+ // printf_begin(); // needed only once for printing details
+ // radio.printDetails(); // (smaller) function that prints raw register values
+ // radio.printPrettyDetails(); // (larger) function that prints human readable data
+
+} // setup
+
+void loop() {
+
+ if (role) {
+ // This device is a TX node
+
+ unsigned long start_timer = micros(); // start the timer
+ bool report = radio.write(&payload, sizeof(float)); // transmit & save the report
+ unsigned long end_timer = micros(); // end the timer
+
+ if (report) {
+ Serial.print(F("Transmission successful! ")); // payload was delivered
+ Serial.print(F("Time to transmit = "));
+ Serial.print(end_timer - start_timer); // print the timer result
+ Serial.print(F(" us. Sent: "));
+ Serial.println(payload); // print payload sent
+ payload += 0.01; // increment float payload
+ } else {
+ Serial.println(F("Transmission failed or timed out")); // payload was not delivered
+ }
+
+ // to make this example readable in the serial monitor
+ delay(1000); // slow transmissions down by 1 second
+
+ } else {
+ // This device is a RX node
+
+ uint8_t pipe;
+ if (radio.available(&pipe)) { // is there a payload? get the pipe number that recieved it
+ uint8_t bytes = radio.getPayloadSize(); // get the size of the payload
+ radio.read(&payload, bytes); // fetch payload from FIFO
+ Serial.print(F("Received "));
+ Serial.print(bytes); // print the size of the payload
+ Serial.print(F(" bytes on pipe "));
+ Serial.print(pipe); // print the pipe number
+ Serial.print(F(": "));
+ Serial.println(payload); // print the payload's value
+ }
+ } // role
+
+ if (Serial.available()) {
+ // change the role via the serial monitor
+
+ char c = toupper(Serial.read());
+ if (c == 'T' && !role) {
+ // Become the TX node
+
+ role = true;
+ Serial.println(F("*** CHANGING TO TRANSMIT ROLE -- PRESS 'R' TO SWITCH BACK"));
+ radio.stopListening();
+
+ } else if (c == 'R' && role) {
+ // Become the RX node
+
+ role = false;
+ Serial.println(F("*** CHANGING TO RECEIVE ROLE -- PRESS 'T' TO SWITCH BACK"));
+ radio.startListening();
+ }
+ }
+
+} // loop
diff --git a/Documentation/Pre-projet/Voiture RC/Code Arduino/Code_Voiture_RC_tot/Code_Voiture_RC_tot.ino b/Documentation/Pre-projet/Voiture RC/Code Arduino/Code_Voiture_RC_tot/Code_Voiture_RC_tot.ino
new file mode 100644
index 0000000000000000000000000000000000000000..6e06d7926e6de193fdc72449fe7190f568e3846a
--- /dev/null
+++ b/Documentation/Pre-projet/Voiture RC/Code Arduino/Code_Voiture_RC_tot/Code_Voiture_RC_tot.ino
@@ -0,0 +1,33 @@
+/*
+ * See documentation at https://nRF24.github.io/RF24
+ * See License information at root directory of this library
+ * Author: Brendan Doherty (2bndy5)
+ */
+
+/**
+ * A simple example of sending data from 1 nRF24L01 transceiver to another.
+ *
+ * This example was written to be used on 2 devices acting as "nodes".
+ * Use the Serial Monitor to change each node's behavior.
+ */
+#include <SPI.h>
+#include "printf.h"
+#include "RF24.h"
+
+
+
+void setup() {
+
+ Serial.begin(115200);
+ while (!Serial) {
+ // some boards need to wait to ensure access to serial over USB
+ }
+
+
+} // setup
+
+void loop() {
+
+
+
+} // loop
diff --git a/Documentation/Pre-projet/Voiture RC/Code Arduino/Comande_preli/Comande_preli.ino b/Documentation/Pre-projet/Voiture RC/Code Arduino/Comande_preli/Comande_preli.ino
index aec7d420d47406fbeec706d7049c103567d6528d..5e4d554a93ab07109794c02db22f94c8181c5cac 100644
--- a/Documentation/Pre-projet/Voiture RC/Code Arduino/Comande_preli/Comande_preli.ino
+++ b/Documentation/Pre-projet/Voiture RC/Code Arduino/Comande_preli/Comande_preli.ino
@@ -3,11 +3,31 @@
int val = 0;
+#define frequencePWMde30hz 0b00000111
+
+// Variables internes à ce programme
+int valeurMaxRegistreOCR1x = 0;
+int valeurRapportCycliquePwmPinD9;
+int valeurRapportCycliquePwmPinD10;
+
void setup() {
pinMode(PontHRouge,OUTPUT);
pinMode(PontHNoir,OUTPUT);
+ // Sélection du mode "Phase Correct PWM 10 bits"
+ bitClear(TCCR1B, WGM13); // Mise à 0 de WGM13
+ bitClear(TCCR1B, WGM12); // Mise à 0 de WGM12
+ bitSet(TCCR1A, WGM11); // Mise à 1 de WGM11
+ bitSet(TCCR1A, WGM10); // Mise à 1 de WGM10
+ // Valeur max registre OCR1x
+ valeurMaxRegistreOCR1x = pow(2,10) - 1;
+
+ TCCR1B &= 0b11111000; // <===== à ne pas toucher
+ TCCR1B |= frequencePWMde30hz;
+
+
+
Serial.begin(115200);
while (!Serial) {
@@ -19,15 +39,22 @@ void setup() {
}
void loop() {
+
+ bitSet(TCCR1A, COM1A1);
+ bitClear(TCCR1A, COM1A0); // Mise en marche PWM D9
+
+ bitSet(TCCR1A, COM1B1);
+ bitClear(TCCR1A, COM1B0); // Mise en marche PWM D10
- if(val >= 0 )
+ if(val >= 0 )
{
- analogWrite(PontHRouge,abs(val));
- analogWrite(PontHNoir,abs(val));
+ OCR1A = val * valeurMaxRegistreOCR1x;
+ OCR1B = val * valeurMaxRegistreOCR1x;
}
if(val < 0)
{
- analogWrite(PontHNoir,abs(val));
+ OCR1A = 0 * valeurMaxRegistreOCR1x;
+ OCR1B = val * valeurMaxRegistreOCR1x;
}
if(Serial.available()){
diff --git a/Documentation/Pre-projet/Voiture RC/Code Arduino/Commande_first/Commande_first.ino b/Documentation/Pre-projet/Voiture RC/Code Arduino/Commande_first/Commande_first.ino
new file mode 100644
index 0000000000000000000000000000000000000000..0e97fe3c7d3ff7fd01f299f35ad8552238b61f83
--- /dev/null
+++ b/Documentation/Pre-projet/Voiture RC/Code Arduino/Commande_first/Commande_first.ino
@@ -0,0 +1,108 @@
+#define PontHRouge 10
+#define PontHNoir 9
+
+int val = 0;
+
+#define frequencePWMde31372hz 0b00000001
+#define frequencePWMde3921hz 0b00000010
+#define frequencePWMde980hz 0b00000011
+#define frequencePWMde490hz 0b00000100
+#define frequencePWMde245hz 0b00000101
+#define frequencePWMde122hz 0b00000110
+#define frequencePWMde30hz 0b00000111
+
+#include <SPI.h>
+#include "printf.h"
+#include "RF24.h"
+
+// instantiate an object for the nRF24L01 transceiver
+RF24 radio(8, 7); // using pin 7 for the CE pin, and pin 8 for the CSN pin
+
+// Let these addresses be used for the pair
+uint8_t address[][6] = { "1Node", "2Node" };
+// It is very helpful to think of an address as a path instead of as
+// an identifying device destination
+
+bool radioNumber = 1; // 0 uses address[0] to transmit, 1 uses address[1] to transmit
+
+// For this example, we'll be using a payload containing
+// a single float number that will be incremented
+// on every successful transmission
+float payload[3];
+
+void setup() {
+
+ pinMode(PontHRouge,OUTPUT);
+ pinMode(PontHNoir,OUTPUT);
+
+ TCCR1B &= 0b11111000; // <===== à ne pas toucher
+ TCCR1B |= frequencePWMde245hz; // <===== à changer, selon la fréquence que vous souhaitez en sortie
+
+
+ Serial.begin(9600);
+
+ while (!Serial) {
+ // some boards need to wait to ensure access to serial over USB
+ }
+
+ Serial.println("Test des commandes PWM voiture");
+
+ radio.setPALevel(RF24_PA_LOW); // RF24_PA_MAX is default.
+
+ // save on transmission time by setting the radio to only transmit the
+ // number of bytes we need to transmit a float
+ radio.setPayloadSize(sizeof(payload)); // float datatype occupies 4 bytes
+
+ // set the TX address of the RX node into the TX pipe
+ radio.openWritingPipe(address[radioNumber]); // always uses pipe 0
+
+ // set the RX address of the TX node into a RX pipe
+ radio.openReadingPipe(1, address[!radioNumber]); // using pipe 1
+
+ radio.startListening();
+
+}
+
+void loop() {
+
+ if(val >= 0 )
+ {
+ analogWrite(PontHRouge,abs(val));
+ analogWrite(PontHNoir,abs(val));
+ }
+ if(val < 0)
+ {
+ analogWrite(PontHNoir,abs(val));
+ }
+
+ if(Serial.available()){
+
+ val = Serial.readString().toInt();
+
+ Serial.println(val);
+ }
+
+ uint8_t pipe;
+ if (radio.available(&pipe)) { // is there a payload? get the pipe number that recieved it
+ uint8_t bytes = radio.getPayloadSize(); // get the size of the payload
+ radio.read(&payload, bytes); // fetch payload from FIFO
+
+ Serial.print(payload[0]);
+ Serial.print(":");
+ Serial.print(payload[1]);
+ Serial.print(":");
+ Serial.print(payload[2]);
+ Serial.print("\n");
+
+
+// radio.stopListening();
+// float payload[] = {1, 1 ,1};
+// radio.write(&payload,sizeof(payload));
+//
+// radio.startListening();
+
+
+ }
+
+
+}
diff --git a/Documentation/Pre-projet/Voiture RC/Code Arduino/GettingStarted/GettingStarted.ino b/Documentation/Pre-projet/Voiture RC/Code Arduino/GettingStarted/GettingStarted.ino
index d2df72a44d8d2b5519c7c86461a3dc82c9cf83ce..82ceeec5ce44f285f96113de79b9a0f984a2e27b 100644
--- a/Documentation/Pre-projet/Voiture RC/Code Arduino/GettingStarted/GettingStarted.ino
+++ b/Documentation/Pre-projet/Voiture RC/Code Arduino/GettingStarted/GettingStarted.ino
@@ -24,7 +24,7 @@ uint8_t address[][6] = { "1Node", "2Node" };
// to use different addresses on a pair of radios, we need a variable to
// uniquely identify which address this radio will use to transmit
-bool radioNumber = 1; // 0 uses address[0] to transmit, 1 uses address[1] to transmit
+bool radioNumber = 0; // 0 uses address[0] to transmit, 1 uses address[1] to transmit
// Used to control whether this node is sending or receiving
bool role = false; // true = TX role, false = RX role
@@ -50,13 +50,13 @@ void setup() {
// print example's introductory prompt
Serial.println(F("RF24/examples/GettingStarted"));
- // To set the radioNumber via the Serial monitor on startup
- Serial.println(F("Which radio is this? Enter '0' or '1'. Defaults to '0'"));
- while (!Serial.available()) {
- // wait for user input
- }
- char input = Serial.parseInt();
- radioNumber = input == 1;
+// // To set the radioNumber via the Serial monitor on startup
+// Serial.println(F("Which radio is this? Enter '0' or '1'. Defaults to '0'"));
+// while (!Serial.available()) {
+// // wait for user input
+// }
+// char input = Serial.parseInt();
+// radioNumber = input == 1;
Serial.print(F("radioNumber = "));
Serial.println((int)radioNumber);
diff --git a/Documentation/Pre-projet/Voiture RC/Code Arduino/GettingStarted_voiture/GettingStarted_voiture.ino b/Documentation/Pre-projet/Voiture RC/Code Arduino/GettingStarted_voiture/GettingStarted_voiture.ino
new file mode 100644
index 0000000000000000000000000000000000000000..a97f8ffe9bb233d45aa34b56422588391ea69779
--- /dev/null
+++ b/Documentation/Pre-projet/Voiture RC/Code Arduino/GettingStarted_voiture/GettingStarted_voiture.ino
@@ -0,0 +1,159 @@
+/*
+ * See documentation at https://nRF24.github.io/RF24
+ * See License information at root directory of this library
+ * Author: Brendan Doherty (2bndy5)
+ */
+
+/**
+ * A simple example of sending data from 1 nRF24L01 transceiver to another.
+ *
+ * This example was written to be used on 2 devices acting as "nodes".
+ * Use the Serial Monitor to change each node's behavior.
+ */
+#include <SPI.h>
+#include "printf.h"
+#include "RF24.h"
+
+// instantiate an object for the nRF24L01 transceiver
+RF24 radio( 8,7); // using pin 7 for the CE pin, and pin 8 for the CSN pin
+
+// Let these addresses be used for the pair
+uint8_t address[][6] = { "1Node", "2Node" };
+// It is very helpful to think of an address as a path instead of as
+// an identifying device destination
+
+// to use different addresses on a pair of radios, we need a variable to
+// uniquely identify which address this radio will use to transmit
+bool radioNumber = 0; // 0 uses address[0] to transmit, 1 uses address[1] to transmit
+
+// Used to control whether this node is sending or receiving
+bool role = false; // true = TX role, false = RX role
+
+// For this example, we'll be using a payload containing
+// a single float number that will be incremented
+// on every successful transmission
+float payload = 0.0;
+
+void setup() {
+
+ TCCR1B &= 0b11111000; // <===== à ne pas toucher
+ TCCR1B |= 0b00000101; // <===== à changer, selon la fréquence que vous souhaitez en sortie
+
+ Serial.begin(115200);
+ while (!Serial) {
+ // some boards need to wait to ensure access to serial over USB
+ }
+
+ // initialize the transceiver on the SPI bus
+ if (!radio.begin()) {
+ Serial.println(F("radio hardware is not responding!!"));
+ while (1) {} // hold in infinite loop
+ }
+
+ // print example's introductory prompt
+ Serial.println(F("RF24/examples/GettingStarted"));
+
+// // To set the radioNumber via the Serial monitor on startup
+// Serial.println(F("Which radio is this? Enter '0' or '1'. Defaults to '0'"));
+// while (!Serial.available()) {
+// // wait for user input
+// }
+// char input = Serial.parseInt();
+// radioNumber = input == 1;
+ Serial.print(F("radioNumber = "));
+ Serial.println((int)radioNumber);
+
+ // role variable is hardcoded to RX behavior, inform the user of this
+ Serial.println(F("*** PRESS 'T' to begin transmitting to the other node"));
+
+ // Set the PA Level low to try preventing power supply related problems
+ // because these examples are likely run with nodes in close proximity to
+ // each other.
+ //radio.setPALevel(RF24_PA_LOW); // RF24_PA_MAX is default.
+
+ radio.setDataRate(RF24_250KBPS);
+
+ // save on transmission time by setting the radio to only transmit the
+ // number of bytes we need to transmit a float
+ radio.setPayloadSize(sizeof(payload)); // float datatype occupies 4 bytes
+
+ // set the TX address of the RX node into the TX pipe
+ radio.openWritingPipe(address[radioNumber]); // always uses pipe 0
+
+ // set the RX address of the TX node into a RX pipe
+ radio.openReadingPipe(1, address[!radioNumber]); // using pipe 1
+
+ // additional setup specific to the node's role
+ if (role) {
+ radio.stopListening(); // put radio in TX mode
+ } else {
+ radio.startListening(); // put radio in RX mode
+ }
+
+ // For debugging info
+ // printf_begin(); // needed only once for printing details
+ // radio.printDetails(); // (smaller) function that prints raw register values
+ // radio.printPrettyDetails(); // (larger) function that prints human readable data
+
+} // setup
+
+void loop() {
+
+ if (role) {
+ // This device is a TX node
+
+ unsigned long start_timer = micros(); // start the timer
+ bool report = radio.write(&payload, 3* sizeof(float)); // transmit & save the report
+ unsigned long end_timer = micros(); // end the timer
+
+ if (report) {
+ Serial.print(F("Transmission successful! ")); // payload was delivered
+ Serial.print(F("Time to transmit = "));
+ Serial.print(end_timer - start_timer); // print the timer result
+ Serial.print(F(" us. Sent: "));
+ Serial.println(payload); // print payload sent
+ payload += 0.01; // increment float payload
+ } else {
+ Serial.println(F("Transmission failed or timed out")); // payload was not delivered
+ }
+
+ // to make this example readable in the serial monitor
+ delay(1000); // slow transmissions down by 1 second
+
+ } else {
+ // This device is a RX node
+
+ uint8_t pipe;
+ if (radio.available(&pipe)) { // is there a payload? get the pipe number that recieved it
+ uint8_t bytes = radio.getPayloadSize(); // get the size of the payload
+ radio.read(&payload, bytes); // fetch payload from FIFO
+ Serial.print(F("Received "));
+ Serial.print(bytes); // print the size of the payload
+ Serial.print(F(" bytes on pipe "));
+ Serial.print(pipe); // print the pipe number
+ Serial.print(F(": "));
+ Serial.println(payload); // print the payload's value
+ }
+ } // role
+
+ if (Serial.available()) {
+ // change the role via the serial monitor
+
+ char c = toupper(Serial.read());
+ if (c == 'T' && !role) {
+ // Become the TX node
+
+ role = true;
+ Serial.println(F("*** CHANGING TO TRANSMIT ROLE -- PRESS 'R' TO SWITCH BACK"));
+ radio.stopListening();
+
+ } else if (c == 'R' && role) {
+ // Become the RX node
+
+ role = false;
+ Serial.println(F("*** CHANGING TO RECEIVE ROLE -- PRESS 'T' TO SWITCH BACK"));
+ radio.startListening();
+ }
+ }
+
+} // loop
diff --git a/Documentation/Pre-projet/Voiture RC/Code Arduino/Voiture_Finale/Voiture_Finale.ino b/Documentation/Pre-projet/Voiture RC/Code Arduino/Voiture_Finale/Voiture_Finale.ino
new file mode 100644
index 0000000000000000000000000000000000000000..5750a1ddc00f00d127029469671d3da14bc2e422
--- /dev/null
+++ b/Documentation/Pre-projet/Voiture RC/Code Arduino/Voiture_Finale/Voiture_Finale.ino
@@ -0,0 +1,247 @@
+#include <SPI.h>
+#include <PID_v2.h>
+#include "printf.h"
+#include "RF24.h"
+
+#define PontHRouge 10
+#define PontHNoir 9
+
+#define DirPin 4
+// Droite 180 Gauche 850
+
+double Kp=3,Ki=0,Kd=0.3;//ces valeurs ne sont pas les bonnes
+
+int aggressif = 40;
+double Kpd=2.3,Kid=8,Kdd=0.2;//ces valeurs ne sont pas les bonnes
+
+
+double Setpoint, Input, Output; //valeur visé pour les roues dans [-127,127], valeur réelle des roues dans [-127,127] et valeur de la commande des roues
+PID myPID(&Input, &Output, &Setpoint,Kp,Ki,Kd, DIRECT);
+bool turning;
+int zone_morte=10;
+
+
+#define PontG 5
+#define PontD 6
+
+int val = 0;
+
+#define frequencePWMde31372hz 0b00000001
+#define frequencePWMde3921hz 0b00000010
+#define frequencePWMde980hz 0b00000011
+#define frequencePWMde490hz 0b00000100
+#define frequencePWMde245hz 0b00000101
+#define frequencePWMde122hz 0b00000110
+#define frequencePWMde30hz 0b00000111
+
+
+RF24 radio(8, 7);
+
+uint8_t address[][6] = { "1Node", "2Node" };
+
+
+bool radioNumber = 0; // 0 uses address[0] to transmit, 1 uses address[1] to transmit
+
+float payload[3] = {0.0,0.0,0.0};
+float sending[3] = {0.0, 0.0 ,0.0};
+
+void setup() {
+
+ Serial.begin(9600);
+
+ while (!Serial) {
+ // some boards need to wait to ensure access to serial over USB
+ }
+
+ // initialize the transceiver on the SPI bus
+ if (!radio.begin()) {
+ Serial.println(F("radio hardware is not responding!!"));
+ while (1) {} // hold in infinite loop
+ }
+
+ pinMode(PontHRouge,OUTPUT);
+ pinMode(PontHNoir,OUTPUT);
+
+ delay(10);
+
+ TCCR1B &= 0b11111000; // <===== à ne pas toucher
+ TCCR1B |= frequencePWMde245hz; // <===== à changer, selon la fréquence que vous souhaitez en sortie
+
+
+
+ //Serial.println("Test des commandes PWM voiture");
+ Serial.println("angle commande");
+
+ //radio.setPALevel(RF24_PA_LOW); // RF24_PA_MAX is default.
+
+ radio.setDataRate(RF24_250KBPS);
+
+ radio.setPayloadSize(sizeof(payload)); // float datatype occupies 4 bytes
+
+ radio.openWritingPipe(address[radioNumber]); // always uses pipe 0
+
+ radio.openReadingPipe(1, address[!radioNumber]); // using pipe 1
+
+ radio.startListening();
+
+ //configurer le PID
+ //configurer le PID
+ myPID.SetMode(AUTOMATIC);
+ myPID.SetOutputLimits(-255,255);
+ //demander de tourner
+ demarrer_virage(0);
+
+}
+
+
+void loop() {
+
+ if(val >= 0 )
+ {
+ analogWrite(PontHRouge,abs(val));
+ analogWrite(PontHNoir,abs(val));
+ }
+ if(val < 0)
+ {
+ analogWrite(PontHNoir,abs(val));
+ }
+
+ if(Serial.available()){
+
+ val = Serial.readString().toInt();
+
+ Serial.println(val);
+ }
+
+ uint8_t pipe;
+ if (radio.available(&pipe)) {
+ // is there a payload? get the pipe number that recieved it
+ uint8_t bytes = radio.getPayloadSize(); // get the size of the payload
+ radio.read(&payload, bytes); // fetch payload from FIFO
+
+// Serial.print(bytes);
+// Serial.print(";");
+// Serial.print(payload[0]);
+// Serial.print(":");
+// Serial.print(payload[1]);
+// Serial.print(":");
+// Serial.print(payload[2]);
+// Serial.print("\n");
+
+ val = payload[0];
+ demarrer_virage(payload[1]);
+
+ radio.stopListening();
+
+ delay(10);
+
+ bool report = radio.write(&sending,sizeof(sending));
+
+// if (report) {
+// Serial.print(F("Transmission successful! ")); // payload was delivered
+// } else {
+// Serial.println(F("Transmission failed or timed out")); // payload was not delivered
+// }
+
+ radio.startListening();
+
+
+ }
+
+// uint8_t pipe;
+// if (radio.available(&pipe)) { // is there a payload? get the pipe number that recieved it
+// uint8_t bytes = radio.getPayloadSize(); // get the size of the payload
+// radio.read(&payload, bytes); // fetch payload from FIFO
+// Serial.print(F("Received "));
+// Serial.print(bytes); // print the size of the payload
+// Serial.print(F(" bytes on pipe "));
+// Serial.print(pipe); // print the pipe number
+// Serial.print(F(": "));
+// Serial.println(payload[0]); // print the payload's value
+// }
+ if (turning) {
+ //on utilise un PID pour tourner
+ //Input = 127.0/335.0*(analogRead(DirPin)-180)-127;//on ramène l'angle du potentiomètre à l'interval [-127,127]
+ Input = 127.0/335.0*(analogRead(DirPin)-180)-127;//on ramène l'angle du potentiomètre à l'interval [-127,127]
+
+
+ if(abs(Input-Setpoint)>zone_morte)
+ {
+
+
+
+ if ( abs(Input-Setpoint)<aggressif ) {
+ myPID.SetTunings(Kpd, Kid, Kdd);
+ }
+ else
+ {
+ myPID.SetTunings(Kp, Ki, Kd);
+ }
+
+
+ myPID.Compute();//on calcul l'output pour notre PID
+ //si on tombe dans la zone morte et que le virage est presque fini, on s'arrête là
+// if (abs(Output)<zone_morte && abs(Input-Setpoint)<marge) {
+// turning = false;
+// stop_direction();
+// }//sinon on tourne très légèrement pour atteindre la valeur souhaitée
+// else if (abs(Output)<zone_morte) {
+// Output = 1.2*zone_morte*sign(Output);
+// }
+
+ //on applique la commande
+ if (Output>0) {
+ droite(abs(Output));
+ }
+ else {
+ gauche(abs(Output));
+ }
+
+ }
+ else
+ {
+
+ stop_direction();
+
+ }
+ }
+
+ Serial.print(Input);
+ Serial.print(",");
+ Serial.print(Setpoint);
+ Serial.print(",");
+ Serial.print(Output);
+ Serial.println();
+ sending[0]=Input;
+ sending[1]=Setpoint;
+ sending[2]=Output;
+
+}
+
+void demarrer_virage(int value) {//value est dans [-127,127]
+ turning=true;
+ Setpoint=value;
+}
+
+//pour value<85, ça ne tourne plus, même quand les roues ne touchent pas le sol
+void gauche(int value) {
+ analogWrite(PontG, value);
+ analogWrite(PontD, 0);
+}
+
+void droite(int value) {
+ analogWrite(PontD, value);
+ analogWrite(PontG, 0);
+}
+
+void stop_direction() {
+ analogWrite(PontD, 0);
+ analogWrite(PontG, 0);
+}
+
+int sign(int value) {
+ if (value>=0) {
+ return 1;
+ }
+ return -1;
+}
diff --git a/Documentation/Projet/Arduino/PID_direction.ino b/Documentation/Projet/Arduino/PID_direction/PID_direction.ino
similarity index 100%
rename from Documentation/Projet/Arduino/PID_direction.ino
rename to Documentation/Projet/Arduino/PID_direction/PID_direction.ino