Batiste Janvier
Published

Automation of an experiment for studies on 2D materials

Piloting, acquisition of cryostat, magnet, instrumentation and control of LASER beams in position for 2D material measures

AdvancedFull instructions providedOver 83 days19
Automation of an experiment for studies on 2D materials

Things used in this project

Hardware components

Analog Devices AD5241 Digital Potentiometer 1-Channel 256-Position Digital Output I2C Mini Module
National Control Devices Analog Devices AD5241 Digital Potentiometer 1-Channel 256-Position Digital Output I2C Mini Module
×8
Maxim Integrated MAX4999
×2
Analog Devices adg708
×8
Analog Devices adg709
×5
Analog Devices adg408
×4
Analog Devices adg409
×4
STMicroelectronics tl084cd
×2
Texas Instruments cd14538bm
×4
Analog Devices ad8495
×1
Arduino Mega 2560
Arduino Mega 2560
×1
PIC18F
Microchip Technology PIC18F
×2

Software apps and online services

MPLAB X IDE
Microchip Technology MPLAB X IDE
Arduino IDE
Arduino IDE
LabVIEW Community Edition
LabVIEW Community Edition

Story

Read more

Custom parts and enclosures

Silk BOTTOM of the multiplexing and trigger generation automaton

It's the Silk BOTTOM of the control electronics of the opto-mechanical drivers, alignment cameras, power meter, generation of 8 TTL pulses and 16 USB 2.0 High Speed ​​ports to 2 PC USB inputs.
The MEGA 2560 card receives the parameters from the computer via LabVIEW and controls the analog multiplexers and communicates the parameters of the 8 TTL signals to the two PIC18F microcontrollers which take care of the generation, delay synchronization and pulse width.

COPPER TOP

All the electronic boards of the controller were designed on a single manufacturing panel.

routing inner 1 of the multiplexing and trigger generation automaton

It's the routing inner 1 copper of the control electronics of the opto-mechanical drivers, alignment cameras, power meter, generation of 8 TTL pulses and 16 USB 2.0 High Speed ​​ports to 2 PC USB inputs.
The MEGA 2560 card receives the parameters from the computer via LabVIEW and controls the analog multiplexers and communicates the parameters of the 8 TTL signals to the two PIC18F microcontrollers which take care of the generation, delay synchronization and pulse width.

routing inner 2 of the multiplexing and trigger generation automaton

It's the routing inner 1 copper of the control electronics of the opto-mechanical drivers, alignment cameras, power meter, generation of 8 TTL pulses and 16 USB 2.0 High Speed ​​ports to 2 PC USB inputs.
The MEGA 2560 card receives the parameters from the computer via LabVIEW and controls the analog multiplexers and communicates the parameters of the 8 TTL signals to the two PIC18F microcontrollers which take care of the generation, delay synchronization and pulse width.

routing copper bottom of the multiplexing and trigger generation automaton

It's the copper bottom of the control electronics of the opto-mechanical drivers, alignment cameras, power meter, generation of 8 TTL pulses and 16 USB 2.0 High Speed ​​ports to 2 PC USB inputs.
The MEGA 2560 card receives the parameters from the computer via LabVIEW and controls the analog multiplexers and communicates the parameters of the 8 TTL signals to the two PIC18F microcontrollers which take care of the generation, delay synchronization and pulse width.

Silk TOP of the multiplexing and trigger generation automaton

It's the Silk TOP of the control electronics of the opto-mechanical drivers, alignment cameras, power meter, generation of 8 TTL pulses and 16 USB 2.0 High Speed ​​ports to 2 PC USB inputs.
The MEGA 2560 card receives the parameters from the computer via LabVIEW and controls the analog multiplexers and communicates the parameters of the 8 TTL signals to the two PIC18F microcontrollers which take care of the generation, delay synchronization and pulse width.

Instrument integration

All PCBs, connectors and relays are integrated in a single instrument box

Schematics

schematic of the multiplexing and trigger generation automaton

It's the diagram of the control electronics of the opto-mechanical drivers, alignment cameras, power meter, generation of 8 TTL pulses and 16 USB 2.0 High Speed ​​ports to 2 PC USB inputs.
The MEGA 2560 card receives the parameters from the computer via LabVIEW and controls the analog multiplexers and communicates the parameters of the 8 TTL signals to the two PIC18F microcontrollers which take care of the generation, delay synchronization and pulse width.

Code

code for MEGA250

C/C++
This piece of code makes it possible to receive orders from a master unit in order to control all the opto-mechanical and optical peripherals and which takes care of the generation of the trigger outputs.
/************************************************************************************************************\
*                       PROGRAMME MEGA2560                                                               *
*                                                                                                           *
*                       PROJET MONTANA                                                                      *
*                                                                                                           *
*                       Batiste JANVIER                                                                     *
*************************************************************************************************************/
#include <SPI.h>         // needed for Arduino versions later than 018

#define TEMPK A0

// constants won't change. Used here to set a pin number :
const int ledPin =  13;      // the number of the LED pin

// Variables will change :
int ledState = LOW;             // ledState used to set the LED

unsigned int conv_tk; //Valeur de temperature retournee par la mesure du thermocouple type K
unsigned int TEMP = 0;
unsigned int etat = 0;
unsigned int FREQ1 = 0x0000, D1 = 0x0000, D2 = 0x0000, D3 = 0x0000, D4 = 0x0000, D5 = 0x0000, D6 = 0x0000, D7 = 0x0000, D8 = 0x0000, W1 = 0x0000, W2 = 0x0000, W3 = 0x0000, W4 = 0x0000, W5 = 0x0000, W6 = 0x0000, W7 = 0x0000, W8 = 0x0000;

float temperature; //Valeur de temperature retournee par la mesure du thermocouple type K
float debain = 0.0, debain_1 = 0.0, debain_2 = 0.0, debain_3 = 0.0, debain_4 = 0.0, debain1 = 0.0, debain2 = 0.0, debain3 = 0.0, debain4 = 0.0, debain5 = 0.0, debain6 = 0.0, ABSvalue = 0.0;

unsigned long i, j, indexCR;

String inputString = "", comstring = "";         // a string to hold incoming data

static char tab_val[51];

char cpt_tab = 0;
char outputString[50] = "";
char result[64];
char LSB = 0, MSB = 0;

unsigned char data_array[51], data_array1[51];
unsigned char string[64]; //tableau de 15 caractéres
unsigned char FPX[4], consfreq_array[4], WID1[4],  WID2[4], WID3[4], WID4[4], WID5[4], WID6[4], WID7[4], WID8[4], DEL1[4],  DEL2[4], DEL3[4], DEL4[4], DEL5[4], DEL6[4], DEL7[4], DEL8[4];
unsigned char var = 0;

boolean CaractNull = false;
boolean stringComplete = false;  // whether the string is complete

int LED = 13;
int TRIG = 46;      //active communication avec les esclaves
int EN12V1 = 44;    //fournit l'alimentation de 4 caméras si besoin
int EN12V2 = 45;     //fournit l'alimentation de 3 autres caméras si besoin
int SS1 = 49;       // Slave Select slave1
int SS2 = 48;       // Slave Select slave2
int CLK = 52;      // the number of the CLK1 pin
int MISO_1 = 50;



void setup()
{
  
  Serial.begin(9600);
  inputString.reserve(200);
  comstring.reserve(200);
  
  pinMode(TRIG, OUTPUT);
  
  pinMode(SS1, OUTPUT);
  pinMode(SS2, OUTPUT);
  pinMode(CLK, OUTPUT);
  pinMode(MISO_1, INPUT);
  digitalWrite(SS1, HIGH);
  digitalWrite(SS2, HIGH);
  digitalWrite(TRIG,LOW);
  
  // set A0 as input for Temperature measurement Tk
  pinMode(TEMPK,INPUT);
  // trigger caméras EN12V1 (44) pour l'alim de 4 caméras, EN12V2 (45) pour l'alims des 3 autres caméras
  pinMode(EN12V1, OUTPUT);
  pinMode(EN12V2, OUTPUT);
  pinMode(26, OUTPUT);      //A0_1 multiplexeur A0
  pinMode(27, OUTPUT);      //A1_1 multiplexeur A1
  pinMode(28, OUTPUT);      //A2_1 multiplexeur A2
  pinMode(29, OUTPUT);      //EN1_1 multiplexeur EN
  // set the digital pin as output: => relais actuateur piezo
  pinMode(2, OUTPUT);
  pinMode(3, OUTPUT);
  pinMode(4, OUTPUT);
  pinMode(5, OUTPUT);
  pinMode(6, OUTPUT);
  pinMode(7, OUTPUT);
  pinMode(8, OUTPUT);
  pinMode(9, OUTPUT);
  pinMode(10, OUTPUT);
  pinMode(11, OUTPUT);
  pinMode(12, OUTPUT); 
  pinMode(13, OUTPUT);
      
  pinMode(40, OUTPUT);
  pinMode(41, OUTPUT);
  pinMode(42, OUTPUT);
  pinMode(43, OUTPUT);
// commande multiplexeur USB
  pinMode(36, OUTPUT);      // USB
  pinMode(37, OUTPUT);
  pinMode(38, OUTPUT);
  pinMode(39, OUTPUT);
  pinMode(22, OUTPUT);      //CAM
  pinMode(23, OUTPUT);
  pinMode(24, OUTPUT);
  pinMode(25, OUTPUT);
// platines translation => platine N°1 (A02_1=0, A12_1=0, EN3_1=1 et A11=1); platine N°2 (A02_1=1, A12_1=0, EN3_1=1 et A10=1); platine N°3 (A02_1=0, A12_1=1, EN3_1=1 et A11=1); platine N°4 (A02_1=1, A12_1=1, EN3_1=1 et A10=1)   
// activation en parallèle des relais moteurs respectifs des platines => platine N°1 (MM1=1 et MP1=1); platine N°2 (MM2=1 et MP2=1); platine N°3 (MM3=1 et MP3=1); platine N°4 (MM4=1 et MP4=1)
  pinMode(33, OUTPUT);    //AO2_1
  pinMode(34, OUTPUT);    //A12_1
  pinMode(35, OUTPUT);    //EN3_1
  pinMode(14, OUTPUT);    //MM1 platine1
  pinMode(15, OUTPUT);    //MP1 platine1
  pinMode(16, OUTPUT);    //MM2 platine2
  pinMode(17, OUTPUT);    //MP2 platine2
  pinMode(18, OUTPUT);    //MM3 platine3
  pinMode(19, OUTPUT);    //MP3 platine3
  pinMode(20, OUTPUT);    //MM4 platine4
  pinMode(21, OUTPUT);    //MP4 platine4
  pinMode(A8, OUTPUT);    //REL 5Vencod4
  pinMode(A9, OUTPUT);    //REL 5Vencod3
  pinMode(A10, OUTPUT);   //REL 5Vencod2
  pinMode(A11, OUTPUT);   //REL 5Vencod1
  //RELAIS 5V 8 USB
  pinMode(A4, OUTPUT);
  pinMode(A5, OUTPUT);
  pinMode(A6, OUTPUT);
  pinMode(A7, OUTPUT);
  //RELAIS 5V 8 USB
  pinMode(A12, OUTPUT);
  pinMode(A13, OUTPUT);
  pinMode(A14, OUTPUT); 
  pinMode(A15, OUTPUT);
  // MULTIPLEXAGE DES 4 S120C AVEC A01_1 = 30, A11_1 = 31 ET EN2_1 = 32
  pinMode(30, OUTPUT);
  pinMode(31, OUTPUT);
  pinMode(32, OUTPUT);
  
  //SPI
  SPI.begin();
  SPI.setBitOrder(MSBFIRST);
  digitalWrite(TRIG,LOW);
  digitalWrite(EN12V1,LOW);
  digitalWrite(EN12V2,LOW);
  // mise à 0 des relais actuateurs
  digitalWrite(2, LOW);
  digitalWrite(3, LOW);
  digitalWrite(4, LOW);
  digitalWrite(5, LOW);
  digitalWrite(6, LOW);
  digitalWrite(7, LOW);
  digitalWrite(8, LOW);
  digitalWrite(9, LOW);
  digitalWrite(10, LOW);
  digitalWrite(11, LOW);
  digitalWrite(12, LOW); 
  digitalWrite(13, LOW);
      
  digitalWrite(40, LOW);
  digitalWrite(41, LOW);
  digitalWrite(42, LOW);
  digitalWrite(43, LOW);
  
  // mise à 0V des commandes multiplexeur USB
  digitalWrite(36, LOW);      // USB
  digitalWrite(37, LOW);
  digitalWrite(38, LOW);
  digitalWrite(39, LOW);
  digitalWrite(22, LOW);      //CAM
  digitalWrite(23, LOW);
  digitalWrite(24, LOW);
  digitalWrite(25, LOW);
  
  for (i = 0; i < 50; i++)
  {
      data_array[i] = 0x00;
      data_array1[i] = 0x00;
      tab_val[i] = 0x00;
  }
}

void loop()
{
  // here is where you'd put code that needs to be running all the time.
  serialEvent();
  if (stringComplete)
  {
    comstring = "";
    inputString = "";
    cpt_tab = 0;
    stringComplete = false;
  }      
}

////////////////////////////// fonction de gestion buffer RS232////////////////////////////////////
void serialEvent()
{
  while (Serial.available())
  {
    // get the new byte:
    char inChar = (char)Serial.read();//lecture du port COM
    // add it to the inputString:
    if (inChar != NULL && inChar != 13) //S'il n'y a pas de caractère null
    {
      stringComplete = false;
      inputString += inChar;
      comstring = inputString;
    }
    if (inChar == NULL) //Si le caractère est null
    {
      CaractNull = true;
      inChar = 0x30;
      inputString += inChar;
      comstring = inputString;
      tab_val[cpt_tab] = 1;
    }
    // if the incoming character is a newline, set a flag
    // so the main loop can do something about it:
    if (inChar == '\r')
    {
      stringComplete = true;
      inputString += " OK";
      if(etat != 2)Serial.println(inputString);      
    }
    cpt_tab++;
    decodDAC();
  }
}/////////////////////////////////fin de fonction/////////////////////////////

void THERMK(void)
{
  conv_tk = analogRead(TEMPK);
  temperature = ((float)((conv_tk * (5./1023.) - 0.001866028708133974)/0.004832535885167464));
  Serial.println(temperature);
}

/**************************************************************************************************************************************************************************************************************
*                                                                                                                                                                                                             *
*                                                                                                                                                                                                             *
*                                                                                  FONCTION DECODAC()                                                                                                         *
*                                                                                                                                                                                                             *
*                                                                                                                                                                                                             *
**************************************************************************************************************************************************************************************************************/

void decodDAC()
{
  char string[50];

    if ( comstring[0] == '*' && comstring[1] == 'i' && comstring[2] == 'd' && comstring[3] == 'n' && comstring[4] == '?' && stringComplete == true)                  //Equations DACX
    {
      Serial.println("idn = Automate MONTANA");
    }
    if ( comstring[0] == 'C' && comstring[1] == 'A' && comstring[2] == 'M' && comstring[3] == '1' && comstring[4] == ' ' && comstring[5] == '=' && comstring[6] == ' ' && comstring[7] == '1' && stringComplete == true)                  //CAM1
    {
      //STOPCAM();
      CAM1();
    }
    if ( comstring[0] == 'C' && comstring[1] == 'A' && comstring[2] == 'M' && comstring[3] == '2' && comstring[4] == ' ' && comstring[5] == '=' && comstring[6] == ' ' && comstring[7] == '1' && stringComplete == true)                  //CAM2
    {
      //STOPCAM();
      CAM2();
    }
    if ( comstring[0] == 'C' && comstring[1] == 'A' && comstring[2] == 'M' && comstring[3] == '3' && comstring[4] == ' ' && comstring[5] == '=' && comstring[6] == ' ' && comstring[7] == '1' && stringComplete == true)                  //CAM3
    {
      //STOPCAM();
      CAM3();
    }
    if ( comstring[0] == 'C' && comstring[1] == 'A' && comstring[2] == 'M' && comstring[3] == '4' && comstring[4] == ' ' && comstring[5] == '=' && comstring[6] == ' ' && comstring[7] == '1' && stringComplete == true)                  //CAM4
    {
      //STOPCAM();
      CAM4();
    }
    if ( comstring[0] == 'C' && comstring[1] == 'A' && comstring[2] == 'M' && comstring[3] == '5' && comstring[4] == ' ' && comstring[5] == '=' && comstring[6] == ' ' && comstring[7] == '1' && stringComplete == true)                  //CAM5
    {
      //STOPCAM();
      CAM5();
    }
    if ( comstring[0] == 'C' && comstring[1] == 'A' && comstring[2] == 'M' && comstring[3] == '6' && comstring[4] == ' ' && comstring[5] == '=' && comstring[6] == ' ' && comstring[7] == '1' && stringComplete == true)                  //CAM6
    {
      //STOPCAM();
      CAM6();
    }
    if ( comstring[0] == 'C' && comstring[1] == 'A' && comstring[2] == 'M' && comstring[3] == '7' && comstring[4] == ' ' && comstring[5] == '=' && comstring[6] == ' ' && comstring[7] == '1' && stringComplete == true)                  //CAM7
    {
      //STOPCAM();
      CAM7();
    }
    if ( comstring[0] == 'C' && comstring[1] == 'A' && comstring[2] == 'M' && comstring[3] == '8' && comstring[4] == ' ' && comstring[5] == '=' && comstring[6] == ' ' && comstring[7] == '1' && stringComplete == true)                  //CAM8
    {
      //STOPCAM();
      CAM8();
    }
    
    if ( comstring[0] == 'U' && comstring[1] == 'S' && comstring[2] == 'B' && comstring[3] == '1' && comstring[4] == ' ' && comstring[5] == '=' && comstring[6] == ' ' && comstring[7] == '1' && stringComplete == true)                  //USB1
    {
      //STOPUSB();
      USB1();
    }
    if ( comstring[0] == 'U' && comstring[1] == 'S' && comstring[2] == 'B' && comstring[3] == '2' && comstring[4] == ' ' && comstring[5] == '=' && comstring[6] == ' ' && comstring[7] == '1' && stringComplete == true)                  //USB2
    {
      //STOPUSB();
      USB2();
    }
    if ( comstring[0] == 'U' && comstring[1] == 'S' && comstring[2] == 'B' && comstring[3] == '3' && comstring[4] == ' ' && comstring[5] == '=' && comstring[6] == ' ' && comstring[7] == '1' && stringComplete == true)                  //USB3
    {
      //STOPUSB();
      USB3();
    }
    if ( comstring[0] == 'U' && comstring[1] == 'S' && comstring[2] == 'B' && comstring[3] == '4' && comstring[4] == ' ' && comstring[5] == '=' && comstring[6] == ' ' && comstring[7] == '1' && stringComplete == true)                  //USB4
    {
      //STOPUSB();
      USB4();
    }
    if ( comstring[0] == 'U' && comstring[1] == 'S' && comstring[2] == 'B' && comstring[3] == '5' && comstring[4] == ' ' && comstring[5] == '=' && comstring[6] == ' ' && comstring[7] == '1' && stringComplete == true)                  //USB5
    {
      //STOPUSB();
      USB5();
    }
    if ( comstring[0] == 'U' && comstring[1] == 'S' && comstring[2] == 'B' && comstring[3] == '6' && comstring[4] == ' ' && comstring[5] == '=' && comstring[6] == ' ' && comstring[7] == '1' && stringComplete == true)                  //USB6
    {
      //STOPUSB();
      USB6();
    }
    if ( comstring[0] == 'U' && comstring[1] == 'S' && comstring[2] == 'B' && comstring[3] == '7' && comstring[4] == ' ' && comstring[5] == '=' && comstring[6] == ' ' && comstring[7] == '1' && stringComplete == true)                  //USB7
    {
      //STOPUSB();
      USB7();
    }
    if ( comstring[0] == 'U' && comstring[1] == 'S' && comstring[2] == 'B' && comstring[3] == '8' && comstring[4] == ' ' && comstring[5] == '=' && comstring[6] == ' ' && comstring[7] == '1' && stringComplete == true)                  //USB8
    {
      //STOPUSB();
      USB8();
    }
    if ( comstring[0] == 'U' && comstring[1] == 'S' && comstring[2] == 'B' && comstring[3] == 'S' && comstring[4] == 'T' && comstring[5] == 'O' && comstring[6] == 'P' && stringComplete == true)                  //STOP USB INSTRUMENTATION
    {
      STOPUSB();
    }
    if ( comstring[0] == 'C' && comstring[1] == 'A' && comstring[2] == 'M' && comstring[3] == 'S' && comstring[4] == 'T' && comstring[5] == 'O' && comstring[6] == 'P' && stringComplete == true)                  //STOP CAMERAS
    {
      STOPCAM();
    }
    if ( comstring[0] == 'T' && comstring[1] == 'E' && comstring[2] == 'M' && comstring[3] == 'P' && comstring[4] == '?' && stringComplete == true)                  //Lecture température thermocouple type K A0
    {
      THERMK();
    }
    if ( comstring[0] == 'P' && comstring[1] == 'L' && comstring[2] == 'A' && comstring[3] == '1' && comstring[4] == ' ' && comstring[5] == '=' && comstring[6] == ' ' && comstring[7] == '1' && stringComplete == true)                  //PLATINE N°1
    {
      STOPPLATINE();
      PLATINE1();
    }
    if ( comstring[0] == 'P' && comstring[1] == 'L' && comstring[2] == 'A' && comstring[3] == '2' && comstring[4] == ' ' && comstring[5] == '=' && comstring[6] == ' ' && comstring[7] == '1' && stringComplete == true)                  //PLATINE N°2
    {
      STOPPLATINE();
      PLATINE2();
    }
    if ( comstring[0] == 'P' && comstring[1] == 'L' && comstring[2] == 'A' && comstring[3] == '3' && comstring[4] == ' ' && comstring[5] == '=' && comstring[6] == ' ' && comstring[7] == '1' && stringComplete == true)                  //PLATINE N°3
    {
      STOPPLATINE();
      PLATINE3();
    }
    if ( comstring[0] == 'P' && comstring[1] == 'L' && comstring[2] == 'A' && comstring[3] == '4' && comstring[4] == ' ' && comstring[5] == '=' && comstring[6] == ' ' && comstring[7] == '1' && stringComplete == true)                  //PLATINE N°4
    {
      STOPPLATINE();
      PLATINE4();
    }
    if ( comstring[0] == 'P' && comstring[1] == 'L' && comstring[2] == 'A' && comstring[3] == 'S' && comstring[4] == 'T' && comstring[5] == 'O' && comstring[6] == 'P' && stringComplete == true)                  //STOP PLATINES
    {
      STOPPLATINE();
    }
    if ( comstring[0] == 'S' && comstring[1] == '1' && comstring[2] == '2' && comstring[3] == '1' && comstring[4] == ' ' && comstring[5] == '=' && comstring[6] == ' ' && comstring[7] == '1' && stringComplete == true)                  //S120 N°1
    {
      STOPS120C();
      S120C1();
    }
    if ( comstring[0] == 'S' && comstring[1] == '1' && comstring[2] == '2' && comstring[3] == '2' && comstring[4] == ' ' && comstring[5] == '=' && comstring[6] == ' ' && comstring[7] == '1' && stringComplete == true)                  //S120 N°2
    {
      STOPS120C();
      S120C2();
    }
    if ( comstring[0] == 'S' && comstring[1] == '1' && comstring[2] == '2' && comstring[3] == '3' && comstring[4] == ' ' && comstring[5] == '=' && comstring[6] == ' ' && comstring[7] == '1' && stringComplete == true)                  //S120 N°3
    {
      digitalWrite(LED,HIGH);
      STOPS120C();
      S120C3();
      digitalWrite(LED,LOW);
    }
    if ( comstring[0] == 'S' && comstring[1] == '1' && comstring[2] == '2' && comstring[3] == '4' && comstring[4] == ' ' && comstring[5] == '=' && comstring[6] == ' ' && comstring[7] == '1' && stringComplete == true)                  //S120 N°4
    {
      STOPS120C();
      S120C4();
    }
    if ( comstring[0] == 'S' && comstring[1] == '1' && comstring[2] == '2' && comstring[3] == 'S' && comstring[4] == 'T' && comstring[5] == 'O' && comstring[6] == 'P' && stringComplete == true)                  //STOP S120
    {
      STOPS120C();
    }
    if (comstring[0] == 'A' && comstring[1] == 'C' && comstring[2] == 'T' && comstring[3] == '1' && comstring[4] == ' ' && comstring[5] == '=' && comstring[6] == ' ' && comstring[7] == '1' && stringComplete == true)        //actuateurs couple de miroir N°1
    {
      STOPACTUATEUR();
      routCS();
    }
    if (comstring[0] == 'A' && comstring[1] == 'C' && comstring[2] == 'T' && comstring[3] == '2' && comstring[4] == ' ' && comstring[5] == '=' && comstring[6] == ' ' && comstring[7] == '1' && stringComplete == true)        //actuateurs couple de miroir N°2
    {
      STOPACTUATEUR();
      routCO();
    }
    if (comstring[0] == 'A' && comstring[1] == 'C' && comstring[2] == 'T' && comstring[3] == '3' && comstring[4] == ' ' && comstring[5] == '=' && comstring[6] == ' ' && comstring[7] == '1' && stringComplete == true)        //actuateurs couple de miroir N°3
    {
      STOPACTUATEUR();
      routCE();
    }
    if ( comstring[0] == 'A' && comstring[1] == 'C' && comstring[2] == 'T' && comstring[3] == 'S' && comstring[4] == 'T' && comstring[5] == 'O' && comstring[6] == 'P' && stringComplete == true)                              //Désactive le lien physique entre les actuateurs et le driver KIM101
    {
      STOPACTUATEUR();
    }
    if ( comstring[0] == 'T' && comstring[1] == 'R' && comstring[2] == 'I' && comstring[3] == 'G' && comstring[4] == '0' && stringComplete == true)                   // Arrêt des synchros sur TR1 à TR8
    {
      data_array[0] = 0x00;
      data_array1[0] = 0x00;
      digitalWrite(TRIG,LOW);
      delay(1200);
      transferslaves();
      delay(10);
      digitalWrite(TRIG,LOW);
    }
    if ( comstring[0] == 'T' && comstring[1] == 'R' && comstring[2] == 'I' && comstring[3] == 'G' && comstring[4] == '1' && stringComplete == true)                   // Génération d’un pulse unique sur TR1 à TR8
    {
      digitalWrite(LED,HIGH);
      data_array[0] = 0x01;
      data_array1[0] = 0x01;
      digitalWrite(TRIG,LOW);
      delay(1000);
      transferslaves();
      digitalWrite(TRIG,HIGH);
      delay(1200);
      digitalWrite(TRIG,LOW);
    }
    if ( comstring[0] == 'T' && comstring[1] == 'R' && comstring[2] == 'I' && comstring[3] == 'G' && comstring[4] == '2' && stringComplete == true)                   // Génération continue des synchros sur TR1 à TR8
    {
      digitalWrite(LED,HIGH);
      data_array[0] = 0x02;
      data_array1[0] = 0x02;
      digitalWrite(TRIG,LOW);
      delay(1200);
      transferslaves();
      digitalWrite(TRIG,HIGH);
    }
    if ( comstring[0] == 'F' && comstring[1] == 'R' && comstring[2] == 'E' && comstring[3] == 'Q' && comstring[4] == ' ' && comstring[5] == '=' && comstring[6] == ' ' && stringComplete == true)                   // RECEPTION de la consigne fréquence (Hz)
    {
      for(i=0;i<4;i++)    
      {
        FPX[i] = comstring[i+7]-0x30;
      }
      decompositionF();
    }
    if ( comstring[0] == 'D' && comstring[1] == 'E' && comstring[2] == 'L' && comstring[3] == '1' && comstring[4] == ' ' && comstring[5] == '=' && comstring[6] == ' ' && stringComplete == true)                   // RECEPTION du délai de génération de TR1 (centaines de µs)
    {
      for(i=0;i<4;i++)    
      {
        DEL1[i] = comstring[i+7]-0x30;
      }
      decompositionD1();
    }
    if ( comstring[0] == 'D' && comstring[1] == 'E' && comstring[2] == 'L' && comstring[3] == '2' && comstring[4] == ' ' && comstring[5] == '=' && comstring[6] == ' ' && stringComplete == true)                   // RECEPTION du délai de génération de TR2 (centaines de µs)
    {
      for(i=0;i<4;i++)    
      {
        DEL2[i] = comstring[i+7]-0x30;
      }
      decompositionD2();
    }
    if ( comstring[0] == 'D' && comstring[1] == 'E' && comstring[2] == 'L' && comstring[3] == '3' && comstring[4] == ' ' && comstring[5] == '=' && comstring[6] == ' ' && stringComplete == true)                   // RECEPTION du délai de génération de TR3 (centaines de µs)
    {
      for(i=0;i<4;i++)    
      {
        DEL3[i] = comstring[i+7]-0x30;
      }
      decompositionD3();
    }
    if ( comstring[0] == 'D' && comstring[1] == 'E' && comstring[2] == 'L' && comstring[3] == '4' && comstring[4] == ' ' && comstring[5] == '=' && comstring[6] == ' ' && stringComplete == true)                   // RECEPTION du délai de génération de TR4 (centaines de µs)
    {
      for(i=0;i<4;i++)    
      {
        DEL4[i] = comstring[i+7]-0x30;
      }
      decompositionD4();
    }
    if ( comstring[0] == 'D' && comstring[1] == 'E' && comstring[2] == 'L' && comstring[3] == '5' && comstring[4] == ' ' && comstring[5] == '=' && comstring[6] == ' ' && stringComplete == true)                   // RECEPTION du délai de génération de TR5 (centaines de µs)
    {
      for(i=0;i<4;i++)    
      {
        DEL5[i] = comstring[i+7]-0x30;
      }
      decompositionD5();
    }
    if ( comstring[0] == 'D' && comstring[1] == 'E' && comstring[2] == 'L' && comstring[3] == '6' && comstring[4] == ' ' && comstring[5] == '=' && comstring[6] == ' ' && stringComplete == true)                   // RECEPTION du délai de génération de TR6 (centaines de µs)
    {
      for(i=0;i<4;i++)    
      {
        DEL6[i] = comstring[i+7]-0x30;
      }
      decompositionD6();
    }
    if ( comstring[0] == 'D' && comstring[1] == 'E' && comstring[2] == 'L' && comstring[3] == '7' && comstring[4] == ' ' && comstring[5] == '=' && comstring[6] == ' ' && stringComplete == true)                   // RECEPTION du délai de génération de TR7 (centaines de µs)
    {
      for(i=0;i<4;i++)    
      {
        DEL7[i] = comstring[i+7]-0x30;
      }
      decompositionD7();
    }
    if ( comstring[0] == 'D' && comstring[1] == 'E' && comstring[2] == 'L' && comstring[3] == '8' && comstring[4] == ' ' && comstring[5] == '=' && comstring[6] == ' ' && stringComplete == true)                   // RECEPTION du délai de génération de TR8 (centaines de µs)
    {
      for(i=0;i<4;i++)    
      {
        DEL8[i] = comstring[i+7]-0x30;
      }
      decompositionD8();
    }
    if ( comstring[0] == 'W' && comstring[1] == 'I' && comstring[2] == 'D' && comstring[3] == '1' && comstring[4] == ' ' && comstring[5] == '=' && comstring[6] == ' ' && stringComplete == true)                   // RECEPTION Consigne largeur de pulse TR1 (de 3 à 97 ms – C = 1µF)
    {
      for(i=0;i<3;i++)    
      {
        WID1[i] = comstring[i+7]-0x30;
      }
      decompositionW1();
    }
    if ( comstring[0] == 'W' && comstring[1] == 'I' && comstring[2] == 'D' && comstring[3] == '2' && comstring[4] == ' ' && comstring[5] == '=' && comstring[6] == ' ' && stringComplete == true)                   // RECEPTION Consigne largeur de pulse TR2 (de 3 à 97 ms – C = 1µF)
    {
      for(i=0;i<3;i++)    
      {
        WID2[i] = comstring[i+7]-0x30;
      }
      decompositionW2();
    }
    if ( comstring[0] == 'W' && comstring[1] == 'I' && comstring[2] == 'D' && comstring[3] == '3' && comstring[4] == ' ' && comstring[5] == '=' && comstring[6] == ' ' && stringComplete == true)                   // RECEPTION Consigne largeur de pulse TR3 (de 3 à 97 ms – C = 1µF)
    {
      for(i=0;i<3;i++)    
      {
        WID3[i] = comstring[i+7]-0x30;
      }
      decompositionW3();
    }
    if ( comstring[0] == 'W' && comstring[1] == 'I' && comstring[2] == 'D' && comstring[3] == '4' && comstring[4] == ' ' && comstring[5] == '=' && comstring[6] == ' ' && stringComplete == true)                   // RECEPTION Consigne largeur de pulse TR4 (de 3 à 97 ms – C = 1µF)
    {
      for(i=0;i<3;i++)    
      {
        WID4[i] = comstring[i+7]-0x30;
      }
      decompositionW4();
    }
    if ( comstring[0] == 'W' && comstring[1] == 'I' && comstring[2] == 'D' && comstring[3] == '5' && comstring[4] == ' ' && comstring[5] == '=' && comstring[6] == ' ' && stringComplete == true)                   // RECEPTION Consigne largeur de pulse TR5 (de 30 à 970 ms – C = 10µF))
    {
      for(i=0;i<3;i++)    
      {
        WID5[i] = comstring[i+7]-0x30;
      }
      decompositionW5();
    }
    if ( comstring[0] == 'W' && comstring[1] == 'I' && comstring[2] == 'D' && comstring[3] == '6' && comstring[4] == ' ' && comstring[5] == '=' && comstring[6] == ' ' && stringComplete == true)                   // RECEPTION Consigne largeur de pulse TR6 (de 30 à 970 ms – C = 10µF))
    {
      for(i=0;i<3;i++)    
      {
        WID6[i] = comstring[i+7]-0x30;
      }
      decompositionW6();
    }
    if ( comstring[0] == 'W' && comstring[1] == 'I' && comstring[2] == 'D' && comstring[3] == '7' && comstring[4] == ' ' && comstring[5] == '=' && comstring[6] == ' ' && stringComplete == true)                   // RECEPTION Consigne largeur de pulse TR7 (de 3 à 112 centaines de µs – C = 0.1µF)
    {
      for(i=0;i<3;i++)    
      {
        WID7[i] = comstring[i+7]-0x30;
      }
      decompositionW7();
    }
    if ( comstring[0] == 'W' && comstring[1] == 'I' && comstring[2] == 'D' && comstring[3] == '8' && comstring[4] == ' ' && comstring[5] == '=' && comstring[6] == ' ' && stringComplete == true)                   // RECEPTION Consigne largeur de pulse TR8 (de 3 à 112 centaines de µs – C = 0.1µF)
    {
      for(i=0;i<3;i++)    
      {
        WID8[i] = comstring[i+7]-0x30;
      }
      decompositionW8();
    }
  }
 
//****************************************************************************** DEC FREQ *******************************************************************************  
void decompositionF (void)
{
  FREQ1 = ((unsigned int)((FPX[0])*1000));
  FREQ1 = FREQ1 + ((unsigned int)((FPX[1])*100));
  FREQ1 = FREQ1 + ((unsigned int)((FPX[2])*10));
  FREQ1 = FREQ1 + ((unsigned int)((FPX[3])*1));
  
  var = (unsigned char)(FREQ1>>8); //prise MSB
  
  data_array[1] = var;
  data_array[2] = (unsigned char) (FREQ1);
  data_array1[1] = data_array[1];
  data_array1[2] = data_array[2];
}  

//****************************************************************************** DEC DEL1 *******************************************************************************  
void decompositionD1 (void)
{
  D1 = ((unsigned int)((DEL1[0])*1000));
  D1 = D1 + ((unsigned int)((DEL1[1])*100));
  D1 = D1 + ((unsigned int)((DEL1[2])*10));
  D1 = D1 + ((unsigned int)((DEL1[3])*1));
  
  var = (unsigned char)(D1>>8); //prise MSB
  
  data_array[3] = var;
  data_array[4] = (unsigned char) (D1);
}  

//****************************************************************************** DEC DEL2 *******************************************************************************  
void decompositionD2 (void)
{
  D2 = ((unsigned int)((DEL2[0])*1000));
  D2 = D2 + ((unsigned int)((DEL2[1])*100));
  D2 = D2 + ((unsigned int)((DEL2[2])*10));
  D2 = D2 + ((unsigned int)((DEL2[3])*1));
  
  var = (unsigned char)(D2>>8); //prise MSB
  
  data_array[5] = var;
  data_array[6] = (unsigned char) (D2);
}  

//****************************************************************************** DEC DEL3 *******************************************************************************  
void decompositionD3 (void)
{
  D3 = ((unsigned int)((DEL3[0])*1000));
  D3 = D3 + ((unsigned int)((DEL3[1])*100));
  D3 = D3 + ((unsigned int)((DEL3[2])*10));
  D3 = D3 + ((unsigned int)((DEL3[3])*1));
  
  var = (unsigned char)(D3>>8); //prise MSB
  
  data_array[7] = var;
  data_array[8] = (unsigned char) (D3);
}  

//****************************************************************************** DEC DEL4 *******************************************************************************  
void decompositionD4 (void)
{
  D4 = ((unsigned int)((DEL4[0])*1000));
  D4 = D4 + ((unsigned int)((DEL4[1])*100));
  D4 = D4 + ((unsigned int)((DEL4[2])*10));
  D4 = D4 + ((unsigned int)((DEL4[3])*1));
  
  var = (unsigned char)(D4>>8); //prise MSB
  
  data_array[9] = var;
  data_array[10] = (unsigned char) (D4);
}  

//****************************************************************************** DEC DEL5 *******************************************************************************  
void decompositionD5 (void)
{
  D5 = ((unsigned int)((DEL5[0])*1000));
  D5 = D5 + ((unsigned int)((DEL5[1])*100));
  D5 = D5 + ((unsigned int)((DEL5[2])*10));
  D5 = D5 + ((unsigned int)((DEL5[3])*1));
  
  var = (unsigned char)(D5>>8); //prise MSB
  
  data_array1[3] = var;
  data_array1[4] = (unsigned char) (D5);
}  

//****************************************************************************** DEC DEL6 *******************************************************************************  
void decompositionD6 (void)
{
  D6 = ((unsigned int)((DEL6[0])*1000));
  D6 = D6 + ((unsigned int)((DEL6[1])*100));
  D6 = D6 + ((unsigned int)((DEL6[2])*10));
  D6 = D6 + ((unsigned int)((DEL6[3])*1));
  
  var = (unsigned char)(D6>>8); //prise MSB
  
  data_array1[5] = var;
  data_array1[6] = (unsigned char) (D6);
}  

//****************************************************************************** DEC DEL7 *******************************************************************************  
void decompositionD7 (void)
{
  D7 = ((unsigned int)((DEL7[0])*1000));
  D7 = D7 + ((unsigned int)((DEL7[1])*100));
  D7 = D7 + ((unsigned int)((DEL7[2])*10));
  D7 = D7 + ((unsigned int)((DEL7[3])*1));
  
  var = (unsigned char)(D7>>8); //prise MSB
  
  data_array1[7] = var;
  data_array1[8] = (unsigned char) (D7);
}  

//****************************************************************************** DEC DEL8 *******************************************************************************  
void decompositionD8 (void)
{
  D8 = ((unsigned int)((DEL8[0])*1000));
  D8 = D8 + ((unsigned int)((DEL8[1])*100));
  D8 = D8 + ((unsigned int)((DEL8[2])*10));
  D8 = D8 + ((unsigned int)((DEL8[3])*1));
  
  var = (unsigned char)(D8>>8); //prise MSB
  
  data_array1[9] = var;
  data_array1[10] = (unsigned char) (D8);
}  

//****************************************************************************** DEC WID1 *******************************************************************************  
void decompositionW1 (void)
{
  W1 = ((unsigned int)((WID1[0])*100));
  W1 = W1 + ((unsigned int)((WID1[1])*10));
  W1 = W1 + ((unsigned int)((WID1[2])*1));
  
  data_array[11] = (unsigned char) (W1);
}  

//****************************************************************************** DEC WID2 *******************************************************************************  
void decompositionW2 (void)
{
  W2 = ((unsigned int)((WID2[0])*100));
  W2 = W2 + ((unsigned int)((WID2[1])*10));
  W2 = W2 + ((unsigned int)((WID2[2])*1));
  
  data_array[12] = (unsigned char) (W2);
}  

//****************************************************************************** DEC WID3 *******************************************************************************  
void decompositionW3 (void)
{
  W3 = ((unsigned int)((WID3[0])*100));
  W3 = W3 + ((unsigned int)((WID3[1])*10));
  W3 = W3 + ((unsigned int)((WID3[2])*1));
  
  data_array[13] = (unsigned char) (W3);
}  

//****************************************************************************** DEC WID4 *******************************************************************************  
void decompositionW4 (void)
{
  W4 = ((unsigned int)((WID4[0])*100));
  W4 = W4 + ((unsigned int)((WID4[1])*10));
  W4 = W4 + ((unsigned int)((WID4[2])*1));
  
  data_array[14] = (unsigned char) (W4);
}  

//****************************************************************************** DEC WID5 *******************************************************************************  
void decompositionW5 (void)
{
  W5 = ((unsigned int)((WID5[0])*100));
  W5 = W5 + ((unsigned int)((WID5[1])*10));
  W5 = W5 + ((unsigned int)((WID5[2])*1));
  
  data_array1[11] = (unsigned char) (W5);
}  

//****************************************************************************** DEC WID6 *******************************************************************************  
void decompositionW6 (void)
{
  W6 = ((unsigned int)((WID6[0])*100));
  W6 = W6 + ((unsigned int)((WID6[1])*10));
  W6 = W6 + ((unsigned int)((WID6[2])*1));
  
  data_array1[12] = (unsigned char) (W6);
}  

//****************************************************************************** DEC WID7 *******************************************************************************  
void decompositionW7 (void)
{
  W7 = ((unsigned int)((WID7[0])*100));
  W7 = W7 + ((unsigned int)((WID7[1])*10));
  W7 = W7 + ((unsigned int)((WID7[2])*1));
  
  data_array1[13] = (unsigned char) (W7);
}  

//****************************************************************************** DEC WID8 *******************************************************************************  
void decompositionW8 (void)
{
  W8 = ((unsigned int)((WID8[0])*100));
  W8 = W8 + ((unsigned int)((WID8[1])*10));
  W8 = W8 + ((unsigned int)((WID8[2])*1));
  
  data_array1[14] = (unsigned char) (W8);
}  

//****************************************************************************** transfert SPI slaves N°1 et N°2 *******************************************************************************  
void transferslaves (void)
{
    //Slave1
    //digitalWrite(PIEZZOOK,HIGH);
    //CRC_slaves(data_array);
    SPI.setClockDivider(SPI_CLOCK_DIV128);
    SPI.begin();
    SPI.setDataMode(SPI_MODE0);
    digitalWrite(SS1,LOW);
    delayMicroseconds(100);
    //delay(5);
    for(i=0;i<15;i++)   
    {
      SPI.transfer(data_array[i]); //Envoi spi de tout le tableau S1
      delayMicroseconds(1);
      //SPI.transfer(0x00);
    }
    delay(100);
    /*SPI.transfer(0);
    SPI.transfer(0);
    SPI.transfer(0);*/
    digitalWrite(SS1,HIGH);
    SPI.end();
    //digitalWrite(PIEZZOOK,LOW);
    delay(100);
    
    //Slaves2
    //digitalWrite(PIEZZOOK,HIGH);
    //CRC_slaves(data_array1);
    SPI.setClockDivider(SPI_CLOCK_DIV128);
    SPI.begin();
    SPI.setDataMode(SPI_MODE0);
    digitalWrite(SS2,LOW);
    //delay(5);
    delayMicroseconds(100);
    for(i=0;i<15;i++)   
    {
      SPI.transfer(data_array1[i]);//Envoi spi de tout le tableau S2
      delayMicroseconds(1);
      //SPI.transfer(0x00);
    }
    delay(100);
    /*SPI.transfer(0);
    SPI.transfer(0);
    SPI.transfer(0);*/
    digitalWrite(SS2,HIGH);
    SPI.end();
    //digitalWrite(PIEZZOOK,LOW);
  }
  
  
void S120C1 (void)
{
  digitalWrite(32, HIGH);      // EN
  delay(1);
  digitalWrite(30, LOW);       // A0
  digitalWrite(31, LOW);       // A1
  delayMicroseconds(20);      // pauses for 20 microsecond
}

void S120C2 (void)
{
  digitalWrite(32, HIGH);      // EN
  delay(1);
  digitalWrite(30, HIGH);       // A0
  digitalWrite(31, LOW);       // A1
  delayMicroseconds(20);      // pauses for 20 microsecond
}

void S120C3 (void)
{
  digitalWrite(32, HIGH);      // EN
  delay(1);
  digitalWrite(30, LOW);       // A0
  digitalWrite(31, HIGH);       // A1
  delayMicroseconds(20);      // pauses for 20 microsecond
}


void S120C4 (void)
{
  digitalWrite(32, HIGH);      // EN
  delay(1);
  digitalWrite(30, HIGH);       // A0
  digitalWrite(31, HIGH);       // A1
  delayMicroseconds(20);      // pauses for 20 microsecond
}

void STOPS120C (void)
{
  digitalWrite(32, LOW);      // EN
  delay(1);
  digitalWrite(30, LOW);       // A0
  digitalWrite(31, LOW);       // A1
  delayMicroseconds(20);      // pauses for 20 microsecond  
}
  
void CAM1 (void)
{
  digitalWrite(A12, HIGH);
  delay(100);
  digitalWrite(22, HIGH);      // EN
  digitalWrite(23, LOW);       // C0
  digitalWrite(24, LOW);       // C1
  digitalWrite(25, LOW);       // C2
  delayMicroseconds(20);      // pauses for 20 microsecond
  //digitalWrite(EN12V1, HIGH);  //alim 12V caméra
  //delay(100);
  digitalWrite(29, HIGH);      // EN multiplexage trigger caméra N°1
  digitalWrite(26, LOW);       // A0
  digitalWrite(27, LOW);       // A1
  digitalWrite(28, LOW);       // A2
}

void CAM2 (void)
{
  digitalWrite(A12, HIGH);
  delay(100);
  digitalWrite(22, HIGH);      // EN
  digitalWrite(23, HIGH);       // C0
  digitalWrite(24, LOW);       // C1
  digitalWrite(25, LOW);       // C2
  delayMicroseconds(20);      // pauses for 20 microseconds
  digitalWrite(29, HIGH);      // EN multiplexage trigger caméra N°1
  digitalWrite(26, HIGH);       // A0
  digitalWrite(27, LOW);       // A1
  digitalWrite(28, LOW);       // A2
}

void CAM3 (void)
{
  digitalWrite(A13, HIGH);
  delay(100);
  digitalWrite(22, HIGH);      // EN
  digitalWrite(23, LOW);       // C0
  digitalWrite(24, HIGH);       // C1
  digitalWrite(25, LOW);       // C2
  delayMicroseconds(20);      // pauses for 20 microseconds
  digitalWrite(29, HIGH);      // EN multiplexage trigger caméra N°1
  digitalWrite(26, LOW);       // A0
  digitalWrite(27, HIGH);       // A1
  digitalWrite(28, LOW);       // A2
}


void CAM4 (void)
{
  digitalWrite(A13, HIGH);
  delay(100);
  digitalWrite(22, HIGH);      // EN
  digitalWrite(23, HIGH);       // C0
  digitalWrite(24, HIGH);       // C1
  digitalWrite(25, LOW);       // C2
  delayMicroseconds(20);      // pauses for 20 microseconds
  digitalWrite(29, HIGH);      // EN multiplexage trigger caméra N°1
  digitalWrite(26, HIGH);       // A0
  digitalWrite(27, HIGH);       // A1
  digitalWrite(28, LOW);       // A2
}

void CAM5 (void)
{
  digitalWrite(A14, HIGH);
  delay(100);
  digitalWrite(22, HIGH);      // EN
  digitalWrite(23, LOW);       // C0
  digitalWrite(24, LOW);       // C1
  digitalWrite(25, HIGH);       // C2
  delayMicroseconds(20);      // pauses for 20 microseconds
  digitalWrite(29, HIGH);      // EN multiplexage trigger caméra N°1
  digitalWrite(26, LOW);       // A0
  digitalWrite(27, LOW);       // A1
  digitalWrite(28, HIGH);       // A2
}

void CAM6 (void)
{
  digitalWrite(A14, HIGH);
  delay(100);
  digitalWrite(22, HIGH);      // EN
  digitalWrite(23, HIGH);       // C0
  digitalWrite(24, LOW);       // C1
  digitalWrite(25, HIGH);       // C2
  delayMicroseconds(20);      // pauses for 20 microseconds
  digitalWrite(29, HIGH);      // EN multiplexage trigger caméra N°1
  digitalWrite(26, HIGH);       // A0
  digitalWrite(27, LOW);       // A1
  digitalWrite(28, HIGH);       // A2
}

void CAM7 (void)
{
  digitalWrite(A15, HIGH);
  delay(100);
  digitalWrite(22, HIGH);      // EN
  digitalWrite(23, LOW);       // C0
  digitalWrite(24, HIGH);       // C1
  digitalWrite(25, HIGH);       // C2
  delayMicroseconds(20);      // pauses for 20 microseconds
  digitalWrite(29, HIGH);      // EN multiplexage trigger caméra N°1
  digitalWrite(26, LOW);       // A0
  digitalWrite(27, HIGH);       // A1
  digitalWrite(28, HIGH);       // A2
}

...

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Batiste Janvier

Batiste Janvier

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