**Voici la version (quasi-)définitive du programme du polarimètre (deux Arduino et deux motor shield):**

__**Arduino maitre:**__

<code c>
#include <Stepper.h>
#include <LiquidCrystal.h>
 
 const int stepsPerRevolution = 200;
 int photoPin = A5;
 int photocellREADING;
 int Comm = 7;
 int alpha;
 int StepCount = 0;
 int CUVE = 1;
 
 Stepper analyzer(200, 12, 13);
 LiquidCrystal lcd(12, 11, 5, 4, 3, 2);
 
 const int pwmA = 3;
 const int pwmB = 11;
 const int brakeA = 9;
 const int brakeB = 8;
 const int dirA = 12;
 const int dirB = 13;
 
void setup() {
   Serial.begin(9600);
  
   lcd.begin(16, 1);
 
   pinMode(Comm, OUTPUT);
 
   pinMode(pwmA, OUTPUT);
   pinMode(pwmB, OUTPUT);
   pinMode(brakeA, OUTPUT);
   pinMode(brakeB, OUTPUT);
   digitalWrite(pwmA, HIGH);
   digitalWrite(pwmB, HIGH);
   digitalWrite(brakeA, LOW);
   digitalWrite(brakeB, LOW);
   analyzer.setSpeed(50);
   Serial.println("Cuve numero :"), Serial.print(CUVE);
   Serial.println("  ");
   Serial.println("  ");
   Serial.println("  ");
 }

 
void loop() {
  delay(1000);
  photocellREADING= analogRead(photoPin);
  Serial.println(photocellREADING);
    if(CUVE < 4){
      if(photocellREADING > 750){
        delay(1000);
        analyzer.step(10);
        digitalWrite(Comm, LOW);
        StepCount = StepCount + 10;
      }
      else{
      if(photocellREADING > 500){
        delay(1000);
        analyzer.step(5);
        digitalWrite(Comm, LOW);
        StepCount = StepCount + 5;
      }
      else{
      if(photocellREADING > 200){
        delay(1000);
        analyzer.step(2);
        digitalWrite(Comm, LOW);
        StepCount = StepCount + 2;
      }
      else{
      if(photocellREADING > 100){
        delay(1000);
        analyzer.step(1);
        digitalWrite(Comm, LOW);
        StepCount = StepCount + 1;
      }
      else{
        alpha = StepCount * 1.8;
        Serial.println("  ");
        Serial.println("Angle alpha de la cuve numero ");
        Serial.print(CUVE);
        Serial.println("=");
        Serial.println("  ");
        Serial.print(alpha);
        lcd.setCursor(0, 0);
        lcd.print(alpha);
        delay(3000);
        analyzer.step(-StepCount);
        StepCount = 0;
        digitalWrite(Comm, HIGH);
        delay(200);
        digitalWrite(Comm,LOW);
        delay(3000);
        CUVE = CUVE + 1;
        Serial.println("  ");
        Serial.println("  ");
        Serial.println("  ");
        Serial.println("Cuve numero :"), Serial.print(CUVE);
        Serial.println("  ");
        Serial.println("  ");
        Serial.println("  ");
      }
    }
  }
}
}
else{
  if(CUVE = 4){
        if(photocellREADING > 750){
        delay(1000);
        analyzer.step(10);
        digitalWrite(Comm, LOW);
        StepCount = StepCount + 10;
      }
      else{
      if(photocellREADING > 500){
        delay(1000);
        analyzer.step(5);
        digitalWrite(Comm, LOW);
        StepCount = StepCount + 5;
      }
      else{
      if(photocellREADING > 200){
        delay(1000);
        analyzer.step(2);
        digitalWrite(Comm, LOW);
        StepCount = StepCount + 2;
      }
      else{
      if(photocellREADING > 100){
        delay(1000);
        analyzer.step(1);
        digitalWrite(Comm, LOW);
        StepCount = StepCount + 1;
      }
      else{
        alpha = StepCount * 1.8;
        Serial.println("  ");
        Serial.println("Angle alpha de la cuve numero ");
        Serial.print(CUVE);
        Serial.println("=");
        Serial.println("  ");
        Serial.print(alpha);
        lcd.setCursor(0, 0);
        lcd.print(alpha);
        delay(3000);
        analyzer.step(-StepCount);
        StepCount = 0;
        digitalWrite(Comm, HIGH);
        delay(200);
        digitalWrite(Comm,LOW);
        delay(3000);
        delay(5000);
        CUVE = 1;
        Serial.println("  ");
        Serial.println("  ");
        Serial.println("  ");
        Serial.println("Cuve numero :"), Serial.print(CUVE);
        Serial.println("  ");
        Serial.println("  ");
        Serial.println("  ");
      }
    }
  }
}
}
}
}
</code>

__**Arduino esclave:**__

<code c>
#include <Stepper.h>
 
 int Comm2 = 7;
 byte Trigger;
 
 Stepper cuve(200, 12,13);   
 
 const int pwmC = 3;
 const int pwmD = 11;
 const int brakeC = 9;
 const int brakeD = 8;
 const int dirC = 12;
 const int dirD = 13;
 
void setup() {
   Serial.begin(9600);
 
   pinMode(Comm2, INPUT);
 
   pinMode(pwmC, OUTPUT);
   pinMode(pwmD, OUTPUT);
   pinMode(brakeC, OUTPUT);
   pinMode(brakeD, OUTPUT);
   digitalWrite(pwmC, HIGH);
   digitalWrite(pwmD, HIGH);
   digitalWrite(brakeC, LOW);
   digitalWrite(brakeD, LOW);
   cuve.setSpeed(50);
   }
 
   void loop()
   {
     Trigger = digitalRead(Comm2);
     Serial.println(Trigger);
   if(Trigger <1)
   {
   Serial.println("laser");
   delay(200);
   }
   else
   {
   Serial.print("rotate");
   cuve.step(200);
   delay(3000);
 
   }
 
   }
</code>



__**Programme maitre**__ version 2

<code c>
#include <Stepper.h>
#include <LiquidCrystal.h>
 
 const int stepsPerRevolution = 200;
 int photoPin = A5;
 int photocellREADING;
 int Comm = 7;
 int alpha;
 int StepCount = 0;
 int CUVE = 1;
 int COUVE;
 
 Stepper analyzer(200, 12, 13);
 LiquidCrystal lcd(10, 7, 6, 5, 4, 2);
 
 const int pwmA = 3;
 const int pwmB = 11;
 const int brakeA = 9;
 const int brakeB = 8;
 const int dirA = 12;
 const int dirB = 13;
 
void setup() {
   Serial.begin(9600);
 
   lcd.begin(16, 2);
 
   pinMode(Comm, OUTPUT);
 
   pinMode(pwmA, OUTPUT);
   pinMode(pwmB, OUTPUT);
   pinMode(brakeA, OUTPUT);
   pinMode(brakeB, OUTPUT);
   digitalWrite(pwmA, HIGH);
   digitalWrite(pwmB, HIGH);
   digitalWrite(brakeA, LOW);
   digitalWrite(brakeB, LOW);
   analyzer.setSpeed(50);
   Serial.println("Cuve numero 1");
   Serial.println("  ");
   Serial.println("  ");
   Serial.println("  ");
 }

 
void loop() {
  delay(1000);
  photocellREADING= analogRead(photoPin);
  Serial.println(photocellREADING);
    if(CUVE == 1){
      lcd.setCursor(0, 0);
      lcd.print("Cuve numero");
      lcd.setCursor(12, 0);
      lcd.print(CUVE);
      if(photocellREADING > 750){
        delay(1000);
        analyzer.step(10);
        digitalWrite(Comm, LOW);
        StepCount = StepCount + 10;
      }
      else{
      if(photocellREADING > 500){
        delay(1000);
        analyzer.step(5);
        digitalWrite(Comm, LOW);
        StepCount = StepCount + 5;
      }
      else{
      if(photocellREADING > 200){
        delay(1000);
        analyzer.step(2);
        digitalWrite(Comm, LOW);
        StepCount = StepCount + 2;
      }
      else{
      if(photocellREADING > 100){
        delay(1000);
        analyzer.step(1);
        digitalWrite(Comm, LOW);
        StepCount = StepCount + 1;
      }
      else{
        alpha = StepCount * 1.8;
        Serial.println("  ");
        Serial.println("Angle alpha de la cuve numero 1 =");
        Serial.println("  ");
        Serial.print(alpha);
        lcd.setCursor(0, 1);
        lcd.print(alpha);
        analyzer.step(-StepCount);
        StepCount = 0;
        digitalWrite(Comm, HIGH);
        delay(200);
        digitalWrite(Comm,LOW);
        delay(3000);
        lcd.clear();
        CUVE = CUVE + 1;
        Serial.println("  ");
        Serial.println("  ");
        Serial.println("  ");
        Serial.println("Cuve numero 2");
        Serial.println("  ");
        Serial.println("  ");
        Serial.println("  ");
      }
    }
  }
}
}
else{
    if(CUVE == 2){
      lcd.setCursor(0, 0);
      lcd.print("Cuve numero 2");
      if(photocellREADING > 800){
        delay(1000);
        analyzer.step(10);
        digitalWrite(Comm, LOW);
        StepCount = StepCount + 10;
      }
      else{
        alpha = StepCount * 1.8;
        lcd.setCursor(0, 1);
        lcd.print(alpha);
        analyzer.step(-StepCount);
        StepCount = 0;
        digitalWrite(Comm,LOW);
        delay(3000);
        lcd.clear();
        CUVE = CUVE + 1;
      }
    }
else{
    if(CUVE == 3){
      lcd.setCursor(0, 0);
      lcd.print("Cuve numero 2");
      if(photocellREADING > 750){
        delay(1000);
        analyzer.step(10);
        digitalWrite(Comm, LOW);
        StepCount = StepCount + 10;
      }
      else{
      if(photocellREADING > 500){
        delay(1000);
        analyzer.step(5);
        digitalWrite(Comm, LOW);
        StepCount = StepCount + 5;
      }
      else{
      if(photocellREADING > 200){
        delay(1000);
        analyzer.step(2);
        digitalWrite(Comm, LOW);
        StepCount = StepCount + 2;
      }
      else{
      if(photocellREADING > 100){
        delay(1000);
        analyzer.step(1);
        digitalWrite(Comm, LOW);
        StepCount = StepCount + 1;
      }
      else{
        alpha = StepCount * 1.8;
        Serial.println("  ");
        Serial.println("Angle alpha de la cuve numero 2 =");
        Serial.println("  ");
        Serial.print(alpha);
        lcd.setCursor(0, 1);
        lcd.print(alpha);
        analyzer.step(-StepCount);
        StepCount = 0;
        digitalWrite(Comm, HIGH);
        delay(200);
        digitalWrite(Comm,LOW);
        delay(3000);
        lcd.clear();
        CUVE = CUVE + 1;
        Serial.println("  ");
        Serial.println("  ");
        Serial.println("  ");
        Serial.println("Cuve numero 3");
        Serial.println("  ");
        Serial.println("  ");
        Serial.println("  ");
      }
    }
  }
}
}
else{
    if(CUVE == 4){
      lcd.setCursor(0, 0);
      lcd.print("Cuve numero 2");
      if(photocellREADING > 800){
        delay(1000);
        analyzer.step(10);
        digitalWrite(Comm, LOW);
        StepCount = StepCount + 10;
      }
      else{
        alpha = StepCount * 1.8;
        lcd.setCursor(0, 1);
        lcd.print(alpha);
        analyzer.step(-StepCount);
        StepCount = 0;
        digitalWrite(Comm,LOW);
        delay(3000);
        lcd.clear();
        CUVE = CUVE + 1;
      }
    }
else{
    if(CUVE == 5){
      lcd.setCursor(0, 0);
      lcd.print("Cuve numero 3");
      if(photocellREADING > 750){
        delay(1000);
        analyzer.step(10);
        digitalWrite(Comm, LOW);
        StepCount = StepCount + 10;
      }
      else{
      if(photocellREADING > 500){
        delay(1000);
        analyzer.step(5);
        digitalWrite(Comm, LOW);
        StepCount = StepCount + 5;
      }
      else{
      if(photocellREADING > 200){
        delay(1000);
        analyzer.step(2);
        digitalWrite(Comm, LOW);
        StepCount = StepCount + 2;
      }
      else{
      if(photocellREADING > 100){
        delay(1000);
        analyzer.step(1);
        digitalWrite(Comm, LOW);
        StepCount = StepCount + 1;
      }
      else{
        alpha = StepCount * 1.8;
        Serial.println("  ");
        Serial.println("Angle alpha de la cuve numero 3 =");
        Serial.println("  ");
        Serial.print(alpha);
        lcd.setCursor(0, 1);
        lcd.print(alpha);
        delay(3000);
        lcd.clear();
        analyzer.step(-StepCount);
        StepCount = 0;
        digitalWrite(Comm, HIGH);
        delay(200);
        digitalWrite(Comm,LOW);
        delay(3000);
        CUVE = CUVE + 1;
        delay(5000);
        Serial.println("  ");
        Serial.println("  ");
        Serial.println("  ");
        Serial.println("Cuve numero 4");
        Serial.println("  ");
        Serial.println("  ");
        Serial.println("  ");
      }
    }
  }
}
}
else{
    if(CUVE == 6){
      lcd.setCursor(0, 0);
      lcd.print("Cuve numero 2");
      if(photocellREADING > 800){
        delay(1000);
        analyzer.step(10);
        digitalWrite(Comm, LOW);
        StepCount = StepCount + 10;
      }
      else{
        alpha = StepCount * 1.8;
        lcd.setCursor(0, 1);
        lcd.print(alpha);
        analyzer.step(-StepCount);
        StepCount = 0;
        digitalWrite(Comm,LOW);
        delay(3000);
        lcd.clear();
        CUVE = CUVE + 1;

      }
    }
else{
  if(CUVE == 7){
      lcd.setCursor(0, 0);
      lcd.print("Cuve numero 4");
        if(photocellREADING > 750){
        delay(1000);
        analyzer.step(10);
        digitalWrite(Comm, LOW);
        StepCount = StepCount + 10;
      }
      else{
      if(photocellREADING > 500){
        delay(1000);
        analyzer.step(5);
        digitalWrite(Comm, LOW);
        StepCount = StepCount + 5;
      }
      else{
      if(photocellREADING > 200){
        delay(1000);
        analyzer.step(2);
        digitalWrite(Comm, LOW);
        StepCount = StepCount + 2;
      }
      else{
      if(photocellREADING > 100){
        delay(1000);
        analyzer.step(1);
        digitalWrite(Comm, LOW);
        StepCount = StepCount + 1;
      }
      else{
        alpha = StepCount * 1.8;
        Serial.println("  ");
        Serial.println("Angle alpha de la cuve numero 4 =");
        Serial.println("  ");
        Serial.print(alpha);
        lcd.setCursor(0, 1);
        lcd.print(alpha);
        delay(3000);
        lcd.clear();
        analyzer.step(-StepCount);
        StepCount = 0;
        digitalWrite(Comm, HIGH);
        delay(200);
        digitalWrite(Comm,LOW);
        delay(3000);
        COUVE = 1;
        CUVE = CUVE + 1;
        Serial.println("  ");
        Serial.println("  ");
        Serial.println("  ");
        Serial.println("Cuve numero 1"),
        Serial.println("  ");
        Serial.println("  ");
        Serial.println("  ");
      }
    }
  }
}
}
else{
    if(COUVE == 1){
      lcd.setCursor(0, 0);
      lcd.print("Cuve numero 2");
      if(photocellREADING > 800){
        delay(1000);
        analyzer.step(10);
        digitalWrite(Comm, LOW);
        StepCount = StepCount + 10;
      }

      else{
        alpha = StepCount * 1.8;
        lcd.setCursor(0, 1);
        lcd.print(alpha);
        analyzer.step(-StepCount);
        StepCount = 0;
        digitalWrite(Comm,LOW);
        delay(3000);
        lcd.clear();
        CUVE = 1;
        COUVE = 0;
      }
    }
  }
}
}
}
}
}
}
}
   </code>
------------------------------------

__**Programme esclave**__
<code c>
#include <Stepper.h>
 
 int Comm2 = 7;
 byte Trigger;
 
 Stepper cuve(200, 12,13);    
 
 const int pwmC = 3;
 const int pwmD = 11;
 const int brakeC = 9;
 const int brakeD = 8;
 const int dirC = 12;
 const int dirD = 13;
 
void setup() {
   Serial.begin(9600);
 
   pinMode(Comm2, INPUT);
 
   pinMode(pwmC, OUTPUT);
   pinMode(pwmD, OUTPUT);
   pinMode(brakeC, OUTPUT);
   pinMode(brakeD, OUTPUT);
   digitalWrite(pwmC, HIGH);
   digitalWrite(pwmD, HIGH);
   digitalWrite(brakeC, LOW);
   digitalWrite(brakeD, LOW);
   cuve.setSpeed(50);
   }
  
   void loop()
   {
     Trigger = digitalRead(Comm2);
     Serial.println(Trigger);
   if(Trigger <1)
   {
   Serial.println("laser");
   delay(200);
   }
   else
   {
   Serial.print("rotate");
   cuve.step(200);
   delay(3000);
  
   }
 
   }
   </code>