{"id":3973,"date":"2024-02-24T03:18:07","date_gmt":"2024-02-24T03:18:07","guid":{"rendered":"http:\/\/projet-heremoana.com\/?p=3973"},"modified":"2024-04-02T13:24:19","modified_gmt":"2024-04-02T13:24:19","slug":"diy-pilote-automatique","status":"publish","type":"post","link":"http:\/\/projet-heremoana.com\/index.php\/2024\/02\/24\/diy-pilote-automatique\/","title":{"rendered":"[DIY] Pilote automatique Opensource"},"content":{"rendered":"\t\t<div data-elementor-type=\"wp-post\" data-elementor-id=\"3973\" class=\"elementor elementor-3973\">\n\t\t\t\t\t\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-beb3377 elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"beb3377\" data-element_type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-a8d0a03\" data-id=\"a8d0a03\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-element elementor-element-336e032 elementor-widget elementor-widget-image\" data-id=\"336e032\" data-element_type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<style>\/*! elementor - v3.17.0 - 08-11-2023 *\/\n.elementor-widget-image{text-align:center}.elementor-widget-image a{display:inline-block}.elementor-widget-image a img[src$=\".svg\"]{width:48px}.elementor-widget-image img{vertical-align:middle;display:inline-block}<\/style>\t\t\t\t\t\t\t\t\t\t\t\t<img loading=\"lazy\" decoding=\"async\" width=\"1170\" height=\"536\" src=\"http:\/\/projet-heremoana.com\/wp-content\/uploads\/2024\/02\/pilote-auto-illustration-1170x536.jpg\" class=\"attachment-htmega_size_1170x536 size-htmega_size_1170x536 wp-image-4376\" alt=\"\" \/>\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-d341879 elementor-widget elementor-widget-text-editor\" data-id=\"d341879\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<style>\/*! elementor - v3.17.0 - 08-11-2023 *\/\n.elementor-widget-text-editor.elementor-drop-cap-view-stacked .elementor-drop-cap{background-color:#69727d;color:#fff}.elementor-widget-text-editor.elementor-drop-cap-view-framed .elementor-drop-cap{color:#69727d;border:3px solid;background-color:transparent}.elementor-widget-text-editor:not(.elementor-drop-cap-view-default) .elementor-drop-cap{margin-top:8px}.elementor-widget-text-editor:not(.elementor-drop-cap-view-default) .elementor-drop-cap-letter{width:1em;height:1em}.elementor-widget-text-editor .elementor-drop-cap{float:left;text-align:center;line-height:1;font-size:50px}.elementor-widget-text-editor .elementor-drop-cap-letter{display:inline-block}<\/style>\t\t\t\t<p><b>Le Pypilot est un projet de pilote automatique d\u00e9velopp\u00e9 par Sean d&#8217;Epagnier et disponible en <i>open source <\/i>! La partie logicielle est t\u00e9l\u00e9chargeable gratuitement (https:\/\/github.com\/pypilot), il fonctionne avec la distribution linux TinyPilot et s&#8217;int\u00e8gre dans Openplotter, un syst\u00e8me de navigation open source. Cette article a pour but de d\u00e9crire le fonctionnement du pilote et comment nous avons install\u00e9 l&#8217;\u00e9lectronique et les composants m\u00e9caniques associ\u00e9s sur notre bateau.\u00a0 Pr\u00e9parez l&#8217;\u00e9tain et les fers \u00e0 souder, \u00e7a va chauffer ! <br \/><\/b><\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-2f78454 elementor-widget elementor-widget-heading\" data-id=\"2f78454\" data-element_type=\"widget\" data-widget_type=\"heading.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<style>\/*! elementor - v3.17.0 - 08-11-2023 *\/\n.elementor-heading-title{padding:0;margin:0;line-height:1}.elementor-widget-heading .elementor-heading-title[class*=elementor-size-]>a{color:inherit;font-size:inherit;line-height:inherit}.elementor-widget-heading .elementor-heading-title.elementor-size-small{font-size:15px}.elementor-widget-heading .elementor-heading-title.elementor-size-medium{font-size:19px}.elementor-widget-heading .elementor-heading-title.elementor-size-large{font-size:29px}.elementor-widget-heading .elementor-heading-title.elementor-size-xl{font-size:39px}.elementor-widget-heading .elementor-heading-title.elementor-size-xxl{font-size:59px}<\/style><h2 class=\"elementor-heading-title elementor-size-medium\"><b>I. Description des \u00e9l\u00e9ments de l'\u00e9lectronique<\/b><\/h2>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-207e4cb elementor-widget elementor-widget-image\" data-id=\"207e4cb\" data-element_type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t\t\t\t<figure class=\"wp-caption\">\n\t\t\t\t\t\t\t\t\t\t<img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"845\" src=\"http:\/\/projet-heremoana.com\/wp-content\/uploads\/2024\/02\/diagram_pypilot_v2-1024x845.png\" class=\"attachment-large size-large wp-image-4388\" alt=\"\" srcset=\"http:\/\/projet-heremoana.com\/wp-content\/uploads\/2024\/02\/diagram_pypilot_v2-1024x845.png 1024w, http:\/\/projet-heremoana.com\/wp-content\/uploads\/2024\/02\/diagram_pypilot_v2-300x248.png 300w, http:\/\/projet-heremoana.com\/wp-content\/uploads\/2024\/02\/diagram_pypilot_v2-768x634.png 768w, http:\/\/projet-heremoana.com\/wp-content\/uploads\/2024\/02\/diagram_pypilot_v2.png 1031w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/>\t\t\t\t\t\t\t\t\t\t\t<figcaption class=\"widget-image-caption wp-caption-text\">Diagramme haut niveau du fonctionnement du pilote<\/figcaption>\n\t\t\t\t\t\t\t\t\t\t<\/figure>\n\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-ebf7e33 elementor-widget elementor-widget-text-editor\" data-id=\"ebf7e33\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<p>Le pilote automatique se compose d&#8217;une partie \u00e9lectronique et d&#8217;une partie m\u00e9canique. Grossi\u00e8rement,\u00a0 l&#8217;\u00e9lectronique mesure le cap \u00e0 tenir et envoi des commandes \u00e0 un v\u00e9rin qui agit m\u00e9caniquement sur le syst\u00e8me de direction. Plus besoin de barrer vous pouvez tranquillement traverser les oc\u00e9ans sans vous fatiguer ! En pratique, c&#8217;est un peu plus compliqu\u00e9 que cela en a l&#8217;air,\u00a0 voyons un peu dans le d\u00e9tail comment tout cela fonctionne.<\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-0c096d3 elementor-widget elementor-widget-text-editor\" data-id=\"0c096d3\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<p>La partie \u00ab\u00a0hardware\u00a0\u00bb \u00e9lectronique se compose de trois principaux composants\u00a0:<\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-0baad8a elementor-widget elementor-widget-text-editor\" data-id=\"0baad8a\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<p><!-- [if gte mso 9]><xml><br \/> <o:OfficeDocumentSettings><br \/>  <o:AllowPNG\/><br \/> 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Name=\"HTML Code\"\/><br \/>  <w:LsdException Locked=\"false\" SemiHidden=\"true\" UnhideWhenUsed=\"true\" Name=\"HTML Definition\"\/><br \/>  <w:LsdException Locked=\"false\" SemiHidden=\"true\" UnhideWhenUsed=\"true\" Name=\"HTML Keyboard\"\/><br \/>  <w:LsdException Locked=\"false\" SemiHidden=\"true\" UnhideWhenUsed=\"true\" Name=\"HTML Preformatted\"\/><br \/>  <w:LsdException Locked=\"false\" SemiHidden=\"true\" UnhideWhenUsed=\"true\" Name=\"HTML Sample\"\/><br \/>  <w:LsdException Locked=\"false\" SemiHidden=\"true\" UnhideWhenUsed=\"true\" Name=\"HTML Typewriter\"\/><br \/>  <w:LsdException Locked=\"false\" SemiHidden=\"true\" UnhideWhenUsed=\"true\" Name=\"HTML Variable\"\/><br \/>  <w:LsdException Locked=\"false\" SemiHidden=\"true\" UnhideWhenUsed=\"true\" Name=\"Normal Table\"\/><br \/>  <w:LsdException Locked=\"false\" SemiHidden=\"true\" UnhideWhenUsed=\"true\" Name=\"annotation subject\"\/><br \/>  <w:LsdException Locked=\"false\" SemiHidden=\"true\" UnhideWhenUsed=\"true\" Name=\"No List\"\/><br \/>  <w:LsdException Locked=\"false\" SemiHidden=\"true\" UnhideWhenUsed=\"true\" Name=\"Outline List 1\"\/><br \/>  <w:LsdException Locked=\"false\" SemiHidden=\"true\" UnhideWhenUsed=\"true\" Name=\"Outline List 2\"\/><br \/>  <w:LsdException Locked=\"false\" SemiHidden=\"true\" UnhideWhenUsed=\"true\" Name=\"Outline List 3\"\/><br \/>  <w:LsdException Locked=\"false\" SemiHidden=\"true\" UnhideWhenUsed=\"true\" Name=\"Table Simple 1\"\/><br \/>  <w:LsdException Locked=\"false\" SemiHidden=\"true\" UnhideWhenUsed=\"true\" Name=\"Table Simple 2\"\/><br \/>  <w:LsdException Locked=\"false\" SemiHidden=\"true\" UnhideWhenUsed=\"true\" Name=\"Table Simple 3\"\/><br \/>  <w:LsdException Locked=\"false\" SemiHidden=\"true\" UnhideWhenUsed=\"true\" Name=\"Table Classic 1\"\/><br \/>  <w:LsdException Locked=\"false\" SemiHidden=\"true\" UnhideWhenUsed=\"true\" Name=\"Table Classic 2\"\/><br \/>  <w:LsdException Locked=\"false\" SemiHidden=\"true\" UnhideWhenUsed=\"true\" Name=\"Table Classic 3\"\/><br \/>  <w:LsdException Locked=\"false\" SemiHidden=\"true\" UnhideWhenUsed=\"true\" Name=\"Table Classic 4\"\/><br \/>  <w:LsdException Locked=\"false\" SemiHidden=\"true\" UnhideWhenUsed=\"true\" Name=\"Table Colorful 1\"\/><br \/>  <w:LsdException Locked=\"false\" SemiHidden=\"true\" UnhideWhenUsed=\"true\" Name=\"Table Colorful 2\"\/><br \/>  <w:LsdException Locked=\"false\" SemiHidden=\"true\" UnhideWhenUsed=\"true\" Name=\"Table Colorful 3\"\/><br \/>  <w:LsdException Locked=\"false\" SemiHidden=\"true\" UnhideWhenUsed=\"true\" Name=\"Table Columns 1\"\/><br \/>  <w:LsdException Locked=\"false\" SemiHidden=\"true\" UnhideWhenUsed=\"true\" Name=\"Table Columns 2\"\/><br \/>  <w:LsdException Locked=\"false\" SemiHidden=\"true\" UnhideWhenUsed=\"true\" Name=\"Table Columns 3\"\/><br \/>  <w:LsdException Locked=\"false\" SemiHidden=\"true\" UnhideWhenUsed=\"true\" Name=\"Table Columns 4\"\/><br \/>  <w:LsdException Locked=\"false\" SemiHidden=\"true\" UnhideWhenUsed=\"true\" Name=\"Table Columns 5\"\/><br \/>  <w:LsdException Locked=\"false\" SemiHidden=\"true\" UnhideWhenUsed=\"true\" Name=\"Table Grid 1\"\/><br \/>  <w:LsdException Locked=\"false\" SemiHidden=\"true\" UnhideWhenUsed=\"true\" Name=\"Table Grid 2\"\/><br \/>  <w:LsdException Locked=\"false\" SemiHidden=\"true\" UnhideWhenUsed=\"true\" Name=\"Table Grid 3\"\/><br \/>  <w:LsdException Locked=\"false\" SemiHidden=\"true\" UnhideWhenUsed=\"true\" Name=\"Table Grid 4\"\/><br \/>  <w:LsdException Locked=\"false\" SemiHidden=\"true\" UnhideWhenUsed=\"true\" Name=\"Table Grid 5\"\/><br \/>  <w:LsdException Locked=\"false\" SemiHidden=\"true\" UnhideWhenUsed=\"true\" Name=\"Table Grid 6\"\/><br \/>  <w:LsdException Locked=\"false\" SemiHidden=\"true\" UnhideWhenUsed=\"true\" Name=\"Table Grid 7\"\/><br \/>  <w:LsdException Locked=\"false\" SemiHidden=\"true\" UnhideWhenUsed=\"true\" Name=\"Table Grid 8\"\/><br \/>  <w:LsdException Locked=\"false\" SemiHidden=\"true\" UnhideWhenUsed=\"true\" Name=\"Table List 1\"\/><br \/>  <w:LsdException Locked=\"false\" SemiHidden=\"true\" UnhideWhenUsed=\"true\" Name=\"Table List 2\"\/><br \/>  <w:LsdException Locked=\"false\" SemiHidden=\"true\" UnhideWhenUsed=\"true\" Name=\"Table List 3\"\/><br \/>  <w:LsdException Locked=\"false\" SemiHidden=\"true\" UnhideWhenUsed=\"true\" Name=\"Table List 4\"\/><br \/>  <w:LsdException Locked=\"false\" SemiHidden=\"true\" UnhideWhenUsed=\"true\" Name=\"Table List 5\"\/><br \/>  <w:LsdException Locked=\"false\" SemiHidden=\"true\" UnhideWhenUsed=\"true\" Name=\"Table List 6\"\/><br \/>  <w:LsdException Locked=\"false\" SemiHidden=\"true\" UnhideWhenUsed=\"true\" Name=\"Table List 7\"\/><br \/>  <w:LsdException Locked=\"false\" SemiHidden=\"true\" UnhideWhenUsed=\"true\" Name=\"Table List 8\"\/><br \/>  <w:LsdException Locked=\"false\" SemiHidden=\"true\" UnhideWhenUsed=\"true\" Name=\"Table 3D effects 1\"\/><br \/>  <w:LsdException Locked=\"false\" SemiHidden=\"true\" UnhideWhenUsed=\"true\" Name=\"Table 3D effects 2\"\/><br \/>  <w:LsdException Locked=\"false\" SemiHidden=\"true\" UnhideWhenUsed=\"true\" Name=\"Table 3D effects 3\"\/><br \/>  <w:LsdException Locked=\"false\" SemiHidden=\"true\" UnhideWhenUsed=\"true\" Name=\"Table Contemporary\"\/><br \/>  <w:LsdException Locked=\"false\" SemiHidden=\"true\" UnhideWhenUsed=\"true\" Name=\"Table Elegant\"\/><br \/>  <w:LsdException Locked=\"false\" SemiHidden=\"true\" UnhideWhenUsed=\"true\" Name=\"Table Professional\"\/><br \/>  <w:LsdException Locked=\"false\" SemiHidden=\"true\" UnhideWhenUsed=\"true\" Name=\"Table Subtle 1\"\/><br \/>  <w:LsdException Locked=\"false\" SemiHidden=\"true\" UnhideWhenUsed=\"true\" Name=\"Table Subtle 2\"\/><br \/>  <w:LsdException Locked=\"false\" SemiHidden=\"true\" UnhideWhenUsed=\"true\" Name=\"Table Web 1\"\/><br \/>  <w:LsdException Locked=\"false\" SemiHidden=\"true\" UnhideWhenUsed=\"true\" Name=\"Table Web 2\"\/><br \/>  <w:LsdException Locked=\"false\" SemiHidden=\"true\" UnhideWhenUsed=\"true\" Name=\"Table Web 3\"\/><br \/>  <w:LsdException Locked=\"false\" SemiHidden=\"true\" UnhideWhenUsed=\"true\" Name=\"Balloon Text\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"39\" Name=\"Table Grid\"\/><br \/>  <w:LsdException Locked=\"false\" SemiHidden=\"true\" UnhideWhenUsed=\"true\" Name=\"Table Theme\"\/><br \/>  <w:LsdException Locked=\"false\" SemiHidden=\"true\" Name=\"Placeholder Text\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"1\" QFormat=\"true\" Name=\"No Spacing\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"60\" Name=\"Light Shading\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"61\" Name=\"Light List\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"62\" Name=\"Light Grid\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"63\" Name=\"Medium Shading 1\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"64\" Name=\"Medium Shading 2\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"65\" Name=\"Medium List 1\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"66\" Name=\"Medium List 2\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"67\" Name=\"Medium Grid 1\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"68\" Name=\"Medium Grid 2\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"69\" Name=\"Medium Grid 3\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"70\" Name=\"Dark List\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"71\" Name=\"Colorful Shading\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"72\" Name=\"Colorful List\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"73\" Name=\"Colorful Grid\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"60\" Name=\"Light Shading Accent 1\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"61\" Name=\"Light List Accent 1\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"62\" Name=\"Light Grid Accent 1\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"63\" Name=\"Medium Shading 1 Accent 1\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"64\" Name=\"Medium Shading 2 Accent 1\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"65\" Name=\"Medium List 1 Accent 1\"\/><br \/>  <w:LsdException Locked=\"false\" SemiHidden=\"true\" Name=\"Revision\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"34\" QFormat=\"true\" Name=\"List Paragraph\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"29\" QFormat=\"true\" Name=\"Quote\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"30\" QFormat=\"true\" Name=\"Intense Quote\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"66\" Name=\"Medium List 2 Accent 1\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"67\" Name=\"Medium Grid 1 Accent 1\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"68\" Name=\"Medium Grid 2 Accent 1\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"69\" Name=\"Medium Grid 3 Accent 1\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"70\" Name=\"Dark List Accent 1\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"71\" Name=\"Colorful Shading Accent 1\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"72\" Name=\"Colorful List Accent 1\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"73\" Name=\"Colorful Grid Accent 1\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"60\" Name=\"Light Shading Accent 2\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"61\" Name=\"Light List Accent 2\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"62\" Name=\"Light Grid Accent 2\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"63\" Name=\"Medium Shading 1 Accent 2\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"64\" Name=\"Medium Shading 2 Accent 2\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"65\" Name=\"Medium List 1 Accent 2\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"66\" Name=\"Medium List 2 Accent 2\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"67\" Name=\"Medium Grid 1 Accent 2\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"68\" Name=\"Medium Grid 2 Accent 2\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"69\" Name=\"Medium Grid 3 Accent 2\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"70\" Name=\"Dark List Accent 2\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"71\" Name=\"Colorful Shading Accent 2\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"72\" Name=\"Colorful List Accent 2\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"73\" Name=\"Colorful Grid Accent 2\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"60\" Name=\"Light Shading Accent 3\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"61\" Name=\"Light List Accent 3\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"62\" Name=\"Light Grid Accent 3\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"63\" Name=\"Medium Shading 1 Accent 3\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"64\" Name=\"Medium Shading 2 Accent 3\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"65\" Name=\"Medium List 1 Accent 3\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"66\" Name=\"Medium List 2 Accent 3\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"67\" Name=\"Medium Grid 1 Accent 3\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"68\" Name=\"Medium Grid 2 Accent 3\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"69\" Name=\"Medium Grid 3 Accent 3\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"70\" Name=\"Dark List Accent 3\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"71\" Name=\"Colorful Shading Accent 3\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"72\" Name=\"Colorful List Accent 3\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"73\" Name=\"Colorful Grid Accent 3\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"60\" Name=\"Light Shading Accent 4\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"61\" Name=\"Light List Accent 4\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"62\" Name=\"Light Grid Accent 4\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"63\" Name=\"Medium Shading 1 Accent 4\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"64\" Name=\"Medium Shading 2 Accent 4\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"65\" Name=\"Medium List 1 Accent 4\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"66\" Name=\"Medium List 2 Accent 4\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"67\" Name=\"Medium Grid 1 Accent 4\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"68\" Name=\"Medium Grid 2 Accent 4\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"69\" Name=\"Medium Grid 3 Accent 4\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"70\" Name=\"Dark List Accent 4\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"71\" Name=\"Colorful Shading Accent 4\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"72\" Name=\"Colorful List Accent 4\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"73\" Name=\"Colorful Grid Accent 4\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"60\" Name=\"Light Shading Accent 5\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"61\" Name=\"Light List Accent 5\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"62\" Name=\"Light Grid Accent 5\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"63\" Name=\"Medium Shading 1 Accent 5\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"64\" Name=\"Medium Shading 2 Accent 5\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"65\" Name=\"Medium List 1 Accent 5\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"66\" Name=\"Medium List 2 Accent 5\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"67\" Name=\"Medium Grid 1 Accent 5\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"68\" Name=\"Medium Grid 2 Accent 5\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"69\" Name=\"Medium Grid 3 Accent 5\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"70\" Name=\"Dark List Accent 5\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"71\" Name=\"Colorful Shading Accent 5\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"72\" Name=\"Colorful List Accent 5\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"73\" Name=\"Colorful Grid Accent 5\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"60\" Name=\"Light Shading Accent 6\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"61\" Name=\"Light List Accent 6\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"62\" Name=\"Light Grid Accent 6\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"63\" Name=\"Medium Shading 1 Accent 6\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"64\" Name=\"Medium Shading 2 Accent 6\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"65\" Name=\"Medium List 1 Accent 6\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"66\" Name=\"Medium List 2 Accent 6\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"67\" Name=\"Medium Grid 1 Accent 6\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"68\" Name=\"Medium Grid 2 Accent 6\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"69\" Name=\"Medium Grid 3 Accent 6\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"70\" Name=\"Dark List Accent 6\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"71\" Name=\"Colorful Shading Accent 6\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"72\" Name=\"Colorful List Accent 6\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"73\" Name=\"Colorful Grid Accent 6\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"19\" QFormat=\"true\" Name=\"Subtle Emphasis\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"21\" QFormat=\"true\" Name=\"Intense Emphasis\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"31\" QFormat=\"true\" Name=\"Subtle Reference\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"32\" QFormat=\"true\" Name=\"Intense Reference\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"33\" QFormat=\"true\" Name=\"Book Title\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"37\" SemiHidden=\"true\" UnhideWhenUsed=\"true\" Name=\"Bibliography\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"39\" SemiHidden=\"true\" UnhideWhenUsed=\"true\" QFormat=\"true\" Name=\"TOC Heading\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"41\" Name=\"Plain Table 1\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"42\" Name=\"Plain Table 2\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"43\" Name=\"Plain Table 3\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"44\" Name=\"Plain Table 4\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"45\" Name=\"Plain Table 5\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"40\" Name=\"Grid Table Light\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"46\" Name=\"Grid Table 1 Light\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"47\" Name=\"Grid Table 2\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"48\" Name=\"Grid Table 3\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"49\" Name=\"Grid Table 4\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"50\" Name=\"Grid Table 5 Dark\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"51\" Name=\"Grid Table 6 Colorful\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"52\" Name=\"Grid Table 7 Colorful\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"46\" Name=\"Grid Table 1 Light Accent 1\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"47\" Name=\"Grid Table 2 Accent 1\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"48\" Name=\"Grid Table 3 Accent 1\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"49\" Name=\"Grid Table 4 Accent 1\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"50\" Name=\"Grid Table 5 Dark Accent 1\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"51\" Name=\"Grid Table 6 Colorful Accent 1\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"52\" Name=\"Grid Table 7 Colorful Accent 1\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"46\" Name=\"Grid Table 1 Light Accent 2\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"47\" Name=\"Grid Table 2 Accent 2\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"48\" Name=\"Grid Table 3 Accent 2\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"49\" Name=\"Grid Table 4 Accent 2\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"50\" Name=\"Grid Table 5 Dark Accent 2\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"51\" Name=\"Grid Table 6 Colorful Accent 2\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"52\" Name=\"Grid Table 7 Colorful Accent 2\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"46\" Name=\"Grid Table 1 Light Accent 3\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"47\" Name=\"Grid Table 2 Accent 3\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"48\" Name=\"Grid Table 3 Accent 3\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"49\" Name=\"Grid Table 4 Accent 3\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"50\" Name=\"Grid Table 5 Dark Accent 3\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"51\" Name=\"Grid Table 6 Colorful Accent 3\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"52\" Name=\"Grid Table 7 Colorful Accent 3\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"46\" Name=\"Grid Table 1 Light Accent 4\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"47\" Name=\"Grid Table 2 Accent 4\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"48\" Name=\"Grid Table 3 Accent 4\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"49\" Name=\"Grid Table 4 Accent 4\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"50\" Name=\"Grid Table 5 Dark Accent 4\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"51\" Name=\"Grid Table 6 Colorful Accent 4\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"52\" Name=\"Grid Table 7 Colorful Accent 4\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"46\" Name=\"Grid Table 1 Light Accent 5\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"47\" Name=\"Grid Table 2 Accent 5\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"48\" Name=\"Grid Table 3 Accent 5\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"49\" Name=\"Grid Table 4 Accent 5\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"50\" Name=\"Grid Table 5 Dark Accent 5\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"51\" Name=\"Grid Table 6 Colorful Accent 5\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"52\" Name=\"Grid Table 7 Colorful Accent 5\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"46\" Name=\"Grid Table 1 Light Accent 6\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"47\" Name=\"Grid Table 2 Accent 6\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"48\" Name=\"Grid Table 3 Accent 6\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"49\" Name=\"Grid Table 4 Accent 6\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"50\" Name=\"Grid Table 5 Dark Accent 6\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"51\" Name=\"Grid Table 6 Colorful Accent 6\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"52\" Name=\"Grid Table 7 Colorful Accent 6\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"46\" Name=\"List Table 1 Light\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"47\" Name=\"List Table 2\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"48\" Name=\"List Table 3\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"49\" Name=\"List Table 4\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"50\" Name=\"List Table 5 Dark\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"51\" Name=\"List Table 6 Colorful\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"52\" Name=\"List Table 7 Colorful\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"46\" Name=\"List Table 1 Light Accent 1\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"47\" Name=\"List Table 2 Accent 1\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"48\" Name=\"List Table 3 Accent 1\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"49\" Name=\"List Table 4 Accent 1\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"50\" Name=\"List Table 5 Dark Accent 1\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"51\" Name=\"List Table 6 Colorful Accent 1\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"52\" Name=\"List Table 7 Colorful Accent 1\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"46\" Name=\"List Table 1 Light Accent 2\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"47\" Name=\"List Table 2 Accent 2\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"48\" Name=\"List Table 3 Accent 2\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"49\" Name=\"List Table 4 Accent 2\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"50\" Name=\"List Table 5 Dark Accent 2\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"51\" Name=\"List Table 6 Colorful Accent 2\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"52\" Name=\"List Table 7 Colorful Accent 2\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"46\" Name=\"List Table 1 Light Accent 3\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"47\" Name=\"List Table 2 Accent 3\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"48\" Name=\"List Table 3 Accent 3\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"49\" Name=\"List Table 4 Accent 3\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"50\" Name=\"List Table 5 Dark Accent 3\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"51\" Name=\"List Table 6 Colorful Accent 3\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"52\" Name=\"List Table 7 Colorful Accent 3\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"46\" Name=\"List Table 1 Light Accent 4\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"47\" Name=\"List Table 2 Accent 4\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"48\" Name=\"List Table 3 Accent 4\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"49\" Name=\"List Table 4 Accent 4\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"50\" Name=\"List Table 5 Dark Accent 4\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"51\" Name=\"List Table 6 Colorful Accent 4\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"52\" Name=\"List Table 7 Colorful Accent 4\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"46\" Name=\"List Table 1 Light Accent 5\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"47\" Name=\"List Table 2 Accent 5\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"48\" Name=\"List Table 3 Accent 5\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"49\" Name=\"List Table 4 Accent 5\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"50\" Name=\"List Table 5 Dark Accent 5\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"51\" Name=\"List Table 6 Colorful Accent 5\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"52\" Name=\"List Table 7 Colorful Accent 5\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"46\" Name=\"List Table 1 Light Accent 6\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"47\" Name=\"List Table 2 Accent 6\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"48\" Name=\"List Table 3 Accent 6\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"49\" Name=\"List Table 4 Accent 6\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"50\" Name=\"List Table 5 Dark Accent 6\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"51\" Name=\"List Table 6 Colorful Accent 6\"\/><br \/>  <w:LsdException Locked=\"false\" Priority=\"52\" Name=\"List Table 7 Colorful Accent 6\"\/><br \/> <\/w:LatentStyles><br \/><\/xml><![endif]--><!-- [if gte mso 10]><\/p>\n<style>\n \/* Style Definitions *\/<br \/> table.MsoNormalTable<br \/>\t{mso-style-name:\"Tableau Normal\";<br \/>\tmso-tstyle-rowband-size:0;<br \/>\tmso-tstyle-colband-size:0;<br \/>\tmso-style-noshow:yes;<br \/>\tmso-style-priority:99;<br \/>\tmso-style-parent:\"\";<br \/>\tmso-padding-alt:0cm 5.4pt 0cm 5.4pt;<br \/>\tmso-para-margin-top:0cm;<br \/>\tmso-para-margin-right:0cm;<br \/>\tmso-para-margin-bottom:8.0pt;<br \/>\tmso-para-margin-left:0cm;<br \/>\tline-height:107%;<br \/>\tmso-pagination:widow-orphan;<br \/>\tfont-size:11.0pt;<br \/>\tfont-family:\"Calibri\",\"sans-serif\";<br \/>\tmso-ascii-font-family:Calibri;<br \/>\tmso-ascii-theme-font:minor-latin;<br \/>\tmso-hansi-font-family:Calibri;<br \/>\tmso-hansi-theme-font:minor-latin;<br \/>\tmso-bidi-font-family:\"Times New Roman\";<br \/>\tmso-bidi-theme-font:minor-bidi;<br \/>\tmso-fareast-language:EN-US;}<br \/><\/style>\n<p><![endif]--><\/p>\n<ul>\n<li>Une <b>Raspberry Pi <\/b>(de pr\u00e9f\u00e9rence de type Pi z\u00e9ro) sur laquelle sont install\u00e9es les distributions Pypilot.<\/li>\n<li>Une centrale inertielle ou<b> IMU<\/b> (Inertial motion unit)<\/li>\n<li>Un contr\u00f4leur de type <b>Arduino<\/b><\/li>\n<\/ul>\n<div>\n<p>La Raspberry est le &#8220;<b>calculateur<\/b>&#8221; du pilote, elle contient les logiciels permettant de r\u00e9aliser les calculs afin de maintenir le cap de votre navire.<\/p>\n<\/div>\n<p>L\u2019<b>IMU<\/b> mesure le cap magn\u00e9tique et les mouvements du bateau (gite, roulis etc&#8230;) n\u00e9cessaire au fonctionnement du pilote. <span style=\"mso-spacerun: yes;\">&nbsp;<\/span>Il s\u2019agit d\u2019un circuit int\u00e9gr\u00e9 connect\u00e9 \u00e0 la Raspberry.<\/p>\n<p>Le <b>contr\u00f4leur <\/b>fait le lien entre le logiciel Pypilot et la partie unit\u00e9 de puissance (v\u00e9rin + pompe hydraulique). Il s\u2019agit d\u2019un Arduino <a href=\"https:\/\/www.arduino.cc\/\" target=\"_blank\" rel=\"noopener\">(<span style=\"text-decoration: underline;\">https:\/\/www.arduino.cc\/<\/span>)<\/a>, c\u2019est-\u00e0-dire une carte \u00e9lectronique programmable, sur lequel des capteurs peuvent \u00eatre branch\u00e9s et qui permet par exemple d\u2019animer des syst\u00e8mes m\u00e9caniques.<\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-397f792 elementor-widget elementor-widget-text-editor\" data-id=\"397f792\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<p>Il est connect\u00e9 \u00e0 la Raspberry via une connexion s\u00e9rie bidirectionnelle. Dans un sens, le logiciel Pypilot demande au contr\u00f4leur Arduino d&#8217;agir sur le v\u00e9rin hydraulique pour d\u00e9placer le safran, avec une intensit\u00e9 et une amplitude donn\u00e9e. Dans l\u2019autre sens, le contr\u00f4leur arduino renvoit au pypilot de nombreuses informations mesur\u00e9es par des capteurs, comme l\u2019angle du safran ou les param\u00e8tres du contr\u00f4leur (courant, voltage, temp\u00e9rature etc\u2026).<\/p><p>\u00a0<\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<section class=\"elementor-section elementor-inner-section elementor-element elementor-element-06376c5 elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"06376c5\" data-element_type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-inner-column elementor-element elementor-element-79208de\" data-id=\"79208de\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-element elementor-element-9873824 elementor-widget elementor-widget-image\" data-id=\"9873824\" data-element_type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t\t\t\t<figure class=\"wp-caption\">\n\t\t\t\t\t\t\t\t\t\t<img loading=\"lazy\" decoding=\"async\" width=\"369\" height=\"300\" src=\"http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/12\/pi-zero.jpg\" class=\"attachment-large size-large wp-image-4178\" alt=\"\" srcset=\"http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/12\/pi-zero.jpg 369w, http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/12\/pi-zero-300x244.jpg 300w\" sizes=\"auto, (max-width: 369px) 100vw, 369px\" \/>\t\t\t\t\t\t\t\t\t\t\t<figcaption class=\"widget-image-caption wp-caption-text\">Raspberry Pi z\u00e9ro<\/figcaption>\n\t\t\t\t\t\t\t\t\t\t<\/figure>\n\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-inner-column elementor-element elementor-element-c4add0a\" data-id=\"c4add0a\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-element elementor-element-ca96948 elementor-widget elementor-widget-image\" data-id=\"ca96948\" data-element_type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t\t\t\t<figure class=\"wp-caption\">\n\t\t\t\t\t\t\t\t\t\t<img loading=\"lazy\" decoding=\"async\" width=\"263\" height=\"191\" src=\"http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/11\/arduino.jpg\" class=\"attachment-htmega_size_1170x536 size-htmega_size_1170x536 wp-image-3978\" alt=\"\" \/>\t\t\t\t\t\t\t\t\t\t\t<figcaption class=\"widget-image-caption wp-caption-text\">Arduino<\/figcaption>\n\t\t\t\t\t\t\t\t\t\t<\/figure>\n\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<div class=\"elementor-element elementor-element-5ea7110 elementor-widget elementor-widget-text-editor\" data-id=\"5ea7110\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<p>Un quatri\u00e8me composant s&#8217;ajoute uniquement pour traduire les commandes du contr\u00f4leur vers le v\u00e9rin, il s&#8217;agit d&#8217;un <b>Pont en H<\/b>.<\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-9433b22 elementor-widget elementor-widget-text-editor\" data-id=\"9433b22\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<p><strong>Note :<\/strong> Sean d&#8217;Epagnier propose des cartes \u00e9lectroniques pr\u00eates \u00e0 l&#8217;emploi, elles comprennent l&#8217;Arduino, le contr\u00f4le par t\u00e9l\u00e9commande et la gestion des tension (carte de puissance). Dans le cas de notre installation, ces composants sont s\u00e9par\u00e9s en diff\u00e9rentes unit\u00e9s et cet article d\u00e9taille comment r\u00e9aliser vous m\u00eame ces composants.<\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-77e8a34 elementor-widget elementor-widget-heading\" data-id=\"77e8a34\" data-element_type=\"widget\" data-widget_type=\"heading.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<h2 class=\"elementor-heading-title elementor-size-medium\">a. Boitier Calculateur<\/h2>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-418f654 elementor-widget elementor-widget-text-editor\" data-id=\"418f654\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<p>Pour ce qui est de la partie calculateur, elle repose principalement sur un boitier compos\u00e9 de la Raspberry Pi z\u00e9ro, l&#8217;IMU et des \u00e9l\u00e9ments de contr\u00f4le et d&#8217;affichage (\u00e9cran, boutons, t\u00e9l\u00e9commande). Afin de r\u00e9aliser l&#8217;int\u00e9gration de ce boitier, ainsi que celui du contr\u00f4leur de puissance et de la t\u00e9l\u00e9commande de contr\u00f4le,\u00a0 nous avons re\u00e7u l&#8217;aide de Jean de la chaine youtube Colibri. Voici un lien vers sa chaine et une vid\u00e9o sur l&#8217;int\u00e9gration du pypilot : <a href=\"https:\/\/www.youtube.com\/watch?v=3yLxxTN1jco&amp;list=PLrThti84OaA3g-zq1AV_FUs1-W3snuSBe\" target=\"_blank\" rel=\"noopener\"><span style=\"text-decoration: underline;\">int\u00e9gration pypilot par Colibri<\/span><\/a><\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-f0d5303 elementor-widget elementor-widget-image\" data-id=\"f0d5303\" data-element_type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t\t\t\t<figure class=\"wp-caption\">\n\t\t\t\t\t\t\t\t\t\t<img loading=\"lazy\" decoding=\"async\" width=\"768\" height=\"483\" src=\"http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/11\/boitier-pilote-legende-768x483.png\" class=\"attachment-medium_large size-medium_large wp-image-3992\" alt=\"\" srcset=\"http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/11\/boitier-pilote-legende-768x483.png 768w, http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/11\/boitier-pilote-legende-300x189.png 300w, http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/11\/boitier-pilote-legende.png 936w\" sizes=\"auto, (max-width: 768px) 100vw, 768px\" \/>\t\t\t\t\t\t\t\t\t\t\t<figcaption class=\"widget-image-caption wp-caption-text\">Boitier Calculateur<\/figcaption>\n\t\t\t\t\t\t\t\t\t\t<\/figure>\n\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-97e5da8 elementor-widget elementor-widget-text-editor\" data-id=\"97e5da8\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<ul><li>La Raspberry est de type <b>Pi z\u00e9ro<\/b>, c&#8217;est une version miniature de la Raspberry Pi standard, plus compacte, moins puissante mais suffisante pour le pilote, elle consomme moins d&#8217;\u00e9nergie que les raspberry standards. Il vous faudra installer sur celle-ci la distribution TinyPilot pour faire fonctionner le pilote. Vous trouverez sur Github tous les fichiers et indications n\u00e9cessaires \u00e0 la configuration de la partie software (<a href=\"https:\/\/github.com\/pypilot\/tinypilot\">Tinypilot<\/a>).<\/li><\/ul>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-6b18a25 elementor-widget elementor-widget-text-editor\" data-id=\"6b18a25\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<ul><li>L&#8217;\u00e9cran d&#8217;affichage est un \u00e9cran LCD, c&#8217;est le m\u00eame que celui du c\u00e9l\u00e8bre Nokia 3310 o\u00f9 certains d&#8217;entre nous auront pass\u00e9 des heures \u00e0 jouer au jeu snake :). La connexion sur la Raspberry est r\u00e9alis\u00e9 via les pins de la carte (cf sch\u00e9ma ci-dessous). Pour r\u00e9aliser la configuration logicielle entre la raspberry et l&#8217;\u00e9cran LCD, vous pouvez vous r\u00e9f\u00e9rer \u00e0 ce site :\u00a0 <a href=\"https:\/\/www.e-tinkers.com\/2017\/11\/how-to-use-lcd-5110-pcd-8544-with-raspberry-pi\/\" target=\"_blank\" rel=\"noopener\"><span style=\"text-decoration: underline;\">e-tinkers<\/span><\/a><\/li><\/ul>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<section class=\"elementor-section elementor-inner-section elementor-element elementor-element-b42c04d elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"b42c04d\" data-element_type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-inner-column elementor-element elementor-element-04402a0\" data-id=\"04402a0\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-element elementor-element-6ce92f2 elementor-widget elementor-widget-image\" data-id=\"6ce92f2\" data-element_type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t\t\t\t<figure class=\"wp-caption\">\n\t\t\t\t\t\t\t\t\t\t<img loading=\"lazy\" decoding=\"async\" width=\"375\" height=\"310\" src=\"http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/12\/nokia-5110-lcd-display-for-arduino.jpg\" class=\"attachment-large size-large wp-image-4161\" alt=\"\" srcset=\"http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/12\/nokia-5110-lcd-display-for-arduino.jpg 375w, http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/12\/nokia-5110-lcd-display-for-arduino-300x248.jpg 300w\" sizes=\"auto, (max-width: 375px) 100vw, 375px\" \/>\t\t\t\t\t\t\t\t\t\t\t<figcaption class=\"widget-image-caption wp-caption-text\">Ecran 5110 LCD<\/figcaption>\n\t\t\t\t\t\t\t\t\t\t<\/figure>\n\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-inner-column elementor-element elementor-element-115521d\" data-id=\"115521d\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-element elementor-element-af95d80 elementor-widget elementor-widget-image\" data-id=\"af95d80\" data-element_type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t\t\t\t<figure class=\"wp-caption\">\n\t\t\t\t\t\t\t\t\t\t<img loading=\"lazy\" decoding=\"async\" width=\"837\" height=\"586\" src=\"http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/12\/LCD-5110-Interface-wtih-Raspberry-Pi.png\" class=\"attachment-large size-large wp-image-4162\" alt=\"\" srcset=\"http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/12\/LCD-5110-Interface-wtih-Raspberry-Pi.png 837w, http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/12\/LCD-5110-Interface-wtih-Raspberry-Pi-300x210.png 300w, http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/12\/LCD-5110-Interface-wtih-Raspberry-Pi-768x538.png 768w\" sizes=\"auto, (max-width: 837px) 100vw, 837px\" \/>\t\t\t\t\t\t\t\t\t\t\t<figcaption class=\"widget-image-caption wp-caption-text\">Connexion \u00e9cran LCD \/ Raspberry<\/figcaption>\n\t\t\t\t\t\t\t\t\t\t<\/figure>\n\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<div class=\"elementor-element elementor-element-4e66be7 elementor-widget elementor-widget-text-editor\" data-id=\"4e66be7\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<ul><li>L&#8217;IMU est une carte \u00e9lectronique <b>MPU9250<\/b>. Il comprend 1 gyroscope 3 axes, 1 acc\u00e9l\u00e9rom\u00e8tre 3 axes et 1 magn\u00e9tom\u00e8tre 3 axes pour d\u00e9terminer l&#8217;acc\u00e9l\u00e9ration, la vitesse angulaire et l&#8217;orientation du capteur. L&#8217;interface Pypilot sur le logiciel Openplotter permet sa configuration et sa calibration simplement. Pour ceux qui veulent le configurer par eux m\u00eame,\u00a0 ce type de capteur est largement utilis\u00e9 dans de nombreuses applications de positionnement (smartphone, robotique, etc&#8230;) et pl\u00e9tores de ressoures sont disponible en ligne. La connexion avec la Raspberry suit le sch\u00e9ma ci-dessous :<\/li><\/ul>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-fc0eb9f elementor-widget elementor-widget-image\" data-id=\"fc0eb9f\" data-element_type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<img loading=\"lazy\" decoding=\"async\" width=\"300\" height=\"273\" src=\"http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/12\/connexion-IMU-300x273.webp\" class=\"attachment-medium size-medium wp-image-4156\" alt=\"\" srcset=\"http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/12\/connexion-IMU-300x273.webp 300w, http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/12\/connexion-IMU-396x360.webp 396w, http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/12\/connexion-IMU.webp 591w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/>\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-55d4b33 elementor-widget elementor-widget-text-editor\" data-id=\"55d4b33\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<ul><li>Les boutons de contr\u00f4les sont des bouttons pressoirs connect\u00e9s via les ports GPIO de la Raspberry. R\u00e9f\u00e9rez vous \u00e0 la partie Pypilot_HAT sur GitHub et \u00e0 la chaine <span style=\"text-decoration: underline;\"><a href=\"https:\/\/www.youtube.com\/@colibri-consulting\">Colibri<\/a> <\/span>pour leur configuration : <a href=\"https:\/\/github.com\/pypilot\/pypilot\/blob\/master\/hat\/README\" target=\"_blank\" rel=\"noopener\"><span style=\"text-decoration: underline;\">Pypilot_HAT<\/span><\/a><\/li><\/ul>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-a951f37 elementor-widget elementor-widget-text-editor\" data-id=\"a951f37\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<ul><li>Un boitier auxilliaire permet un syst\u00e8me de contr\u00f4le via une t\u00e9l\u00e9commande pour pouvoir contr\u00f4ler le pilote depuis n&#8217;importe quel endroit du bateau. C&#8217;est un syst\u00e8me disponible dans le commerce \u00e0 l&#8217;origine d\u00e9di\u00e9 pour le contr\u00f4le d&#8217;un pont roulant, vous pouvez retrouver le lien dans la vid\u00e9o de Colibri cit\u00e9e plus haut.<\/li><\/ul>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<section class=\"elementor-section elementor-inner-section elementor-element elementor-element-ccd2fe5 elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"ccd2fe5\" data-element_type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-inner-column elementor-element elementor-element-edee0d2\" data-id=\"edee0d2\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-element elementor-element-7fa99ae elementor-widget elementor-widget-image\" data-id=\"7fa99ae\" data-element_type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t\t\t\t<figure class=\"wp-caption\">\n\t\t\t\t\t\t\t\t\t\t<img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"683\" src=\"http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/11\/DSC00899-1024x683.jpg\" class=\"attachment-large size-large wp-image-3996\" alt=\"\" srcset=\"http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/11\/DSC00899-1024x683.jpg 1024w, http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/11\/DSC00899-300x200.jpg 300w, http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/11\/DSC00899-768x512.jpg 768w, http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/11\/DSC00899-1536x1024.jpg 1536w, http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/11\/DSC00899-2048x1365.jpg 2048w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/>\t\t\t\t\t\t\t\t\t\t\t<figcaption class=\"widget-image-caption wp-caption-text\">Actionneur t\u00e9l\u00e9commande<\/figcaption>\n\t\t\t\t\t\t\t\t\t\t<\/figure>\n\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-inner-column elementor-element elementor-element-d152d02\" data-id=\"d152d02\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-element elementor-element-f959374 elementor-widget elementor-widget-image\" data-id=\"f959374\" data-element_type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t\t\t\t<figure class=\"wp-caption\">\n\t\t\t\t\t\t\t\t\t\t<img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"683\" src=\"http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/11\/DSC00901-1024x683.jpg\" class=\"attachment-large size-large wp-image-3997\" alt=\"\" srcset=\"http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/11\/DSC00901-1024x683.jpg 1024w, http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/11\/DSC00901-300x200.jpg 300w, http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/11\/DSC00901-768x512.jpg 768w, http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/11\/DSC00901-1536x1024.jpg 1536w, http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/11\/DSC00901-2048x1365.jpg 2048w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/>\t\t\t\t\t\t\t\t\t\t\t<figcaption class=\"widget-image-caption wp-caption-text\">T\u00e9l\u00e9commande du pilote<\/figcaption>\n\t\t\t\t\t\t\t\t\t\t<\/figure>\n\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<div class=\"elementor-element elementor-element-65d8e1e elementor-widget elementor-widget-heading\" data-id=\"65d8e1e\" data-element_type=\"widget\" data-widget_type=\"heading.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<h2 class=\"elementor-heading-title elementor-size-medium\">b. Boitier Puissance<\/h2>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-c214287 elementor-widget elementor-widget-image\" data-id=\"c214287\" data-element_type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t\t\t\t<figure class=\"wp-caption\">\n\t\t\t\t\t\t\t\t\t\t<img loading=\"lazy\" decoding=\"async\" width=\"768\" height=\"512\" src=\"http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/12\/DSC01330-768x512.jpg\" class=\"attachment-medium_large size-medium_large wp-image-4166\" alt=\"\" srcset=\"http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/12\/DSC01330-768x512.jpg 768w, http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/12\/DSC01330-300x200.jpg 300w, http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/12\/DSC01330-1024x683.jpg 1024w, http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/12\/DSC01330-1536x1024.jpg 1536w, http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/12\/DSC01330-2048x1365.jpg 2048w\" sizes=\"auto, (max-width: 768px) 100vw, 768px\" \/>\t\t\t\t\t\t\t\t\t\t\t<figcaption class=\"widget-image-caption wp-caption-text\">Arduino du pilote automatique dans son boitier \u00e9tanche<\/figcaption>\n\t\t\t\t\t\t\t\t\t\t<\/figure>\n\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-b500613 elementor-widget elementor-widget-text-editor\" data-id=\"b500613\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<p>Le boitier puissance est quant \u00e0 lui compos\u00e9 de la carte Arduino et de l&#8217;\u00e9lectronique de gestion des tensions. La connexion avec la Raspberry est r\u00e9alis\u00e9e via les ports TX et RX de la Raspberry et de l&#8217;Arduino.\u00a0<\/p><p>Pour la configuration de l&#8217;Arduino, il vous faudra charger le programme motor.ino du projet Pypilot : <a href=\"https:\/\/github.com\/pypilot\/pypilot\/blob\/master\/arduino\/motor\/motor.ino\" target=\"_blank\" rel=\"noopener\"><span style=\"text-decoration: underline;\">motor.ino<\/span><\/a><\/p><p>Attention, l&#8217;Arduino fonctionnant en 3,3V, un pont diviseur de tension est n\u00e9cessaire pour la connexion avec la Raspberry pi qui fonctionne elle en 5V. De m\u00eame il vous faudra utiliser un Pont H pour avoir la tension ad\u00e9quate sur votre moteur de v\u00e9rin.<\/p><p>Vous pouvez visionner les tr\u00e8s bonnes vid\u00e9os de la chaine youtube Ralph pour vous aider \u00e0 r\u00e9aliser ces circuits <span style=\"color: #ooced1;\">: <a href=\"https:\/\/www.youtube.com\/watch?v=mKXof5mDKys)\" target=\"_blank\" rel=\"noopener\"><span style=\"text-decoration: underline;\">vid\u00e9o gestion des tensions<\/span><\/a><\/span>.<\/p><p>\u00a0<\/p><p>Pour des raisons pratiques, le boitier est plac\u00e9 proche du v\u00e9rin sur lequel il agit. Cette zone \u00e9tant humide voir mouill\u00e9e\u00a0 dans de grosses conditions de mer, la carte \u00e9lectronique est\u00a0 dans un double boitier \u00e9tanche (photo-ci dessus).<\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-e140824 elementor-widget elementor-widget-heading\" data-id=\"e140824\" data-element_type=\"widget\" data-widget_type=\"heading.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<h2 class=\"elementor-heading-title elementor-size-medium\"><b>II) Partie m\u00e9canique : int\u00e9gration de l'unit\u00e9 de puissance<\/b><\/h2>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-f135444 gallery-spacing-custom elementor-widget elementor-widget-image-gallery\" data-id=\"f135444\" data-element_type=\"widget\" data-widget_type=\"image-gallery.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<style>.elementor-image-gallery .gallery-item{display:inline-block;text-align:center;vertical-align:top;width:100%;max-width:100%;margin:0 auto}.elementor-image-gallery .gallery-item img{margin:0 auto}.elementor-image-gallery .gallery-item .gallery-caption{margin:0}.elementor-image-gallery figure img{display:block}.elementor-image-gallery figure figcaption{width:100%}.gallery-spacing-custom .elementor-image-gallery .gallery-icon{padding:0}@media (min-width:3px){.elementor-image-gallery .gallery-columns-2 .gallery-item{max-width:50%}.elementor-image-gallery .gallery-columns-3 .gallery-item{max-width:33.33%}.elementor-image-gallery .gallery-columns-4 .gallery-item{max-width:25%}.elementor-image-gallery .gallery-columns-5 .gallery-item{max-width:20%}.elementor-image-gallery .gallery-columns-6 .gallery-item{max-width:16.666%}.elementor-image-gallery .gallery-columns-7 .gallery-item{max-width:14.28%}.elementor-image-gallery .gallery-columns-8 .gallery-item{max-width:12.5%}.elementor-image-gallery .gallery-columns-9 .gallery-item{max-width:11.11%}.elementor-image-gallery .gallery-columns-10 .gallery-item{max-width:10%}}@media (min-width:480px) and (max-width:2px){.elementor-image-gallery .gallery.gallery-columns-2 .gallery-item,.elementor-image-gallery .gallery.gallery-columns-3 .gallery-item,.elementor-image-gallery .gallery.gallery-columns-4 .gallery-item,.elementor-image-gallery .gallery.gallery-columns-5 .gallery-item,.elementor-image-gallery .gallery.gallery-columns-6 .gallery-item,.elementor-image-gallery .gallery.gallery-columns-7 .gallery-item,.elementor-image-gallery .gallery.gallery-columns-8 .gallery-item,.elementor-image-gallery .gallery.gallery-columns-9 .gallery-item,.elementor-image-gallery .gallery.gallery-columns-10 .gallery-item{max-width:50%}}@media (max-width:479px){.elementor-image-gallery .gallery.gallery-columns-2 .gallery-item,.elementor-image-gallery .gallery.gallery-columns-3 .gallery-item,.elementor-image-gallery .gallery.gallery-columns-4 .gallery-item,.elementor-image-gallery .gallery.gallery-columns-5 .gallery-item,.elementor-image-gallery .gallery.gallery-columns-6 .gallery-item,.elementor-image-gallery .gallery.gallery-columns-7 .gallery-item,.elementor-image-gallery .gallery.gallery-columns-8 .gallery-item,.elementor-image-gallery .gallery.gallery-columns-9 .gallery-item,.elementor-image-gallery .gallery.gallery-columns-10 .gallery-item{max-width:100%}}<\/style>\t\t<div class=\"elementor-image-gallery\">\n\t\t\t<div id='gallery-1' class='gallery galleryid-3973 gallery-columns-2 gallery-size-medium'><figure class='gallery-item'>\n\t\t\t<div class='gallery-icon landscape'>\n\t\t\t\t<a data-elementor-open-lightbox=\"yes\" data-elementor-lightbox-slideshow=\"f135444\" data-elementor-lightbox-title=\"DSC01318\" data-e-action-hash=\"#elementor-action%3Aaction%3Dlightbox%26settings%3DeyJpZCI6NDE2OCwidXJsIjoiaHR0cDpcL1wvcHJvamV0LWhlcmVtb2FuYS5jb21cL3dwLWNvbnRlbnRcL3VwbG9hZHNcLzIwMjNcLzEyXC9EU0MwMTMxOC1zY2FsZWQuanBnIiwic2xpZGVzaG93IjoiZjEzNTQ0NCJ9\" href='http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/12\/DSC01318-scaled.jpg'><img loading=\"lazy\" decoding=\"async\" width=\"300\" height=\"200\" src=\"http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/12\/DSC01318-300x200.jpg\" class=\"attachment-medium size-medium\" alt=\"\" aria-describedby=\"gallery-1-4168\" srcset=\"http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/12\/DSC01318-300x200.jpg 300w, http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/12\/DSC01318-1024x683.jpg 1024w, http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/12\/DSC01318-768x512.jpg 768w, http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/12\/DSC01318-1536x1024.jpg 1536w, http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/12\/DSC01318-2048x1365.jpg 2048w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><\/a>\n\t\t\t<\/div>\n\t\t\t\t<figcaption class='wp-caption-text gallery-caption' id='gallery-1-4168'>\n\t\t\t\tBoite de protection du v\u00e9rin et de l&#8217;\u00e9lectronique\n\t\t\t\t<\/figcaption><\/figure><figure class='gallery-item'>\n\t\t\t<div class='gallery-icon landscape'>\n\t\t\t\t<a data-elementor-open-lightbox=\"yes\" data-elementor-lightbox-slideshow=\"f135444\" data-elementor-lightbox-title=\"DSC01322\" data-e-action-hash=\"#elementor-action%3Aaction%3Dlightbox%26settings%3DeyJpZCI6NDE2NywidXJsIjoiaHR0cDpcL1wvcHJvamV0LWhlcmVtb2FuYS5jb21cL3dwLWNvbnRlbnRcL3VwbG9hZHNcLzIwMjNcLzEyXC9EU0MwMTMyMi1zY2FsZWQuanBnIiwic2xpZGVzaG93IjoiZjEzNTQ0NCJ9\" href='http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/12\/DSC01322-scaled.jpg'><img loading=\"lazy\" decoding=\"async\" width=\"300\" height=\"200\" src=\"http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/12\/DSC01322-300x200.jpg\" class=\"attachment-medium size-medium\" alt=\"\" aria-describedby=\"gallery-1-4167\" srcset=\"http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/12\/DSC01322-300x200.jpg 300w, http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/12\/DSC01322-1024x683.jpg 1024w, http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/12\/DSC01322-768x512.jpg 768w, http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/12\/DSC01322-1536x1024.jpg 1536w, http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/12\/DSC01322-2048x1365.jpg 2048w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><\/a>\n\t\t\t<\/div>\n\t\t\t\t<figcaption class='wp-caption-text gallery-caption' id='gallery-1-4167'>\n\t\t\t\tMoteur hydrolique du v\u00e9rin\n\t\t\t\t<\/figcaption><\/figure><figure class='gallery-item'>\n\t\t\t<div class='gallery-icon landscape'>\n\t\t\t\t<a data-elementor-open-lightbox=\"yes\" data-elementor-lightbox-slideshow=\"f135444\" data-elementor-lightbox-title=\"V\u00e9rin du pilote automatique\" data-e-action-hash=\"#elementor-action%3Aaction%3Dlightbox%26settings%3DeyJpZCI6Mzk4MiwidXJsIjoiaHR0cDpcL1wvcHJvamV0LWhlcmVtb2FuYS5jb21cL3dwLWNvbnRlbnRcL3VwbG9hZHNcLzIwMjNcLzExXC92bGNzbmFwLTIwMjMtMTEtMzAtMTFoMTVtMDlzNDA0LnBuZyIsInNsaWRlc2hvdyI6ImYxMzU0NDQifQ%3D%3D\" href='http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/11\/vlcsnap-2023-11-30-11h15m09s404.png'><img loading=\"lazy\" decoding=\"async\" width=\"300\" height=\"169\" src=\"http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/11\/vlcsnap-2023-11-30-11h15m09s404-300x169.png\" class=\"attachment-medium size-medium\" alt=\"\" aria-describedby=\"gallery-1-3982\" srcset=\"http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/11\/vlcsnap-2023-11-30-11h15m09s404-300x169.png 300w, http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/11\/vlcsnap-2023-11-30-11h15m09s404-1024x576.png 1024w, http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/11\/vlcsnap-2023-11-30-11h15m09s404-768x432.png 768w, http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/11\/vlcsnap-2023-11-30-11h15m09s404-1536x864.png 1536w, http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/11\/vlcsnap-2023-11-30-11h15m09s404-2048x1152.png 2048w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><\/a>\n\t\t\t<\/div>\n\t\t\t\t<figcaption class='wp-caption-text gallery-caption' id='gallery-1-3982'>\n\t\t\t\tV\u00e9rin connect\u00e9 au secteur de barre\n\t\t\t\t<\/figcaption><\/figure><figure class='gallery-item'>\n\t\t\t<div class='gallery-icon landscape'>\n\t\t\t\t<a data-elementor-open-lightbox=\"yes\" data-elementor-lightbox-slideshow=\"f135444\" data-elementor-lightbox-title=\"support de pilote automatique\" data-e-action-hash=\"#elementor-action%3Aaction%3Dlightbox%26settings%3DeyJpZCI6MzQwNCwidXJsIjoiaHR0cDpcL1wvcHJvamV0LWhlcmVtb2FuYS5jb21cL3dwLWNvbnRlbnRcL3VwbG9hZHNcLzIwMjNcLzA2XC9zdXBwb3J0LXBpbG90ZS1zY2FsZWQuanBnIiwic2xpZGVzaG93IjoiZjEzNTQ0NCJ9\" href='http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/06\/support-pilote-scaled.jpg'><img loading=\"lazy\" decoding=\"async\" width=\"300\" height=\"160\" src=\"http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/06\/support-pilote-300x160.jpg\" class=\"attachment-medium size-medium\" alt=\"\" aria-describedby=\"gallery-1-3404\" srcset=\"http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/06\/support-pilote-300x160.jpg 300w, http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/06\/support-pilote-1024x545.jpg 1024w, http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/06\/support-pilote-768x409.jpg 768w, http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/06\/support-pilote-1536x818.jpg 1536w, http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/06\/support-pilote-2048x1090.jpg 2048w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><\/a>\n\t\t\t<\/div>\n\t\t\t\t<figcaption class='wp-caption-text gallery-caption' id='gallery-1-3404'>\n\t\t\t\tSupport de pilote automatique en composite lin\n\t\t\t\t<\/figcaption><\/figure>\n\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-9982e5d elementor-widget elementor-widget-text-editor\" data-id=\"9982e5d\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<p>L&#8217;unit\u00e9 de puissance correspond dans notre cas \u00e0 un <b>v\u00e9rin hydraulique lin\u00e9aire<\/b>. Il s&#8217;agit d&#8217;un v\u00e9rin &#8220;Lecomble &amp; Schmitt&#8221; de type 40st16 ce qui correspond aux caract\u00e9ristiques de notre voilier : 41 pieds et 8 tonnes de d\u00e9placement l\u00e8ge.<\/p><p>Une vis M20 rectifi\u00e9e au tour et boulonn\u00e9 au secteur de barre assure la liaison avec la chape du v\u00e9rin hydraulique via une rotule. Le mouvement de translation du v\u00e9rin induit une rotation du volant de barre et donc un d\u00e9placement angulaire du safran.<\/p><p>Le v\u00e9rin est install\u00e9 dans le coffre arri\u00e8re tribord et repose sur un support composite en fibre de lin stratifi\u00e9 sur la coque du bateau. Cette liaison rigide permet d&#8217;\u00e9viter tout jeu dans le syst\u00e8me et le meilleur contr\u00f4le possible de la trajectoire du bateau. Afin de prot\u00e9ger l&#8217;ensemble v\u00e9rin\/pompe hydraulique, nous avons construit une boite en contreplaqu\u00e9 autour de ces derniers pour les isoler du reste du coffre (risque de chute d&#8217;objets, eau etc&#8230;)<\/p><p>Une pi\u00e8ce en bois a \u00e9galement \u00e9t\u00e9 rajout\u00e9 afin de cr\u00e9er des but\u00e9es m\u00e9caniques pour \u00e9viter d&#8217;endommager le v\u00e9rin par un coup de barre trop franc ou un bug logiciel.<\/p><p>\u00a0<\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-0039c24 elementor-widget elementor-widget-image\" data-id=\"0039c24\" data-element_type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t\t\t\t<figure class=\"wp-caption\">\n\t\t\t\t\t\t\t\t\t\t<img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"576\" src=\"http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/11\/vlcsnap-2023-11-30-11h15m09s404-1024x576.png\" class=\"attachment-large size-large wp-image-3982\" alt=\"\" srcset=\"http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/11\/vlcsnap-2023-11-30-11h15m09s404-1024x576.png 1024w, http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/11\/vlcsnap-2023-11-30-11h15m09s404-300x169.png 300w, http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/11\/vlcsnap-2023-11-30-11h15m09s404-768x432.png 768w, http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/11\/vlcsnap-2023-11-30-11h15m09s404-1536x864.png 1536w, http:\/\/projet-heremoana.com\/wp-content\/uploads\/2023\/11\/vlcsnap-2023-11-30-11h15m09s404-2048x1152.png 2048w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/>\t\t\t\t\t\t\t\t\t\t\t<figcaption class=\"widget-image-caption wp-caption-text\">V\u00e9rin hydraulique reli\u00e9 au syst\u00e8me de barre par une liaison rotule<\/figcaption>\n\t\t\t\t\t\t\t\t\t\t<\/figure>\n\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-1920b22 elementor-widget elementor-widget-heading\" data-id=\"1920b22\" data-element_type=\"widget\" data-widget_type=\"heading.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<h2 class=\"elementor-heading-title elementor-size-medium\"><b>III) Interfa\u00e7age avec le pilote automatique<\/b><\/h2>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-27837c5 elementor-widget elementor-widget-text-editor\" data-id=\"27837c5\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<p>Avec la configuration initiale le pilote communique avec l&#8217;utilisateur via :<\/p><ul><li>\u00a0Tablette ou smartphone. La Pi z\u00e9ro g\u00e9n\u00e8re un hot spot wifi via le Tinypilot<\/li><li>\u00a0T\u00e9l\u00e9commande<\/li><li>\u00a0Boutons sur le boitier calculateur<\/li><\/ul><p>Vous pouvez \u00e9galement contr\u00f4ler celui-ci via votre ordinateur de bord en utilisant la connexion wifi g\u00e9n\u00e9r\u00e9e par le Tinypilot. Dans notre cas nous avons une configuration Openplotter avec le pluggin pypilot install\u00e9 sur OpenCpn. Cela permet d&#8217;acc\u00e9der aux diff\u00e9rents outils de configuration et de contr\u00f4le du pilote sur OpenCpn ce qui est tr\u00e8s pratique en navigation ! Lien du pluggin : <span style=\"text-decoration: underline;\"><a href=\"https:\/\/opencpn.org\/OpenCPN\/plugins\/pypilot.html\" target=\"_blank\" rel=\"noopener\">pluggin<\/a><\/span><\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-e038dfd elementor-widget elementor-widget-heading\" data-id=\"e038dfd\" data-element_type=\"widget\" data-widget_type=\"heading.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<h2 class=\"elementor-heading-title elementor-size-medium\"><b>IV) Bilan<\/b> <\/h2>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-ea0680d elementor-widget elementor-widget-text-editor\" data-id=\"ea0680d\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<p>Notre Pypilot ne nous a jamais fait faux bons apr\u00e8s plus de 20 000 miles parcourus ! En travers\u00e9e c&#8217;est lui qui barre le bateau 90% du temps, on peut vraiment parler d&#8217;un cinqui\u00e8me \u00e9quipier !<\/p>\n<p>En plus d&#8217;\u00eatre s\u00e9curitaire, la possibilit\u00e9 d&#8217;avoir de multiples moyens de contr\u00f4le (tablette, boutons, t\u00e9l\u00e9commande etc&#8230;) est un avantage certains selon les modes de navigation.&nbsp;<\/p>\n<p>En terme d&#8217;installation, nous craignions au premier abord&nbsp; que celle-ci soit chronophage, mais finalement le Pypilot n&#8217;est pas si long \u00e0 installer et \u00e0 prendre en main pour un co\u00fbt d\u00e9fiant toute concurrence ! (cf annexe ci-dessous)<br><\/p>\n<p>A&nbsp; noter tout de m\u00eame un point noir dans notre installation, c&#8217;est la difficult\u00e9 de savoir rapidement si le pilote est activ\u00e9 ou non quand on est \u00e0 la barre, ce qui nous a parfois jouer des tours dans les moments muscl\u00e9s (d\u00e9part au loffe, manoeuvres d&#8217;affalage du spi etc&#8230;). L&#8217;ajout d&#8217;un \u00e9cran ext\u00e9rieur ou d&#8217;une simple LED au tableau de bord serait une bonne piste d&#8217;am\u00e9lioration.<\/p>\n<p>En conclusion, nous ne regrettons pas du tout notre choix et conseillons \u00e0 tout le monde d&#8217;utiliser ce formidable outil open source ! Merci Sean \ud83d\ude42<\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-f91996b elementor-arrows-position-inside elementor-pagination-position-outside elementor-widget elementor-widget-image-carousel\" data-id=\"f91996b\" data-element_type=\"widget\" data-settings=\"{&quot;navigation&quot;:&quot;both&quot;,&quot;autoplay&quot;:&quot;yes&quot;,&quot;pause_on_hover&quot;:&quot;yes&quot;,&quot;pause_on_interaction&quot;:&quot;yes&quot;,&quot;autoplay_speed&quot;:5000,&quot;infinite&quot;:&quot;yes&quot;,&quot;speed&quot;:500,&quot;image_spacing_custom&quot;:{&quot;unit&quot;:&quot;px&quot;,&quot;size&quot;:20,&quot;sizes&quot;:[]},&quot;image_spacing_custom_tablet&quot;:{&quot;unit&quot;:&quot;px&quot;,&quot;size&quot;:&quot;&quot;,&quot;sizes&quot;:[]},&quot;image_spacing_custom_mobile&quot;:{&quot;unit&quot;:&quot;px&quot;,&quot;size&quot;:&quot;&quot;,&quot;sizes&quot;:[]}}\" data-widget_type=\"image-carousel.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<style>\/*! elementor - v3.17.0 - 08-11-2023 *\/\n.elementor-widget-image-carousel .swiper,.elementor-widget-image-carousel .swiper-container{position:static}.elementor-widget-image-carousel .swiper-container .swiper-slide figure,.elementor-widget-image-carousel .swiper .swiper-slide figure{line-height:inherit}.elementor-widget-image-carousel .swiper-slide{text-align:center}.elementor-image-carousel-wrapper:not(.swiper-container-initialized):not(.swiper-initialized) .swiper-slide{max-width:calc(100% \/ var(--e-image-carousel-slides-to-show, 3))}<\/style>\t\t<div class=\"elementor-image-carousel-wrapper swiper-container\" dir=\"ltr\">\n\t\t\t<div class=\"elementor-image-carousel swiper-wrapper\" aria-live=\"off\">\n\t\t\t\t\t\t\t\t<div class=\"swiper-slide\" role=\"group\" aria-roledescription=\"slide\" aria-label=\"1 sur 3\"><figure class=\"swiper-slide-inner\"><img decoding=\"async\" class=\"swiper-slide-image\" src=\"http:\/\/projet-heremoana.com\/wp-content\/uploads\/elementor\/thumbs\/Controle-depuis-lordinateur-de-bord-scaled-qm42xohtmksz066rzfbfery20kwyyx9675j3nhkm6g.jpg\" alt=\"Contr\u00f4le du pilote automatique depuis la centrale de bord\" \/><figcaption class=\"elementor-image-carousel-caption\">Controle depuis l'ordinateur de bord<\/figcaption><\/figure><\/div><div class=\"swiper-slide\" role=\"group\" aria-roledescription=\"slide\" aria-label=\"2 sur 3\"><figure class=\"swiper-slide-inner\"><img decoding=\"async\" class=\"swiper-slide-image\" src=\"http:\/\/projet-heremoana.com\/wp-content\/uploads\/elementor\/thumbs\/JR_1-qf4s5fv3edmsl6pu74cvok5fnz2ufaecftzi9muafc.jpg\" alt=\"Il a fallu sortir les fers \u00e0 souder et faire chauffer l&#039;\u00e9tain pour c\u00e2bler tout ce syst\u00e8me\" \/><figcaption class=\"elementor-image-carousel-caption\">Il a fallu sortir les fers \u00e0 souder et faire chauffer l'\u00e9tain pour c\u00e2bler tout ce syst\u00e8me<\/figcaption><\/figure><\/div><div class=\"swiper-slide\" role=\"group\" aria-roledescription=\"slide\" aria-label=\"3 sur 3\"><figure class=\"swiper-slide-inner\"><img decoding=\"async\" class=\"swiper-slide-image\" src=\"http:\/\/projet-heremoana.com\/wp-content\/uploads\/elementor\/thumbs\/Team-Elec-qg3msygc1qk37cdomj0xw6zu2c51adb2qa6ahmiix4.jpg\" alt=\"Guillaume et Greg, deux membres \u00e9minents de la team Elec !\" \/><figcaption class=\"elementor-image-carousel-caption\">Guillaume et Greg, deux membres \u00e9minents de la team Elec !<\/figcaption><\/figure><\/div>\t\t\t<\/div>\n\t\t\t\t\t\t\t\t\t\t\t\t<div class=\"elementor-swiper-button elementor-swiper-button-prev\" role=\"button\" tabindex=\"0\">\n\t\t\t\t\t\t<i aria-hidden=\"true\" class=\"eicon-chevron-left\"><\/i>\t\t\t\t\t<\/div>\n\t\t\t\t\t<div class=\"elementor-swiper-button elementor-swiper-button-next\" role=\"button\" tabindex=\"0\">\n\t\t\t\t\t\t<i aria-hidden=\"true\" class=\"eicon-chevron-right\"><\/i>\t\t\t\t\t<\/div>\n\t\t\t\t\n\t\t\t\t\t\t\t\t\t<div class=\"swiper-pagination\"><\/div>\n\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-bfe3509 elementor-widget elementor-widget-heading\" data-id=\"bfe3509\" data-element_type=\"widget\" data-widget_type=\"heading.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<h2 class=\"elementor-heading-title elementor-size-small\"><b>Annexe : D\u00e9tail du co\u00fbt de l'installation<\/b><\/h2>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-b5c9b5d elementor-widget elementor-widget-stratum-table\" data-id=\"b5c9b5d\" data-element_type=\"widget\" data-widget_type=\"stratum-table.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<div class=\"stratum-table\">\r\n\t<table class=\"stratum-table__table\">\r\n\t\t<thead>\r\n\t\t\t<tr>\r\n\t\t\t\t\t\t\t\t<th colspan=\"\" >\r\n\t\t\t\t\t\t<div class=\"stratum-table__header-cell align-content-center\">\r\n\r\n\t\t\t\t\t\t\t<span class=\"stratum-table__cell-title has-media-left\" >\r\n\r\n\t\t\t\t\t\t\tComposant\t\t\t\t\t\t\t<\/span>\r\n\t\t\t\t\t\t<\/div>\r\n\t\t\t\t\t<\/th>\t\t\t\t\t<th colspan=\"\" >\r\n\t\t\t\t\t\t<div class=\"stratum-table__header-cell align-content-center\">\r\n\r\n\t\t\t\t\t\t\t<span class=\"stratum-table__cell-title has-media-left\" >\r\n\r\n\t\t\t\t\t\t\tPrix (\u20ac)\t\t\t\t\t\t\t<\/span>\r\n\t\t\t\t\t\t<\/div>\r\n\t\t\t\t\t<\/th>\t\t\t<\/tr>\r\n\t\t<\/thead>\r\n\r\n\t\t<tbody>\r\n\t\t\t\t\t\t\t<tr>\r\n\t\t\t\t\t\t\t\t\t\t\t<td  colspan=\"\">\t\t\t\t\t\t\t\t<div class=\"stratum-table__body-cell align-content-center\">\r\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<span class=\"stratum-table__cell-title has-media-left\" >\r\n\r\n\t\t\t\t\t\t\t\t\t\t\tRaspberry Pi z\u00e9ro\t\t\t\t\t\t\t\t\t\t<\/span>\r\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\r\n\t\t\t\t\t\t\t<\/td>\t\t\t\t\t\t\t<td  colspan=\"\">\t\t\t\t\t\t\t\t<div class=\"stratum-table__body-cell align-content-center\">\r\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<span class=\"stratum-table__cell-title has-media-left\" >\r\n\r\n\t\t\t\t\t\t\t\t\t\t\t17\t\t\t\t\t\t\t\t\t\t<\/span>\r\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\r\n\t\t\t\t\t\t\t<\/td>\t\t\t\t<\/tr>\t\t\t\t<tr>\r\n\t\t\t\t\t\t\t\t\t\t\t<td  colspan=\"\">\t\t\t\t\t\t\t\t<div class=\"stratum-table__body-cell align-content-center\">\r\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<span class=\"stratum-table__cell-title has-media-left\" >\r\n\r\n\t\t\t\t\t\t\t\t\t\t\tIMU\t\t\t\t\t\t\t\t\t\t<\/span>\r\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\r\n\t\t\t\t\t\t\t<\/td>\t\t\t\t\t\t\t<td  colspan=\"\">\t\t\t\t\t\t\t\t<div class=\"stratum-table__body-cell align-content-center\">\r\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<span class=\"stratum-table__cell-title has-media-left\" >\r\n\r\n\t\t\t\t\t\t\t\t\t\t\t11,80\t\t\t\t\t\t\t\t\t\t<\/span>\r\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\r\n\t\t\t\t\t\t\t<\/td>\t\t\t\t<\/tr>\t\t\t\t<tr>\r\n\t\t\t\t\t\t\t\t<\/tr>\t\t\t\t<tr>\r\n\t\t\t\t\t\t\t\t\t\t\t<td  colspan=\"\">\t\t\t\t\t\t\t\t<div class=\"stratum-table__body-cell align-content-center\">\r\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<span class=\"stratum-table__cell-title has-media-left\" >\r\n\r\n\t\t\t\t\t\t\t\t\t\t\tArduino Nano\t\t\t\t\t\t\t\t\t\t<\/span>\r\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\r\n\t\t\t\t\t\t\t<\/td>\t\t\t\t\t\t\t<td  colspan=\"\">\t\t\t\t\t\t\t\t<div class=\"stratum-table__body-cell align-content-center\">\r\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<span class=\"stratum-table__cell-title has-media-left\" >\r\n\r\n\t\t\t\t\t\t\t\t\t\t\t14,80\t\t\t\t\t\t\t\t\t\t<\/span>\r\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\r\n\t\t\t\t\t\t\t<\/td>\t\t\t\t<\/tr>\t\t\t\t<tr>\r\n\t\t\t\t\t\t\t\t\t\t\t<td  colspan=\"\">\t\t\t\t\t\t\t\t<div class=\"stratum-table__body-cell align-content-center\">\r\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<span class=\"stratum-table__cell-title has-media-left\" >\r\n\r\n\t\t\t\t\t\t\t\t\t\t\tV\u00e9rin hydraulique Lecomble et schmit (occasion)\t\t\t\t\t\t\t\t\t\t<\/span>\r\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\r\n\t\t\t\t\t\t\t<\/td>\t\t\t\t\t\t\t<td  colspan=\"\">\t\t\t\t\t\t\t\t<div class=\"stratum-table__body-cell align-content-center\">\r\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<span class=\"stratum-table__cell-title has-media-left\" >\r\n\r\n\t\t\t\t\t\t\t\t\t\t\t800\t\t\t\t\t\t\t\t\t\t<\/span>\r\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\r\n\t\t\t\t\t\t\t<\/td>\t\t\t\t<\/tr>\t\t\t\t<tr>\r\n\t\t\t\t\t\t\t\t\t\t\t<td  colspan=\"\">\t\t\t\t\t\t\t\t<div class=\"stratum-table__body-cell align-content-center\">\r\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<span class=\"stratum-table__cell-title has-media-left\" >\r\n\r\n\t\t\t\t\t\t\t\t\t\t\tDivers composants (boutons, \u00e9cran, pont H etc...)  \t\t\t\t\t\t\t\t\t\t<\/span>\r\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\r\n\t\t\t\t\t\t\t<\/td>\t\t\t\t\t\t\t<td  colspan=\"\">\t\t\t\t\t\t\t\t<div class=\"stratum-table__body-cell align-content-center\">\r\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<span class=\"stratum-table__cell-title has-media-left\" >\r\n\r\n\t\t\t\t\t\t\t\t\t\t\t50\t\t\t\t\t\t\t\t\t\t<\/span>\r\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\r\n\t\t\t\t\t\t\t<\/td>\t\t\t\t<\/tr>\t\t\t\t<tr>\r\n\t\t\t\t\t\t\t\t\t\t\t<td  colspan=\"\">\t\t\t\t\t\t\t\t<div class=\"stratum-table__body-cell align-content-center\">\r\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<span class=\"stratum-table__cell-title has-media-left\" >\r\n\r\n\t\t\t\t\t\t\t\t\t\t\tTotal\t\t\t\t\t\t\t\t\t\t<\/span>\r\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\r\n\t\t\t\t\t\t\t<\/td>\t\t\t\t\t\t\t<td  colspan=\"\">\t\t\t\t\t\t\t\t<div class=\"stratum-table__body-cell align-content-center\">\r\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<span class=\"stratum-table__cell-title has-media-left\" >\r\n\r\n\t\t\t\t\t\t\t\t\t\t\t893,7\t\t\t\t\t\t\t\t\t\t<\/span>\r\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\r\n\t\t\t\t\t\t\t<\/td>\t\t\t\t<\/tr>\r\n\t\t<\/tbody>\r\n\t<\/table>\r\n<\/div>\r\n\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t\t\t\t<\/div>\n\t\t","protected":false},"excerpt":{"rendered":"<p>Le Pypilot est un projet de pilote automatique d\u00e9velopp\u00e9 par Sean d&#8217;Epagnier et disponible en open source ! La partie logicielle est t\u00e9l\u00e9chargeable gratuitement (https:\/\/github.com\/pypilot), il fonctionne avec la distribution linux TinyPilot et s&#8217;int\u00e8gre dans Openplotter, un syst\u00e8me de navigation open source. Cette article a pour but de d\u00e9crire le fonctionnement du pilote et comment &hellip;<\/p>\n<p class=\"read-more\"> <a class=\"\" href=\"http:\/\/projet-heremoana.com\/index.php\/2024\/02\/24\/diy-pilote-automatique\/\"> <span class=\"screen-reader-text\">[DIY] Pilote automatique Opensource<\/span> Lire la suite\u00a0\u00bb<\/a><\/p>\n","protected":false},"author":2,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"site-sidebar-layout":"default","site-content-layout":"default","ast-global-header-display":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","footnotes":""},"categories":[1],"tags":[],"post_folder":[],"class_list":["post-3973","post","type-post","status-publish","format-standard","hentry","category-diy"],"aioseo_notices":[],"_links":{"self":[{"href":"http:\/\/projet-heremoana.com\/index.php\/wp-json\/wp\/v2\/posts\/3973","targetHints":{"allow":["GET"]}}],"collection":[{"href":"http:\/\/projet-heremoana.com\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/projet-heremoana.com\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/projet-heremoana.com\/index.php\/wp-json\/wp\/v2\/users\/2"}],"replies":[{"embeddable":true,"href":"http:\/\/projet-heremoana.com\/index.php\/wp-json\/wp\/v2\/comments?post=3973"}],"version-history":[{"count":105,"href":"http:\/\/projet-heremoana.com\/index.php\/wp-json\/wp\/v2\/posts\/3973\/revisions"}],"predecessor-version":[{"id":4404,"href":"http:\/\/projet-heremoana.com\/index.php\/wp-json\/wp\/v2\/posts\/3973\/revisions\/4404"}],"wp:attachment":[{"href":"http:\/\/projet-heremoana.com\/index.php\/wp-json\/wp\/v2\/media?parent=3973"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/projet-heremoana.com\/index.php\/wp-json\/wp\/v2\/categories?post=3973"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/projet-heremoana.com\/index.php\/wp-json\/wp\/v2\/tags?post=3973"},{"taxonomy":"post_folder","embeddable":true,"href":"http:\/\/projet-heremoana.com\/index.php\/wp-json\/wp\/v2\/post_folder?post=3973"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}