本课示例代码：（无法复制本站示例程序代码？请点击这里获得解决方法。）
|
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 |
/* MeArm机械臂控制程序-3 by 太极创客 (2017-06-02) www.taichi-maker.com 本程序用于太极创客《零基础入门学用Arduino教程 - MeArm篇》。 1 使用串口获得电机数据,设置机械臂动作 将串口指令解读改写为函数,加入状态汇报函数reportStatus 2 加入servoCmd函数控制电机速度 3 加入判断人类指令是否超出舵机限值 如需要获得具体电路连接细节，请查阅太极创客制作的 《零基础入门学用Arduino教程 - MeArm篇》页面。 */ #include <Servo.h> //使用servo库 Servo base, fArm, rArm, claw ; //创建4个servo对象 //存储电机极限值(const指定该数值为常量,常量数值在程序运行中不能改变) const int baseMin = 0; const int baseMax = 180; const int rArmMin = 45; const int rArmMax = 180; const int fArmMin = 35; const int fArmMax = 120; const int clawMin = 25; const int clawMax = 100; int DSD = 15; //Default Servo Delay (默认电机运动延迟时间) //此变量用于控制电机运行速度.增大此变量数值将 //降低电机运行速度从而控制机械臂动作速度。 void setup(){ base.attach(11); // base 伺服舵机连接引脚11 舵机代号'b' delay(200); // 稳定性等待 rArm.attach(10); // rArm 伺服舵机连接引脚10 舵机代号'r' delay(200); // 稳定性等待 fArm.attach(9); // fArm 伺服舵机连接引脚9 舵机代号'f' delay(200); // 稳定性等待 claw.attach(6); // claw 伺服舵机连接引脚6 舵机代号'c' delay(200); // 稳定性等待 base.write(90); delay(10); fArm.write(90); delay(10); rArm.write(90); delay(10); claw.write(90); delay(10); Serial.begin(9600); Serial.println("Welcome to Taichi-Maker Robot Arm Tutorial"); } void loop(){ if (Serial.available()>0) { char serialCmd = Serial.read(); armDataCmd(serialCmd); } } void armDataCmd(char serialCmd){ //Arduino根据串行指令执行相应操作 //指令示例：b45 底盘转到45度角度位置 // o 输出机械臂舵机状态信息 if (serialCmd == 'b' || serialCmd == 'c' || serialCmd == 'f' || serialCmd == 'r'){ int servoData = Serial.parseInt(); servoCmd(serialCmd, servoData, DSD); // 机械臂舵机运行函数（参数：舵机名，目标角度，延迟/速度） } else { switch(serialCmd){ case 'o': // 输出舵机状态信息 reportStatus(); break; default: //未知指令反馈 Serial.println("Unknown Command."); } } } void servoCmd(char servoName, int toPos, int servoDelay){ Servo servo2go; //创建servo对象 //串口监视器输出接收指令信息 Serial.println(""); Serial.print("+Command: Servo "); Serial.print(servoName); Serial.print(" to "); Serial.print(toPos); Serial.print(" at servoDelay value "); Serial.print(servoDelay); Serial.println("."); Serial.println(""); int fromPos; //建立变量，存储电机起始运动角度值 switch(servoName){ case 'b': if(toPos >= baseMin && toPos <= baseMax){ servo2go = base; fromPos = base.read(); // 获取当前电机角度值用于“电机运动起始角度值” break; } else { Serial.println("+Warning: Base Servo Value Out Of Limit!"); return; } case 'c': if(toPos >= clawMin && toPos <= clawMax){ servo2go = claw; fromPos = claw.read(); // 获取当前电机角度值用于“电机运动起始角度值” break; } else { Serial.println("+Warning: Claw Servo Value Out Of Limit!"); return; } case 'f': if(toPos >= fArmMin && toPos <= fArmMax){ servo2go = fArm; fromPos = fArm.read(); // 获取当前电机角度值用于“电机运动起始角度值” break; } else { Serial.println("+Warning: fArm Servo Value Out Of Limit!"); return; } case 'r': if(toPos >= rArmMin && toPos <= rArmMax){ servo2go = rArm; fromPos = rArm.read(); // 获取当前电机角度值用于“电机运动起始角度值” break; } else { Serial.println("+Warning: rArm Servo Value Out Of Limit!"); return; } } //指挥电机运行 if (fromPos <= toPos){ //如果“起始角度值”小于“目标角度值” for (int i=fromPos; i<=toPos; i++){ servo2go.write(i); delay (servoDelay); } } else { //否则“起始角度值”大于“目标角度值” for (int i=fromPos; i>=toPos; i--){ servo2go.write(i); delay (servoDelay); } } } void reportStatus(){ //舵机状态信息 Serial.println(""); Serial.println(""); Serial.println("+ Robot-Arm Status Report +"); Serial.print("Claw Position: "); Serial.println(claw.read()); Serial.print("Base Position: "); Serial.println(base.read()); Serial.print("Rear Arm Position:"); Serial.println(rArm.read()); Serial.print("Front Arm Position:"); Serial.println(fArm.read()); Serial.println("++++++++++++++++++++++++++"); Serial.println(""); } |