本课开始程序代码：（无法复制本站示例程序代码？请点击这里获得解决方法。）
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/* MeArm机械臂控制程序-5 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 4 MeArm执行一系列动作(执行程序) armIniPos - 1 （一维数组） 5 MeArm执行一系列动作(执行程序) armIniPos - 2 （二维数组） 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; case 'i': armIniPos(); 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(""); } void armIniPos(){ Serial.println("+Command: Restore Initial Position."); int robotIniPosArray[4][3] = { {'b', 90, DSD}, {'r', 90, DSD}, {'f', 90, DSD}, {'c', 90, DSD} }; for (int i = 0; i < 4; i++){ servoCmd(robotIniPosArray[i][0], robotIniPosArray[i][1], robotIniPosArray[i][2]); } } |
本课结束程序：（无法复制本站示例程序代码？请点击这里获得解决方法。）
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/* MeArm机械臂控制程序-6 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 4 MeArm执行一系列动作(执行程序) armIniPos - 1 （一维数组） 5 MeArm执行一系列动作(执行程序) armIniPos - 2 （二维数组） 6 加入手柄控制模式 加入机器判断：人类输入信息错误检查 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。 bool mode; //mode = 1: 指令模式， mode = 0: 手柄模式 int moveStep = 3; // 每一次按下手柄按键，舵机移动量（仅适用于手柄模式） 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(); if( mode == 1 ){ armDataCmd(serialCmd); //指令模式 } else { armJoyCmd(serialCmd); //手柄模式 } } } 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 //判断人类是否因搞错模式而输入错误的指令信息（指令模式下输入手柄按键信息） if ( serialCmd == 'w' || serialCmd == 's' || serialCmd == 'a' || serialCmd == 'd' || serialCmd == '5' || serialCmd == '4' || serialCmd == '6' || serialCmd == '8' ){ Serial.println("+Warning: Robot in Instruction Mode..."); delay(100); while(Serial.available()>0) char wrongCommand = Serial.read(); //清除串口缓存的错误指令 return; } 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 'm' : //切换至手柄模式 mode = 0; Serial.println("Command: Switch to Joy-Stick Mode."); break; case 'o': // 输出舵机状态信息 reportStatus(); break; case 'i': armIniPos(); break; default: //未知指令反馈 Serial.println("Unknown Command."); } } } void armJoyCmd(char serialCmd){ //Arduino根据手柄按键执行相应操作 //判断人类是否因搞错模式而输入错误的指令信息（手柄模式下输入舵机指令） if (serialCmd == 'b' || serialCmd == 'c' || serialCmd == 'f' || serialCmd == 'r'){ Serial.println("+Warning: Robot in Joy-Stick Mode..."); delay(100); while(Serial.available()>0) char wrongCommand = Serial.read(); //清除串口缓存的错误指令 return; } int baseJoyPos; int rArmJoyPos; int fArmJoyPos; int clawJoyPos; switch(serialCmd){ case 'a': // Base向左 Serial.println("Received Command: Base Turn Left"); baseJoyPos = base.read() - moveStep; servoCmd('b', baseJoyPos, DSD); break; case 'd': // Base向右 Serial.println("Received Command: Base Turn Right"); baseJoyPos = base.read() + moveStep; servoCmd('b', baseJoyPos, DSD); break; case 's': // rArm向下 Serial.println("Received Command: Rear Arm Down"); rArmJoyPos = rArm.read() + moveStep; servoCmd('r', rArmJoyPos, DSD); break; case 'w': // rArm向上 Serial.println("Received Command: Rear Arm Up"); rArmJoyPos = rArm.read() - moveStep; servoCmd('r', rArmJoyPos, DSD); break; case '8': // fArm向上 Serial.println("Received Command: Front Arm Up"); fArmJoyPos = fArm.read() + moveStep; servoCmd('f', fArmJoyPos, DSD); break; case '5': // fArm向下 Serial.println("Received Command: Front Arm Down"); fArmJoyPos = fArm.read() - moveStep; servoCmd('f', fArmJoyPos, DSD); break; case '4': // Claw关闭 Serial.println("Received Command: Claw Close Down"); clawJoyPos = claw.read() + moveStep; servoCmd('c', clawJoyPos, DSD); break; case '6': // Claw打开 Serial.println("Received Command: Claw Open Up"); clawJoyPos = claw.read() - moveStep; servoCmd('c', clawJoyPos, DSD); break; case 'm' : //切换至指令模式 mode = 1; Serial.println("Command: Switch to Instruction Mode."); break; case 'o': reportStatus(); break; case 'i': armIniPos(); break; default: Serial.println("Unknown Command."); return; } } 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(""); } void armIniPos(){ Serial.println("+Command: Restore Initial Position."); int robotIniPosArray[4][3] = { {'b', 90, DSD}, {'r', 90, DSD}, {'f', 90, DSD}, {'c', 90, DSD} }; for (int i = 0; i < 4; i++){ servoCmd(robotIniPosArray[i][0], robotIniPosArray[i][1], robotIniPosArray[i][2]); } } |