arduino编程的基本程序结构（ArduinomeArm机械臂学习笔记3）
arduino编程的基本程序结构（ArduinomeArm机械臂学习笔记3）
/*
MeArm机械臂控制程序-1
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
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
// 建立4个int型变量存储当前电机角度值
// 初始角度值为设备启动后初始状态所需要的电机角度数值
int basePos = 90;
int rArmPos = 90;
int fArmPos = 90;
int clawPos = 90;
//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;
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
Serial.begin(9600);
Serial.println("Welcome to Taichi-Maker Robot Arm Tutorial.");
}
void loop(){
if (Serial.available()>0) { //使用串口监视器输入电机指令控制机械臂电机
char serialCmd = Serial.read();//指令举例: b45，将底盘舵机调整到45度位置
armDataCmd(serialCmd);
}
base.write(basePos);
delay(10);
fArm.write(fArmPos);
delay(10);
rArm.write(rArmPos);
delay(10);
claw.write(clawPos);
delay(10);
}
void armDataCmd(char serialCmd){
Serial.print("serialCmd = ");
Serial.print(serialCmd);
int servoData = Serial.parseInt();
switch(serialCmd){
case 'b':
basePos = servoData;
Serial.print(" Set base servo value: ");
Serial.println(servoData);
break;
case 'c':
clawPos = servoData;
Serial.print(" Set claw servo value: ");
Serial.println(servoData);
break;
case 'f':
fArmPos = servoData;
Serial.print(" Set fArm servo value: ");
Serial.println(servoData);
break;
case 'r':
rArmPos = servoData;
Serial.print(" Set rArm servo value: ");
Serial.println(servoData);
break;
case 'o':
reportStatus();
break;
default:
Serial.println(" Unknown Command.");
}
}
void reportStatus(){
Serial.println("");
Serial.println("");
Serial.println(" Robot-Arm Status Report ");
Serial.print("Claw Position: clawPos = "); Serial.println(claw.read());
Serial.print("Base Position: basePos = "); Serial.println(base.read());
Serial.print("Rear Arm Position: rArmPos = "); Serial.println(rArm.read());
Serial.print("Front Arm Position: fArmPos = "); Serial.println(fArm.read());
Serial.println(" ");
Serial.println("");
}控制机械臂速度
/*
MeArm机械臂控制程序-1
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
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
// 建立4个int型变量存储当前电机角度值
// 初始角度值为设备启动后初始状态所需要的电机角度数值
int basePos = 90;
int rArmPos = 90;
int fArmPos = 90;
int clawPos = 90;
//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;
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
Serial.begin(9600);
Serial.println("Welcome to Taichi-Maker Robot Arm Tutorial");
}
void loop(){
if (Serial.available()>0) {
char serialCmd = Serial.read();
armDataCmd(serialCmd);
}
base.write(basePos);
delay(10);
fArm.write(fArmPos);
delay(10);
rArm.write(rArmPos);
delay(10);
claw.write(clawPos);
delay(10);
}
void armDataCmd(char serialCmd){
Serial.print("serialCmd = ");
Serial.print(serialCmd);
int servoData = Serial.parseInt();
int fromPos;
int toPos;
switch(serialCmd){
case 'b':
fromPos = base.read();
toPos = servoData;
if (fromPos <= toPos){ //如果“起始角度值”小于“目标角度值”
for (int i=fromPos; i<=toPos; i ){
base.write(i);
delay (15);
}
} else { //否则“起始角度值”大于“目标角度值”
for (int i=fromPos; i>=toPos; i--){
base.write(i);
delay (15);
}
}
basePos = servoData;
Serial.print(" Set base servo value: ");
Serial.println(servoData);
break;
case 'c':
clawPos = servoData;
Serial.print(" Set claw servo value: ");
Serial.println(servoData);
break;
case 'f':
fArmPos = servoData;
Serial.print(" Set fArm servo value: ");
Serial.println(servoData);
break;
case 'r':
rArmPos = servoData;
Serial.print(" Set rArm servo value: ");
Serial.println(servoData);
break;
case 'o':
reportStatus();
break;
default:
Serial.println(" Unknown Command.");
}
}
void reportStatus(){
Serial.println("");
Serial.println("");
Serial.println(" Robot-Arm Status Report ");
Serial.print("Claw Position: clawPos = "); Serial.println(claw.read());
Serial.print("Base Position: basePos = "); Serial.println(base.read());
Serial.print("Rear Arm Position: rArmPos = "); Serial.println(rArm.read());
Serial.print("Front Arm Position: fArmPos = "); Serial.println(fArm.read());
Serial.println(" ");
Serial.println("");
}
