Arduino基础学习——meArm（太极创客第二部分）
2024-05-13 11:07:06
面包板电源模块为机器臂单独供电，机器臂本身有四个小电机驱动作用，如果单独靠arduino来为这四个小电机供电，机器臂可能不会稳定工作，将会抖动。
机械臂的四个动作主要靠四个电机来控制，这四个电机主要连接在我们的arduino控制器上，通过audino的编程，可以对这四个电机发送相应的指令，然后电机就会驱动机械臂做出相应的动作。
伺服电机
这四个电机学名叫做直流伺服电机（舵机）（下图为其结构）。
输出轴上往往会加上一个摇臂，摇臂就会驱动我们想用电机驱动的那些外界的装置了，输出轴下面连接了一个电位器，输出轴在转动的时候，底下电位器也会跟着旋转，电位器旋转的过程中，电压信号就会随之改变，电压信号发送到控制电路上面，控制电路根据接受的信号判断我们的输出是否跟arduino上控制的信号相同，从而调整电机。
#include <Servo.h>Servo myservo; // create servo object to control a servo
// twelve servo objects can be created on most boardsint pos = 0; // variable to store the servo positionvoid setup() {myservo.attach(9); // attaches the servo on pin 9 to the servo object
}void loop() {for (pos = 0; pos <= 180; pos += 1) { // goes from 0 degrees to 180 degrees// in steps of 1 degreemyservo.write(pos); // tell servo to go to position in variable 'pos'//Serial.print(pos);delay(15); // waits 15 ms for the servo to reach the position}for (pos = 180; pos >= 0; pos -= 1) { // goes from 180 degrees to 0 degreesmyservo.write(pos); // tell servo to go to position in variable 'pos'delay(15); // waits 15 ms for the servo to reach the position}
}串口通讯
上面返回值是一个数字（代表有几个字节），下面返回值是一个字符型数值。
读取的完整过程：
如果串口接收的是多个字节：逐个进行读取，读取一个清除一个
控制伺服电机
控制一个电机
#include<Servo.h>Servo myServo; //创建Servo对象myServoint dataIndex = 0; //存储输入数据序列号
void setup(){myServo.attach(6);Serial.begin(9600); //启动串口通讯Serial.println(" Please input serial data.");
}void loop(){ //检查串口缓存是否有数据等待传输if(Serial.available()>0){daaIndex++; //处理数据序列号并通过串口监视器显示Serial.print("dataIndex: ");Serial.print(dataIndex);Serial.print(",");int pos = Serial.parseInt(); //解析串口数据中的整数信息并赋值给变量posSerial.print("Set servo postion:");Serial.println(pos); //通过串口监视器显示myServo.write(pos); //使用pos变量数值设置伺服电机delay（15);}
}
结果图：
控制四个电机
#include<Servo.h>Servo base,fArm,rArm,claw; //创建4个电机对象int dataIndex = 0; //存储输入数据序列号
void setup(){base.attach(11); //base 伺服电机链接引脚11 brArm.attach(10); //rArm 伺服电机连接引脚10 rfArm.attach(9); //fArm 伺服电机连接引脚9 fclaw.attach(6); //claw 伺服电机链接引脚6 cSerial.begin(9600); //启动串口通讯Serial.println(" Please input serial data.");
}void loop(){ //检查串口缓存是否有数据等待传输if(Serial.available()>0){char servoName = Serial.read();//获取电机指令中电机编号信息Serial.print("servoName: ");Serial.print(servoName);Serial.print(",");int data = Serial.parseInt(); //获取电机指令中电机角度信息switch(servoName){ //根据电机指令中电机信息决定对哪一个电机进行角度设置case 'b': //电机指令b，设置base电机角度base.write(data);Serial.print("Set base servo value: ");Serial.pritnln(data);break;case 'r': //电机指令r，设置rArm电机角度rArm.write(data);Serial.print("Set rArm servo value: ");Serial.pritnln(data);break;case 'f': //电机指令f，设置rArm电机角度rArm.write(data);Serial.print("Set rArm servo value: ");Serial.pritnln(data);break;case 'c': //电机指令b，设置claw电机角度claw.write(data);Serial.print("Set claw servo value: ");Serial.pritnln(data);break;}Serial.print("Set servo postion:");Serial.println(pos); //通过串口监视器显示myServo.write(pos); //使用pos变量数值设置伺服电机delay（15);}
}
meArm机械臂组装
调试meArm机械臂
#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("");
}控制机械臂运行速度（顺畅完成指令）
就是要进行舵机转动速度控制
#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(舵机代号'b')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 fromPos; //起始位置int toPos; //目标位置int servoData = Serial.parseInt(); switch(serialCmd){case 'b': fromPos = base.read();//把舵机底盘当前的位置信息读出来toPos = servoData;//流畅过度到目标位置
// for(int i =fromPos;i<=toPos;i++){ //b135->b90,这个便不执行
// base.write(i);
// delay(15);
// }if(fromPos<=toPos){for(int i =fromPos;i<=toPos;i++){ //b135->b90,这个便不执行base.write(i);delay(15);}}else{for(int i =fromPos;i>=toPos;i--){ //b135->b90,这个便不执行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("");
}开发机械臂程序
控制机械臂速度函数封装优化：
#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("");
}键盘控制机械臂程序初版
#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;case 'p':playDice(); 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]);}
}
void playDice(){Serial.println("+Command: Let's play some dice!");armIniPos();int diceMove1[21][3] = {{'c', 30, DSD},{'b', 90, DSD},{'f', 43, DSD},{'r', 126, DSD}, {'c', 90, DSD}, {'r', 90, DSD},{'b', 60, DSD}, {'f', 36, DSD}, {'r', 135, DSD}, {'c', 30, DSD},{'r', 90, DSD}, {'b', 90, DSD}, {'f', 36, DSD}, {'r', 135, DSD}, {'c', 90, DSD}, {'r', 90, DSD},{'b', 60, DSD}, {'f', 48, DSD}, {'r', 123, DSD}, {'c', 30, DSD}, {'r', 90, DSD}, };for (int i = 0; i < 21; i++){servoCmd(diceMove1[i][0], diceMove1[i][1], diceMove1[i][2]);delay(200);} armIniPos();int diceMove2[21][3]{{'c', 30, DSD}, {'b', 58, DSD}, {'f', 48, DSD}, {'r', 120, DSD}, {'c', 90, DSD}, {'r', 90, DSD}, {'b', 90, DSD}, {'f', 36, DSD}, {'r', 135, DSD}, {'c', 30, DSD},{'r', 90, DSD}, {'b', 60, DSD}, {'f', 36, DSD},{'r', 135, DSD}, {'c', 95, DSD}, {'r', 90, DSD}, {'b', 90, DSD}, {'f', 43, DSD}, {'r', 125, DSD}, {'c', 30, DSD}, {'r', 90, DSD}, };for (int i = 0; i < 21; i++){servoCmd(diceMove2[i][0], diceMove2[i][1], diceMove2[i][2]);delay(200);} armIniPos();
}键盘控制机械臂程序终版（灵活版，不固定位置）
#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; //read获取角度ser voCmd('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]);}
}HC06蓝牙模块——仅作为一个传输工具，无另外的程序编写
/*
---- 电路连接 ----
HC-06 Arduino Uno R3 引脚
TX 0 (RX)
RX 1 (TX)
VCC +5v
GND GNDLED Arduino Uno R3 引脚+ 11 (RX) - GND (通过220欧姆限流电阻)注意：
1. 须使用分压电路，确保HC-06 RX信号电压为3.3伏特。
2. 须先将此程序上传至ARDUINO后，再将HC-06连接在ARDUINO开发板的串口引脚上。否则程序将无法正常上传。*/
int brightness; //LED亮度变量
int serialData; //串口数据变量void setup() {Serial.begin(9600);pinMode(LED_BUILTIN, OUTPUT);pinMode(11, OUTPUT);
}void loop(){if( Serial.available()>0 ){ //如果串口缓存有数据serialData = Serial.parseInt(); //将串口缓存数值存储到serialData变量Serial.print("serialData = "); Serial.println(serialData); if (serialData >=0 && serialData <= 255) { if (serialData >= brightness){ //逐渐调节LED亮度for (brightness; brightness <= serialData; brightness++){analogWrite(11, brightness); Serial.print("brightness = "); Serial.println(brightness); delay(5);} } else {for (brightness; brightness >= serialData; brightness--){analogWrite(11, brightness); Serial.print("brightness = "); Serial.println(brightness); delay(5); } } } }
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