4. 功能实现

     编程环境：Arduino 1.8.19

下面提供一个单轴丝杠平台搬运的参考例程（_1.ino），将参考例程下载到主控板中，具体实验效果可参考演示视频。

/*------------------------------------------------------------------------------------版权说明：Copyright 2023 Robottime(Beijing) Technology Co., Ltd. All Rights Reserved.Distributed under MIT license.See file LICENSE for detail or copy athttps://opensource.org/licenses/MITby 机器谱 2023-04-19 https://www.robotway.com/------------------------------*/#include <Stepper.h>const int stepsPerRevolution = 200;               //步进电机每圈转动的步数Stepper myStepper_X(stepsPerRevolution,5,6,9,10); //定义步进电机的引脚#define SENSOR_RESET A0     //宏定义步进电机复位传感器引脚 A0#define SENSOR_UN A2        //定义物块检测传感器引脚 A2#define STEP_X 2500         //定义抓取物块后行进的步数#define electromagnet 3     //定义电磁铁引脚#include <Servo.h>         Servo myServo;             #define SERVO_UP 30         //定义舵机上下转动的角度#define SERVO_DOWN 1#define TIME 2000int delta = 10;void setup() {Serial.begin(9600);        //开启串口通信，波特率为9600pinMode(SENSOR_RESET,INPUT);pinMode(SENSOR_UN,INPUT);pinMode(electromagnet,OUTPUT);myServo.attach(4);myServo.write(SERVO_UP);myStepper_X.setSpeed(60);resetStepper();delay(1000);}void loop() {while(digitalRead(SENSOR_UN)){delay(10);                 //物块检测传感器循环检测，未触发为 1，进入while循环等待，触发为0，跳出循环，执行后面物块抓取函数}get();put();}//步进电机复位函数void resetStepper(){while(digitalRead(SENSOR_RESET)){myStepper_X.step(-10);}myStepper_X.step(15);}//物块抓取函数void get(){Serial.println("begin");myStepper_X.step(1500);ServoMove(SERVO_UP,SERVO_DOWN,TIME);digitalWrite(electromagnet,HIGH);       //电磁铁引脚置高电平 吸取物块ServoMove(SERVO_DOWN,SERVO_UP,TIME);}//物块释放函数void put(){myStepper_X.step(STEP_X);ServoMove(SERVO_UP,SERVO_DOWN,TIME);digitalWrite(electromagnet,LOW);      //电磁铁引脚置低电平 释放物块ServoMove(SERVO_DOWN,SERVO_UP,TIME);resetStepper();}//舵机转动函数，传三个参数，start为起始角度，finish为目标角度，t为时间void ServoMove(int _start, int _finish, long t){static int direct;static int diff;static long deltaTime;if(_start <= _finish)direct = 1;elsedirect = -1;diff = abs(_finish - _start);deltaTime = (long) (t / diff);for(int i = 0; i < diff; i++){myServo.write(_start + i * direct);delay(deltaTime);}delay(deltaTime);}

5. 资料内容

①搬运-例程源代码

②搬运-样机3D文件

资料内容详见：单轴丝杠平台-搬运