目录
- 简介
- 接线图
- Arduino代码
- 总结
原文链接：https://www.yourcee.com/newsinfo/2928597.html
简介
机械臂由Arduino,舵机和MeArm硬件组成,Arduino通过程序驱动舵机，控制机械臂，简单地实现机械臂的功能。舵机 有两种一种是模拟舵机，一种是数字舵机。数字舵机(Digital Servo)和模拟舵机(Analog Servo)在基本的机械结构方面是完全一样的，主要由马达、减速齿轮、控制电路等组成，而数字舵机和模拟舵机的最大区别则体现在控制电路上，数字舵机的控制电路比模拟舵机的多了微处理器和晶振。数字舵机反应速度更快，无反应区范围小，定位精度高，抗干扰能力强逐渐取代模拟电机在机器人、航模中的应用。
接线图
Arduino代码
*/
#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]);
}
}总结
Arduino通过程序驱动四个舵机，控制机械臂，简单地实现机械臂的功能。
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