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[求助] 基于Arduino的八轴机械臂代码 |
YangLeo118 发表于 2016-5-10 23:59 #include <Servo.h> #include <math.h> #include <stdlib.h> #include "Wire.h" #include "WiiChuck.h" Servo servo1; // create servo object to control a servo Servo servo2; Servo servo3; Servo servo4; // a maximum of eight servo objects can be created Servo servo5; Servo servo6; WiiChuck wii = WiiChuck(); int pos1,pos2,pos3,pos4,pos5,pos6,x,y,z,c; // variable to store the servo position void setup() { // attaches the servo on pin 9 to the servo object servo1.attach(8); servo2.attach(9); servo3.attach(10); servo4.attach(11); servo5.attach(12); servo6.attach(13); pos1 = 60; pos2 = 50; pos3 = 100; pos4 =100; pos5 = 90; pos6 = 90; servo1.write(pos1); servo2.write(pos2); servo3.write(pos3); servo4.write(pos4); servo5.write(pos5); servo6.write(pos6); wii.initWithPower(); } void loop() { if(true == wii.read() ) { //读取手柄值 x=wii.getJoyAxisX(); y=wii.getJoyAxisY(); c=wii.getButtonC(); z=wii.getButtonZ(); } if(x==255 && y>120 && y<140 && c == 0 && z==1)//一号舵机 { pos1 = pos1+10; servo1.write(pos1); delay (40); if(pos1>160) { pos1=160; servo1.write(pos1); } } else if(x==255 && y>120 && y<140 && z==0 && c==1 ) { pos1 = pos1-10; servo1.write(pos1); delay(40); if(pos1<20) { pos1=20; servo1.write(pos1); } } else if(x>220 && y==0 && c == 0 && z==1) //2号舵机 { pos2 = pos2+10; servo2.write(pos2); delay (40); if(pos2>160) { pos2=160; servo2.write(pos2); } } else if(x>220 && y==0 && z==0 && c==1 ) { pos2 = pos2-10; servo2.write(pos2); delay(40); if(pos2<90) { pos2=90; servo2.write(pos2); } } else if(x>110 && x<140 && y==0 && c == 0 && z==1) //3号舵机 { pos3 = pos3+10; servo3.write(pos3); delay (40); if(pos3>160) { pos3=160; servo3.write(pos3); } } else if(x>110 && x<140 && y==0 && z==0 && c==1 ) { pos3 = pos3-10; servo3.write(pos3); delay(40); if(pos3<20) { pos3=20; servo3.write(pos3); } } else if(x==0 && y==0 && c == 0 && z==1) //4号舵机 { pos4 = pos4+10; servo4.write(pos4); delay (40); if(pos4>160) { pos4=160; servo4.write(pos4); } } else if(x==0 && y==0 && z==0 && c==1 ) { pos4 = pos4-10; servo4.write(pos4); delay(40); if(pos4<20) { pos4=20; servo4.write(pos4); } } else if(x==0 && y==128 && c == 0 && z==1) //5号舵机 { servo5.write(pos5); pos5 = pos5+10; delay (40); if(pos5>170) { pos5=160; } } else if(x==0 && y==128 && z==0 && c==1 ) { servo5.write(pos5); pos5 = pos5-10; delay(40); if(pos5<20) { pos5=30; } } else if(x==0 && y>240 && c == 0 && z==1) //6号舵机 { servo6.write(pos6); pos6 = pos6+10; delay (40); if(pos6>120) { pos6=119; } } else if(x==0 && y>240 && z==0 && c==1 ) { servo6.write(pos6); pos6 = pos6-10; delay(40); if(pos6<45) { pos6=41; } } } |
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