如何驱动模拟舵机-Controller 1.0b软件的使用
本帖最后由 机器谱 于 2023-4-3 10:17 编辑1.支持平台
win10、win7
win10打开Controller 1.0.exe即可运行；win7需要先安装Controller1.0b资料包\NetFarmwork文件夹中的.net框架组件。
2.电子硬件
我们用以下硬件为例来讲解Controller 1.0b软件的使用：
主控板
Basra主控板（兼容Arduino Uno）
扩展板
Bigfish2.1扩展板
SH-SR舵机扩展板
3.操作步骤
上位机：Controller 1.0
下位机编程环境：Arduino 1.8.19
① 使用 SH-SR舵机扩展板【https://www.robotway.com/h-col-142.html】 调试舵机时，将Controller1.0b资料包\Arduino\servo\servo.ino下载到主控板；
/*------------------------------------------------------------------------------------
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 at
https://opensource.org/licenses/MIT
by 机器谱 2023-03-17 https://www.robotway.com/
------------------------------*/
#include <Tlc5940.h>
#include <tlc_servos.h>
#define ANGLE_VALUE_MIN 0
#define ANGLE_VALUE_MAX 180
#define PWM_VALUE_MIN 500
#define PWM_VALUE_MAX 2500
int data_array = {0,0}; //servo_pin: data_array, servo_value: data_array;
String data = "";
boolean dataComplete = false;
void setup() {
Serial.begin(9600);
Tlc.init(0);
tlc_initServos();
delay(1000);
}
void loop() {
while(Serial.available())
{
int B_flag, P_flag, T_flag;
data = Serial.readStringUntil('\n');
data.trim();
for(int i=0;i<data.length();i++)
{
//Serial.println(data);
switch(data)
{
case '#':
B_flag = i;
break;
case 'P':
{
String pin = "";
P_flag = i;
for(int i=B_flag+1;i<P_flag;i++)
{
pin+=data;
}
data_array = pin.toInt();
}
break;
case 'T':
{
String angle = "";
T_flag = i;
for(int i=P_flag+1;i<T_flag;i++)
{
angle += data;
}
data_array = angle.toInt();
}
break;
default: break;
}
}
/*
Serial.println(B_flag);
Serial.println(P_flag);
Serial.println(T_flag);
for(int i=0;i<2;i++)
{
Serial.println(data_array);
}
*/
dataComplete = true;
}
if(dataComplete)
{
if(data_array >= ANGLE_VALUE_MIN && data_array <= ANGLE_VALUE_MAX)
{
tlc_setServo(data_array, data_array);
}
else if(data_array >= PWM_VALUE_MIN && data_array <= PWM_VALUE_MAX)
{
data_array = map(data_array, 500, 2500, 0, 180);
tlc_setServo(data_array, data_array);
}
Tlc.update();
dataComplete = false;
}
}
使用 Bigfish扩展板【https://www.robotway.com/h-col-136.html】 调试舵机时，将Controller1.0b资料包\Arduino\servo_bigfish\servo_bigfish.ino下载到主控板。
/*------------------------------------------------------------------------------------
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 at
https://opensource.org/licenses/MIT
by 机器谱 2023-03-17 https://www.robotway.com/
------------------------------*/
/*
* Bigfish扩展板舵机口; 4, 7, 11, 3, 8, 12, 14, 15, 16, 17, 18, 19
* 使用软件调节舵机时请拖拽对应序号的控制块
*/
#include <Servo.h>
#define ANGLE_VALUE_MIN 0
#define ANGLE_VALUE_MAX 180
#define PWM_VALUE_MIN 500
#define PWM_VALUE_MAX 2500
#define SERVO_NUM 12
Servo myServo;
int data_array = {0,0}; //servo_pin: data_array, servo_value: data_array;
int servo_port = {4, 7, 11, 3, 8, 12, 14, 15, 16, 17, 18, 19};
int servo_value = {};
String data = "";
boolean dataComplete = false;
void setup() {
Serial.begin(9600);
}
void loop() {
while(Serial.available())
{
int B_flag, P_flag, T_flag;
data = Serial.readStringUntil('\n');
data.trim();
for(int i=0;i<data.length();i++)
{
//Serial.println(data);
switch(data)
{
case '#':
B_flag = i;
break;
case 'P':
{
String pin = "";
P_flag = i;
for(int i=B_flag+1;i<P_flag;i++)
{
pin+=data;
}
data_array = pin.toInt();
}
break;
case 'T':
{
String angle = "";
T_flag = i;
for(int i=P_flag+1;i<T_flag;i++)
{
angle += data;
}
data_array = angle.toInt();
servo_value)] = data_array;
}
break;
default: break;
}
}
/*
Serial.println(B_flag);
Serial.println(P_flag);
Serial.println(T_flag);
for(int i=0;i<2;i++)
{
Serial.println(data_array);
}
*/
dataComplete = true;
}
if(dataComplete)
{
for(int i=0;i<SERVO_NUM;i++)
{
ServoGo(i, servo_value);
/*********************************串口查看输出***********************************/
// Serial.print(servo_value);
// Serial.print(" ");
}
// Serial.println();
/*********************************++++++++++++***********************************/
dataComplete = false;
}
}
void ServoStart(int which){
if(!myServo.attached() && (servo_value != 0))myServo.attach(servo_port);
else return;
pinMode(servo_port, OUTPUT);
}
void ServoStop(int which){
myServo.detach();
digitalWrite(servo_port,LOW);
}
void ServoGo(int which , int where){
ServoStart(which);
if(where >= ANGLE_VALUE_MIN && where <= ANGLE_VALUE_MAX)
{
myServo.write(where);
}
else if(where >= PWM_VALUE_MIN && where <= PWM_VALUE_MAX)
{
myServo.writeMicroseconds(where);
}
}
int pin2index(int _pin){
int index;
switch(_pin)
{
case 4: index = 0; break;
case 7: index = 1; break;
case 11: index = 2; break;
case 3: index = 3; break;
case 8: index = 4; break;
case 12: index = 5; break;
case 14: index = 6; break;
case 15: index = 7; break;
case 16: index = 8; break;
case 17: index = 9; break;
case 18: index = 10; break;
case 19: index = 11; break;
}
return index;
}
下载完成后，保持主控板和电脑的USB连接，并打开主控板电源，以便利用上位机进行调试。
② 双击打开Controller 1.0.exe：
https://28846868.s21i.faiusr.com/4/ABUIABAEGAAgwNTuoAYo0OO81gcwywI4nAI.png.webphttps://28846868.s21i.faiusr.com/4/ABUIABAEGAAg5tTuoAYovJWllAMwqgg46AU!600x600.png.webp
③ 界面左上角选择：
设置-面板设置，弹出需要显示的调试块，可通过勾选隐藏不需要调试的舵机块：联机-选择主控板对应端口号以及波特率。
https://28846868.s21i.faiusr.com/4/ABUIABAEGAAgvdXuoAYov_avygUwuAg47gU!600x600.png.webphttps://28846868.s21i.faiusr.com/4/ABUIABAEGAAgntbuoAYosPvlHjC4CDjuBQ!600x600.png.webphttps://28846868.s21i.faiusr.com/4/ABUIABAEGAAg09buoAYon9i24QEwuAg47gU!600x600.png.webphttps://28846868.s21i.faiusr.com/4/ABUIABAEGAAgktfuoAYo7daM-wUwuAg47gU!600x600.png.webp
④ 拖动进度条，可以观察相应的舵机角度转动。写好对应的舵机调试角度，勾选左下角添加-转化，获得舵机调试的数组：
https://28846868.s21i.faiusr.com/4/ABUIABAEGAAg3tfuoAYo0IOW1QYwuAg47gU!600x600.png.webp
⑤ 该数组可直接复制到相应的arduino软件的程序中进行使用。
使用Controller 1.0b软件调试舵机角度的实验案例可参考 2自由度六足-原地舞蹈【https://www.robotway.com/h-col-197.html】 。
4.资料下载
资料内容：Controller1.0b资料包
资料下载地址：https://www.robotway.com/h-col-129.html
想了解更多机器人开源项目资料请关注 机器谱网站 https://www.robotway.com
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