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
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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[2] = {0,0}; //servo_pin: data_array[0], servo_value: data_array[1];
- 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[i]);
- switch(data[i])
- {
- case '#':
- B_flag = i;
- break;
- case 'P':
- {
- String pin = "";
- P_flag = i;
- for(int i=B_flag+1;i<P_flag;i++)
- {
- pin+=data[i];
- }
- data_array[0] = pin.toInt();
- }
- break;
- case 'T':
- {
- String angle = "";
- T_flag = i;
- for(int i=P_flag+1;i<T_flag;i++)
- {
- angle += data[i];
- }
- data_array[1] = 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[i]);
- }
- */
-
- dataComplete = true;
- }
-
- if(dataComplete)
- {
- if(data_array[1] >= ANGLE_VALUE_MIN && data_array[1] <= ANGLE_VALUE_MAX)
- {
- tlc_setServo(data_array[0], data_array[1]);
- }
- else if(data_array[1] >= PWM_VALUE_MIN && data_array[1] <= PWM_VALUE_MAX)
- {
- data_array[1] = map(data_array[1], 500, 2500, 0, 180);
- tlc_setServo(data_array[0], data_array[1]);
- }
- Tlc.update();
- dataComplete = false;
- }
-
- }
复制代码
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[SERVO_NUM];
- int data_array[2] = {0,0}; //servo_pin: data_array[0], servo_value: data_array[1];
- int servo_port[SERVO_NUM] = {4, 7, 11, 3, 8, 12, 14, 15, 16, 17, 18, 19};
- int servo_value[SERVO_NUM] = {};
- 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[i]);
- switch(data[i])
- {
- case '#':
- B_flag = i;
- break;
- case 'P':
- {
- String pin = "";
- P_flag = i;
- for(int i=B_flag+1;i<P_flag;i++)
- {
- pin+=data[i];
- }
- data_array[0] = pin.toInt();
- }
- break;
- case 'T':
- {
- String angle = "";
- T_flag = i;
- for(int i=P_flag+1;i<T_flag;i++)
- {
- angle += data[i];
- }
- data_array[1] = angle.toInt();
- servo_value[pin2index(data_array[0])] = data_array[1];
- }
- 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[i]);
- }
- */
-
- dataComplete = true;
- }
-
- if(dataComplete)
- {
- for(int i=0;i<SERVO_NUM;i++)
- {
- ServoGo(i, servo_value[i]);
- /*********************************串口查看输出***********************************/
- // Serial.print(servo_value[i]);
- // Serial.print(" ");
- }
- // Serial.println();
- /*********************************++++++++++++***********************************/
- dataComplete = false;
- }
-
- }
- void ServoStart(int which){
- if(!myServo[which].attached() && (servo_value[which] != 0))myServo[which].attach(servo_port[which]);
- else return;
- pinMode(servo_port[which], OUTPUT);
- }
- void ServoStop(int which){
- myServo[which].detach();
- digitalWrite(servo_port[which],LOW);
- }
- void ServoGo(int which , int where){
- ServoStart(which);
- if(where >= ANGLE_VALUE_MIN && where <= ANGLE_VALUE_MAX)
- {
- myServo[which].write(where);
- }
- else if(where >= PWM_VALUE_MIN && where <= PWM_VALUE_MAX)
- {
- myServo[which].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;
- }
复制代码
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:
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。
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:
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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