Basra主控板（兼容Arduino Uno）

Bigfish2.1扩展板

/*------------------------------------------------------------------------------------

  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 2023-02-20 https://www.robotway.com/

  ------------------------------*/

/*

本程序要实现一个5自由度串联机械臂搬运物品的功能。

由机械臂从夹爪到底座的舵机依次连接在Bigfish扩展板的D4、D7、D11、D3、D8、D12接口上。

*/

#define EYEINIT 174

#define HEADINIT 90

#define NECKINIT 124

#define UPBODYINIT 72

#define DOWNBODYINIT 100

#define FOOTINIT 88

#define EYE0 130

#define HEAD0 90

#define NECK0 170

#define UPBODY0 160

#define DOWNBODY0 79

#define FOOT0 36

#define EYE1 130

#define HEAD1 90

#define NECK1 170

#define UPBODY1 160

#define DOWNBODY1 80

#define FOOT1 130

#include<Wire.h>

#include <Servo.h>                                           

#define PIN_SERVO_EYE 4                                      //定义各个舵机所对应的端口;

#define PIN_SERVO_HEAD 7

#define PIN_SERVO_NECK   11

#define PIN_SERVO_UPBODY   3

#define PIN_SERVO_DOWNBODY 8

#define PIN_SERVO_FOOT 12

#define OPERATE_TIME 3000

#define SERVO_EYE 0                                        //定义各个舵机所对应的端口;

#define SERVO_HEAD 1

#define SERVO_NECK   2

#define SERVO_UPBODY   3

#define SERVO_DOWNBODY 4

#define SERVO_FOOT 5

int servoPin[6] = {PIN_SERVO_EYE, PIN_SERVO_HEAD, PIN_SERVO_NECK, PIN_SERVO_UPBODY,PIN_SERVO_DOWNBODY,PIN_SERVO_FOOT};

Servo myServo[6];

void setup() {

  // put your setup code here, to run once:

  delay(1000);

  Serial.begin(9600);

  resetArm();

}

void loop() {

  // put your main code here, to run repeatedly:

    resetArm(); //机械臂复位

    getCube();   //机械臂开始抓取货物

    putCube();   //机械臂开始释放货物

    delay(2000);//等待2秒

}

void resetArm(){   //舵机复位函数;

    for(int i = 0; i < 6; i++)

        myServo[i].attach(servoPin[i]);

        myServo[SERVO_EYE].write(EYEINIT);

        myServo[SERVO_HEAD].write(HEADINIT);

        myServo[SERVO_NECK].write(NECKINIT);

        myServo[SERVO_UPBODY].write(UPBODYINIT);

        myServo[SERVO_DOWNBODY].write(DOWNBODYINIT);

        myServo[SERVO_FOOT].write(FOOTINIT);

        delay(1500);

}

void getCube(){   //抓取物料动作序列函数;

    ServoMove(SERVO_FOOT, FOOTINIT, FOOT0, OPERATE_TIME);

    ServoMove(SERVO_UPBODY, UPBODYINIT,UPBODY0, OPERATE_TIME);

    ServoMove(SERVO_HEAD, HEADINIT, HEAD0, OPERATE_TIME);

    ServoMove(SERVO_NECK, NECKINIT, NECK0, OPERATE_TIME);

    ServoMove(SERVO_EYE, EYEINIT, EYE0, OPERATE_TIME);

    ServoMove(SERVO_DOWNBODY, DOWNBODYINIT, DOWNBODY0, OPERATE_TIME);

    ServoMove(SERVO_HEAD, HEAD0, HEADINIT, OPERATE_TIME);

    ServoMove(SERVO_UPBODY, UPBODY0, UPBODYINIT, OPERATE_TIME);

    ServoMove(SERVO_EYE,   EYE0, EYEINIT, OPERATE_TIME);

    ServoMove(SERVO_NECK, NECK0, NECKINIT, OPERATE_TIME);

    ServoMove(SERVO_DOWNBODY, DOWNBODY0, DOWNBODYINIT, OPERATE_TIME);

}

void putCube()     //机械臂开始释放货物

{

    ServoMove(SERVO_FOOT, FOOT0, FOOT1 , OPERATE_TIME);

    ServoMove(SERVO_HEAD, HEADINIT, HEAD1, OPERATE_TIME);

    ServoMove(SERVO_NECK, NECKINIT, NECK1, OPERATE_TIME);

    ServoMove(SERVO_UPBODY, UPBODYINIT,UPBODY1, OPERATE_TIME);

    ServoMove(SERVO_EYE, EYEINIT, EYE1, OPERATE_TIME);

    ServoMove(SERVO_DOWNBODY, DOWNBODYINIT, DOWNBODY1, OPERATE_TIME);  

    ServoMove(SERVO_HEAD, HEAD1, HEADINIT, OPERATE_TIME);

    ServoMove(SERVO_UPBODY, UPBODY1, UPBODYINIT, OPERATE_TIME);

    ServoMove(SERVO_EYE,   EYE1, EYEINIT, OPERATE_TIME);

    ServoMove(SERVO_NECK, NECK1, NECKINIT, OPERATE_TIME);

    ServoMove(SERVO_DOWNBODY, DOWNBODY1, DOWNBODYINIT, OPERATE_TIME);

    ServoMove(SERVO_FOOT, FOOT1, FOOTINIT , OPERATE_TIME);         

}

void ServoMove(int which, int _start, int _finish, long t)   //舵机动作函数:它有四个参数,舵机号,初始角度,目标角度,动作时间;

{

    static int direct;

    static int diff;

    static long deltaTime;

    if(_start <= _finish)

      direct = 1;

    else

      direct = -1;

    diff = abs(_finish - _start);

    deltaTime = (long) (t / 180);

    for(int i = 0; i < diff; i++){

        myServo[which].write(_start + i * direct);

        Serial.println(_start + i * direct);

        delay(deltaTime);

    }

}

序号

【R265】-Arduino搬运-例程源代码

Basra主控板（兼容Arduino Uno）‍

Bigfish2.1扩展板‍

传感器

TCS3200颜色识别传感器

/*------------------------------------------------------------------------------------

  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 2023-08-24 https://www.robotway.com/

  ------------------------------*/

#include <MsTimer2.h>

#include <Wire.h>

#include <ECT_IA02S.h>

ECT_IA02S device;

String serialString = "";

boolean serialComplete = false;

char stringBuf[100];

void setup()

{

  Serial.begin(9600);

  Colour_set();

  serialString = "1@0:act.write(75);@";

  StringDeal();

  serialString = "1@1:act.write(90);@";

  StringDeal();

  delay(1000);

  serialString = "2@0:act.write(100);@";

  StringDeal();

  serialString = "2@1:act.write(90);@";

  StringDeal();  

  delay(1000);

  serialString = "3@0:act.write(45);@";

  StringDeal();

  serialString = "3@1:act.write(90);@";

  StringDeal();

}

void loop()

{

  int c = Get_colour();

  Serial.println(c);

  if(c<2)

     device.startShoal(0, c, 7000);

  delay(2000);

}

void StringDeal()

{

      String outString;

      static int stringlength;

      serialString = serialString.substring(0,serialString.length()-1);

      serialString+="*";

      serialString+=serialString.length()-1;

      serialString+="\n";

      stringlength=serialString.length();

      //split the string to certain part, each part as 30 char, send parts one by one

      for(int i=0;i<((stringlength/30)+1);i++){

        outString = serialString.substring(0,min(serialString.length(),30));

        outString.toCharArray(stringBuf, outString.length()+1);

        serialString=serialString.substring(min(serialString.length(),30),serialString.length()+1);

        Wire.beginTransmission(1);

        Wire.write(stringBuf);                   

        Wire.endTransmission();       

      }

}

序号

【R265】-颜色分拣-程序源代码