作者：机器谱
Arduino |
1.支持平台
win10、win7
win10打开Controller 1.0.exe即可运行；win7需要先安装Controller1.0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 1.0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 调试舵机时，将Controller1.0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; }
} |
/*------------------------------------------------------------------------------------ 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; } |
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。
序号 | 内容 |
| 1 | Controller1.0资料包 |
【整体打包】-【U002】如何驱动模拟舵机-Controller 1.0-资料附件.zip | 66.94MB | 下载60次 | 下载 |
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