MeArm机械臂（Arduino）
打算搞点小项目，于是打算拿MeArm机械臂入手，主要就是舵机控制机械运动
于是先试验了舵机的功能，由以下代码实现：
#include <Servo.h>
//Servo myservo;
Servo base,fArm,rArm,claw;
int pos = 0;
//二维数组
int data[4][5]=
{
0,45,90,135,180,
45,90,135,180,0,
90,135,180,0,45,
135,180,0,45,90,
};
//一维数组
int infor[5]={0,45,90,135,180};
void setup()
{
base.attach(6);
fArm.attach(9);
rArm.attach(10);
claw.attach(11);
Serial.begin(9600);
Serial.println("send a datd");
}
//控制四个舵机向相同角度运动
/*
void loop()
{
for(int i = 0;i<5;i++)
{
base.write(infor[i]);
delay(15);
fArm.write(infor[i]);
delay(15);
rArm.write(infor[i]);
delay(15);
claw.write(infor[i]);
delay(15);
}
for(int i = 4;i>=0;i--)
{
base.write(infor[i]);
delay(15);
fArm.write(infor[i]);
delay(15);
rArm.write(infor[i]);
delay(15);
claw.write(infor[i]);
delay(15);
}
}
*/
//控制四个舵机自动向不同的角度运动
/*void loop()
{
for(int i = 0;i<5;i++)
{
base.write(data[0][i]);
delay(15);
fArm.write(data[0][i]);
delay(15);
rArm.write(data[0][i]);
delay(15);
claw.write(data[0][i]);
delay(15);
}
for(int i = 4;i>=0;i--)
{
base.write(data[0][i]);
delay(15);
fArm.write(data[0][i]);
delay(15);
rArm.write(data[0][i]);
delay(15);
claw.write(data[0][i]);
delay(15);
}
}*/
//分别控制四个舵机各角度运动
/*void loop()
{
if(Serial.available())
{
char name=Serial.read();
Serial.print("Name:");
Serial.print(name);
Serial.print(',');
pos=Serial.parseInt();
switch(name)
{
case'b':
base.write(pos);
Serial.print("data:");
Serial.println(pos);
delay(15);
break;
case'f':
fArm.write(pos);
Serial.print("data:");
Serial.println(pos);
delay(15);
break;
case'r':
rArm.write(pos);
Serial.print("data:");
Serial.println(pos);
delay(15);
break;
case'c':
claw.write(pos);
Serial.print("data:");
Serial.println(pos);
delay(15);
break;
}
}
}*/
//四个舵机自动
/*
void loop()
{
for(pos=0;pos<=180;pos++)
{
base.write(pos);
delay(10);
fArm.write(pos);
delay(10);
rArm.write(pos);
delay(10);
claw.write(pos);
delay(100);
}
for(pos=180;pos>=0;pos--)
{
base.write(pos);
delay(10);
fArm.write(pos);
delay(10);
rArm.write(pos);
delay(10);
claw.write(pos);
delay(100);
}
}*/
//四个舵机同时驱动
/*void loop()
{
if(Serial.available())
{
pos=Serial.parseInt();
Serial.print("Received:");
Serial.println(pos);
if(pos>=0&&pos<=180)
{
base.write(pos);
delay(10);
fArm.write(pos);
delay(10);
rArm.write(pos);
delay(10);
claw.write(pos);
delay(100);
}
}
}*/
//单个舵机驱动
/*void setup() {
myservo.attach(9);
Serial.begin(9600);
Serial.println("Ready. Send a number (0-180)");
}
void loop() {
if (Serial.available()) {
pos = Serial.parseInt();
// 打印接收到的值，看是否为0
Serial.print("Received: ");
Serial.println(pos);
// 只处理有效范围内的值
if (pos >= 0 && pos <= 180) {
myservo.write(pos);
delay(15);
}
}
}
*/