: 42 Test deelactiviteit - controle vanaf PC via USB
We zijn snel met behulp van de pinnen op de eerste arduino. We zullen moeten gebruiken meerdere planken en vervolgens communiceren tussen hen. Ik heb seriële ingangen aan de test-code toegevoegd om dit begonnen. Een switch case controlestructuur roept de functie op seriële input wordt gebaseerd.De code is hieronder:
Nu bepalen de volgende commando's de moties. Ze worden verzonden met de seriële monitor. Met behulp van allemaal kleine letters (het is eigenlijk de ASCII-codes voor de letters die worden verzonden, dus geval zaken)
f = vooruit
b = achterwaarts
r = rechterarm omhoog
t = rechter arm omlaag
w = linkerarm omhoog
e = linker arm omlaag
z = taille bocht omlaag
x = taille bocht omhoog
/////////////////////////////Arduino Code //////////////////////////////
////// Robot test with little routines made into functions////// ////// Added serial control /////VARIABLES/////////// Direction low = towards body or Foward//Direction High = away from body or Backwardint RightArmDir = 2; int RightArmSpeed = 3; int LeftArmDir = 4; int LeftArmSpeed = 5; int WaistDir = 7; int WaistSpeed = 6; int RightWheelDir = 8; int RightWheelSpeed = 9; int LeftWheelDir = 12; int LeftWheelSpeed = 10; int Slow = 100; int Fast = 200; int t1 = 200; int t2 = 1000; int WheelSpeed =75; int incomingByte; ///////// SETUP /////////voidsetup() { pinMode(RightArmDir, OUTPUT); pinMode(RightArmSpeed, OUTPUT); pinMode(LeftArmDir, OUTPUT); pinMode(LeftArmSpeed, OUTPUT); pinMode(WaistDir, OUTPUT); pinMode(WaistSpeed, OUTPUT); pinMode(RightWheelDir, OUTPUT); pinMode(RightWheelSpeed, OUTPUT); pinMode(LeftWheelDir, OUTPUT); pinMode(LeftWheelSpeed, OUTPUT); Serial.begin(9600); } //////// MAIN LOOP ///////voidloop() { Serial.println("...."); delay(2000); if(Serial.available()>0){ incomingByte = Serial.read(); switch(incomingByte){ case'f': Foward(); break; case'b': Backward(); break; case'r': RightArmUp(); break; case't': RightArmDown(); break; case'w': LeftArmUp(); break; case'e': LeftArmDown(); break; case'z': WaistBendDown(); break; case'x': WaistBendUp(); break; } } } //////////////////////////////////////////////////////// BASIC FUNCTIONS ////////////////////////////////////////////////////////////////// void RightArmUp(){ // Test Right Arm Serial.println("Right Arm"); //Right Arm Up Serial.println("Up"); digitalWrite(RightArmDir, HIGH); analogWrite(RightArmSpeed, Slow); delay (t1); analogWrite(RightArmSpeed,Fast); delay (2*t2); analogWrite(RightArmSpeed,Slow); delay(t1); analogWrite(RightArmSpeed, 0); delay(t1); } void RightArmDown(){ //Right Arm Down Serial.println("Right Arm Down"); digitalWrite(RightArmDir, LOW); analogWrite(RightArmSpeed, Slow); delay (t1); analogWrite(RightArmSpeed, Fast); delay (2*t2); analogWrite(RightArmSpeed, Slow); delay(t1); analogWrite(RightArmSpeed, 0); delay(2*t1); } void LeftArmUp(){ // Test Left Arm Serial.println("Left Arm Up"); //Left Arm Up digitalWrite(LeftArmDir, HIGH); analogWrite(LeftArmSpeed, Slow); delay (t1); analogWrite(LeftArmSpeed, Fast); delay (2*t2); analogWrite(LeftArmSpeed, Slow); delay (t1); analogWrite(LeftArmSpeed, 0); delay(t1); } void LeftArmDown(){ //Left Arm Down Serial.println("Left Arm Down"); digitalWrite(LeftArmDir, LOW); analogWrite(LeftArmSpeed, Slow); delay (t1); analogWrite(LeftArmSpeed, Fast); delay (2*t2); analogWrite(LeftArmSpeed,Slow); delay(t1); analogWrite(LeftArmSpeed, 0); delay(2*t1); } void WaistBendDown(){ // Test Waist Serial.println("Waist Bend Down"); digitalWrite(WaistDir, HIGH); analogWrite(WaistSpeed, Slow); delay (t1); analogWrite(WaistSpeed, Fast); delay (2*t2); analogWrite(WaistSpeed, Slow); delay(t1); analogWrite(WaistSpeed, 0); delay(t1); } void WaistBendUp(){ //Bend Up Serial.println("Up"); digitalWrite(WaistDir, LOW); analogWrite(WaistSpeed, Slow); delay (t1); analogWrite(WaistSpeed, Fast); delay (2*t2); analogWrite(WaistSpeed, Slow); delay(t1); analogWrite(WaistSpeed, 0); delay(2*t1); } void Spin(){ Serial.println("SPIN"); digitalWrite(LeftWheelDir, LOW); digitalWrite(RightWheelDir,HIGH); analogWrite(RightWheelSpeed, WheelSpeed/2); analogWrite(LeftWheelSpeed, WheelSpeed/2); delay (t1); analogWrite(RightWheelSpeed, WheelSpeed); analogWrite(LeftWheelSpeed, WheelSpeed); delay (t2); analogWrite(RightWheelSpeed, WheelSpeed/2); analogWrite(LeftWheelSpeed, WheelSpeed/2); delay(t1); analogWrite(LeftWheelSpeed, 0); analogWrite(RightWheelSpeed, 0); } void Spin2(){ Serial.println("SPIN2"); digitalWrite(LeftWheelDir, HIGH); digitalWrite(RightWheelDir,LOW); analogWrite(RightWheelSpeed, WheelSpeed/2); analogWrite(LeftWheelSpeed, WheelSpeed/2); delay (t1); analogWrite(RightWheelSpeed, WheelSpeed); analogWrite(LeftWheelSpeed, WheelSpeed); delay (t2); analogWrite(RightWheelSpeed, WheelSpeed/2); analogWrite(LeftWheelSpeed, WheelSpeed/2); delay(t1); analogWrite(LeftWheelSpeed, 0); analogWrite(RightWheelSpeed, 0); } void Foward(){ Serial.println("Go Foward"); digitalWrite(LeftWheelDir, HIGH); digitalWrite(RightWheelDir,HIGH); analogWrite(RightWheelSpeed, WheelSpeed/2); analogWrite(LeftWheelSpeed, WheelSpeed/2); delay (t1); analogWrite(RightWheelSpeed, WheelSpeed); analogWrite(LeftWheelSpeed, WheelSpeed); delay (t2); analogWrite(RightWheelSpeed, WheelSpeed/2); analogWrite(LeftWheelSpeed, WheelSpeed/2); delay(t1); analogWrite(LeftWheelSpeed, 0); analogWrite(RightWheelSpeed, 0); } void Backward(){ Serial.println("Go Backward"); digitalWrite(LeftWheelDir, LOW); digitalWrite(RightWheelDir,LOW); analogWrite(RightWheelSpeed, WheelSpeed/2); analogWrite(LeftWheelSpeed, WheelSpeed/2); delay (t1); analogWrite(RightWheelSpeed, WheelSpeed); analogWrite(LeftWheelSpeed, WheelSpeed); delay (t2); analogWrite(RightWheelSpeed, WheelSpeed/2); analogWrite(LeftWheelSpeed, WheelSpeed/2); delay(t1); analogWrite(LeftWheelSpeed, 0); analogWrite(RightWheelSpeed, 0); }