主要电子材料
具体讲解
Arduino Uno操纵杆控制器主要用于机器人手臂，记录坐标。允许重复记录坐标一次单击按钮或重复。使用Arduino Uno基板，不用附加板。需要USB连接(2A)或6V / 2A电源。使用四个伺服SG90进行测试。
按下操纵杆k1上的按钮开始记录坐标。按下操纵杆1上的按钮结束坐标记录。
按下操纵杆2上的按钮，开始重播录制的坐标。按下操纵杆2上的按钮停止重播录制的坐标。按住操纵杆2上的按钮，开始循环自动回放所记录的坐标。
硬件连线
这里只有两个伺服连接的测试板。连接4台伺服电机见原理图。
代码展示
/* meArm analog joysticks version 1.3.1 - UtilStudio.com Dec 2018
Uses two analogue joysticks and four servos.
In version 1.3 was improved recording of coordinates.
Some bugs was removed.
First joystick moves gripper forwards, backwards, left and right,
button start/stop recording positions.
Second joystick moves gripper up, down, and closes and opens,
button start/stop playing recorded positions.
Press button for 2 seconds to autoplay.
Pins:
Arduino Stick1 Stick2 Base Shoulder Elbow Gripper Record/
GND GND GND Brown Brown Brown Brown Auto play
5V VCC VCC Red Red Red Red LED
A0 HOR
A1 VER
PD2 BUTT
A2 HOR
A3 VER
PD3 BUTT
11 Yellow
10 Yellow
9 Yellow
6 Yellow
PD4 X
*/
#include <Servo.h>
bool repeatePlaying = false; /* Repeatedly is running recorded cycle */
int delayBetweenCycles = 2000; /* Delay between cycles */
int basePin = 11; /* Base servo */
int shoulderPin = 10; /* Shoulder servo */
int elbowPin = 9; /* Elbow servo */
int gripperPin = 6; /* Gripper servo */
int xdirPin = 0; /* Base - joystick1*/
int ydirPin = 1; /* Shoulder - joystick1 */
int zdirPin = 3; /* Elbow - joystick2 */
int gdirPin = 2; /* Gripper - joystick2 */
//int pinRecord = A4; /* Button record - backward compatibility */
//int pinPlay = A5; /* Button play - backward compatibility */
int pinRecord = PD2; /* Button record - recommended (A4 is deprecated, will by used for additional joystick) */
int pinPlay = PD3; /* Button play - recommended (A5 is deprecated, will by used for additional joystick) */
int pinLedRecord = PD4; /* LED - indicates recording (light) or auto play mode (blink one) */
bool useInternalPullUpResistors = false;
const int buffSize = 512; /* Size of recording buffer */
int startBase = 90;
int startShoulder = 90;
int startElbow = 90;
int startGripper = 0;
int posBase = 90;
int posShoulder = 90;
int posElbow = 90;
int posGripper = 0;
int lastBase = 90;
int lastShoulder = 90;
int lastElbow = 90;
int lastGripper = 90;
int minBase = 0;
int maxBase = 150;
int minShoulder = 0;
int maxShoulder = 150;
int minElbow = 0;
int maxElbow = 150;
int minGripper = 0;
int maxGripper = 150;
const int countServo = 4;
int buff[buffSize];
int buffAdd[countServo];
int recPos = 0;
int playPos = 0;
int buttonRecord = HIGH;
int buttonPlay = HIGH;
int buttonRecordLast = LOW;
int buttonPlayLast = LOW;
bool record = false;
bool play = false;
bool debug = false;
String command = "Manual";
int printPos = 0;
int buttonPlayDelay = 20;
int buttonPlayCount = 0;
bool ledLight = false;
Servo servoBase;
Servo servoShoulder;
Servo servoElbow;
Servo servoGripper;
void setup() {
Serial.begin(9600);
if (useInternalPullUpResistors) {
pinMode(pinRecord, INPUT_PULLUP);
pinMode(pinPlay, INPUT_PULLUP);
}
else
{
pinMode(pinRecord, INPUT);
pinMode(pinPlay, INPUT);
}
pinMode(xdirPin, INPUT);
pinMode(ydirPin, INPUT);
pinMode(zdirPin, INPUT);
pinMode(gdirPin, INPUT);
pinMode(pinLedRecord, OUTPUT);
servoBase.attach(basePin);
servoShoulder.attach(shoulderPin);
servoElbow.attach(elbowPin);
servoGripper.attach(gripperPin);
StartPosition();
digitalWrite(pinLedRecord, HIGH);
delay(1000);
digitalWrite(pinLedRecord, LOW);
}
void loop() {
buttonRecord = digitalRead(pinRecord);
buttonPlay = digitalRead(pinPlay);
// Serial.print(buttonRecord);
// Serial.print("\t");
// Serial.println(buttonPlay);
// for testing purposes
if (buttonPlay == LOW)
{
buttonPlayCount++;
if (buttonPlayCount >= buttonPlayDelay)
{
repeatePlaying = true;
}
}
else buttonPlayCount = 0;
if (buttonPlay != buttonPlayLast)
{
if (record)
{
record = false;
}
if (buttonPlay == LOW)
{
play = !play;
repeatePlaying = false;
if (play)
{
StartPosition();
}
}
}
if (buttonRecord != buttonRecordLast)
{
if (buttonRecord == LOW)
{
record = !record;
if (record)
{
play = false;
repeatePlaying = false;
recPos = 0;
}
else
{
if (debug) PrintBuffer();
}
}
}
buttonPlayLast = buttonPlay;
buttonRecordLast = buttonRecord;
float dx = map(analogRead(xdirPin), 0, 1023, -5.0, 5.0);
float dy = map(analogRead(ydirPin), 0, 1023, 5.0, -5.0);
float dz = map(analogRead(zdirPin), 0, 1023, 5.0, -5.0);
float dg = map(analogRead(gdirPin), 0, 1023, 5.0, -5.0);
if (abs(dx) < 1.5) dx = 0;
if (abs(dy) < 1.5) dy = 0;
if (abs(dz) < 1.5) dz = 0;
if (abs(dg) < 1.5) dg = 0;
posBase += dx;
posShoulder += dy;
posElbow += dz;
posGripper += dg;
if (play)
{
if (playPos >= recPos) {
playPos = 0;
if (repeatePlaying)
{
delay(delayBetweenCycles);
StartPosition();
}
else
{
play = false;
}
}
bool endOfData = false;
while (!endOfData)
{
if (playPos >= buffSize - 1) break;
if (playPos >= recPos) break;
int data = buff[playPos];
int angle = data & 0xFFF;
int servoNumber = data & 0x3000;
endOfData = data & 0x4000;
switch (servoNumber)
{
case 0x0000:
posBase = angle;
break;
case 0x1000:
posShoulder = angle;
break;
case 0x2000:
posElbow = angle;
break;
case 0x3000:
posGripper = angle;
dg = posGripper - lastGripper;
break;
}
playPos++;
}
}
if (posBase > maxBase) posBase = maxBase;
if (posShoulder > maxShoulder) posShoulder = maxShoulder;
if (posElbow > maxElbow) posElbow = maxElbow;
if (posGripper > maxGripper) posGripper = maxGripper;
if (posBase < minBase) posBase = minBase;
if (posShoulder < minShoulder) posShoulder = minShoulder;
if (posElbow < minElbow) posElbow = minElbow;
if (posGripper < minGripper) posGripper = minGripper;
servoBase.write(posBase);
servoShoulder.write(posShoulder);
servoElbow.write(posElbow);
bool waitGripper = false;
if (dg < 0) {
posGripper = minGripper;
waitGripper = true;
}
else if (dg > 0) {
posGripper = maxGripper;
waitGripper = true;
}
servoGripper.write(posGripper);
if (play && waitGripper)
{
delay(1000);
}
if ((lastBase != posBase) | (lastShoulder != posShoulder) | (lastElbow != posElbow) | (lastGripper != posGripper))
{
if (record)
{
if (recPos < buffSize - countServo)
{
int buffPos = 0;
if (lastBase != posBase)
{
buffAdd[buffPos] = posBase;
buffPos++;
}
if (lastShoulder != posShoulder)
{
buffAdd[buffPos] = posShoulder | 0x1000;
buffPos++;
}
if (lastElbow != posElbow)
{
buffAdd[buffPos] = posElbow | 0x2000;
buffPos++;
}
if (lastGripper != posGripper)
{
buffAdd[buffPos] = posGripper | 0x3000;
buffPos++;
}
buffAdd[buffPos - 1] = buffAdd[buffPos - 1] | 0x4000;
for (int i = 0; i < buffPos; i++)
{
buff[recPos + i] = buffAdd[i];
}
recPos += buffPos;
}
}
command = "Manual";
printPos = 0;
if (play)
{
command = "Play";
printPos = playPos;
}
else if (record)
{
command = "Record";
printPos = recPos;
}
Serial.print(command);
Serial.print("\t");
Serial.print(printPos);
Serial.print("\t");
Serial.print(posBase);
Serial.print("\t");
Serial.print(posShoulder);
Serial.print("\t");
Serial.print(posElbow);
Serial.print("\t");
Serial.print(posGripper);
Serial.print("\t");
Serial.print(record);
Serial.print("\t");
Serial.print(play);
Serial.println();
}
lastBase = posBase;
lastShoulder = posShoulder;
lastElbow = posElbow;
lastGripper = posGripper;
if ( repeatePlaying)
{
ledLight = !ledLight;
}
else
{
if (ledLight)
{
ledLight = false;
}
if (record)
{
ledLight = true;
}
};
digitalWrite(pinLedRecord, ledLight);
delay(50);
}
void PrintBuffer()
{
for (int i = 0; i < recPos; i++)
{
int data = buff[i];
int angle = data & 0xFFF;
int servoNumber = data & 0x3000;
bool endOfData = data & 0x4000;
Serial.print("Servo=");
Serial.print(servoNumber);
Serial.print("\tAngle=");
Serial.print(angle);
Serial.print("\tEnd=");
Serial.print(endOfData);
Serial.print("\tData=");
Serial.print(data, BIN);
Serial.println();
}
}
void StartPosition()
{
int angleBase = servoBase.read();
int angleShoulder = servoShoulder.read();
int angleElbow = servoElbow.read();
int angleGripper = servoGripper.read();
Serial.print(angleBase);
Serial.print("\t");
Serial.print(angleShoulder);
Serial.print("\t");
Serial.print(angleElbow);
Serial.print("\t");
Serial.print(angleGripper);
Serial.println("\t");
posBase = startBase;
posShoulder = startShoulder;
posElbow = startElbow;
posGripper = startGripper;
servoBase.write(posBase);
servoShoulder.write(posShoulder);
servoElbow.write(posElbow);
servoGripper.write(posGripper);
}
