机械手控制程序

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最新推荐文章于 2024-06-07 16:22:12 发布

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本文链接：https://blog.csdn.net/Ge_yangwen/article/details/139102269

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机械手的控制程序

/* P的范围最好是  按照下面给出的测试范围给值
*/
#001P0800T1000!
#001P1500T1000!			//单个控制    (大拇指)     P的数值越小弯曲程度越大  2100-600
#001P2100T1000!

#002P0800T1000!
#002P1500T1000!			//单个控制    (食指)		P的数值越大弯曲程度越大   0800-2050
#002P2050T1000!

#003P0800T1000!
#003P1500T1000!			//单个控制    (中指)		P的数值越大弯曲程度越大   0800-2100
#003P2100T1000!

#004P0800T1000!
#004P1500T1000!			//单个控制    (无名指)		P的数值越大弯曲程度越大  0800-2200
#004P2200T1000!

#005P0800T1000!
#005P1500T1000!			//单个控制    (小拇指)		P的数值越大弯曲程度越大  0800-2100
#005P2100T1000!

/*    Arduino Long Range Wireless Communication using HC-12
                      Example 01
   by Dejan Nedelkovski, www.HowToMechatronics.com
*/
#include <SoftwareSerial.h>

SoftwareSerial HC12(10, 11); // HC-12 TX Pin, HC-12 RX Pin

byte analog_pin[5] = {A1, A2, A3, A4, A5};  //定义电位器引脚数组
int sensorValue[6]={0,0,0,0,0,0};           //大拇指读取的模拟量
int sensorMaxValue[6]={0,0,0,0,0,0};
int sensorMinValue[6]={1024,1024,1024,1024,1024,1024};
int FingerBend[6]={0,0,0,0,0,0};
char cmd_return[256];

void setup() {
  Serial.begin(115200);             // Serial port to computer
  HC12.begin(115200);               // Serial port to HC12
}

void loop() {
//  while (HC12.available()) {        // If HC-12 has data
    Serial.println(HC12.read());      // Send the data to Serial monitor
//      Serial.println("有数据啦");
//  }
  static u32 systick_ms_bak = 0;
  if(millis() - systick_ms_bak > 100) {      //25ms为一个执行周期
    systick_ms_bak = millis();
    // 大拇指
    sensorValue[1] = analogRead(A1);
    Serial.print(sensorValue[1]);      // Send the data to Serial monitor
    Serial.print("   max = ");  Serial.print(sensorMaxValue[1]);Serial.print("   min = ");  Serial.print(sensorMinValue[1]); Serial.print("  ");
    sensorMinValue[1] =min(sensorValue[1],sensorMinValue[1]);
    sensorMaxValue[1] =max(sensorValue[1],sensorMaxValue[1]);
    int temp = map(sensorValue[1],sensorMinValue[1],sensorMaxValue[1],600,2100);//因为模拟读取的是1023，输出却是255，用map函数转换
    FingerBend[1] = 2700-temp;
    
    // 食指
//    sensorValue[2] = analogRead(A2);
//    sensorMinValue[2] =min(sensorValue[2],sensorMinValue[2]);
//    sensorMaxValue[2] =max(sensorValue[2],sensorMaxValue[2]);
//    FingerBend[2]= map(sensorValue[2],sensorMinValue[2],sensorMaxValue[2],800,2050);//因为模拟读取的是1023，输出却是255，用map函数转换
    
    sprintf(cmd_return,"#001P%04dT0500!",FingerBend[1]);
//    sprintf(cmd_return,"{#001P%04dT0050!#002P%04dT0050!#003P%04dT0050!#004P%04dT0050!#005P%04dT0050!}", 
//                    FingerBend[1],FingerBend[2],FingerBend[3],FingerBend[4],FingerBend[5]);
    Serial.println(cmd_return);      // Send the data to Serial monitor
    HC12.write(cmd_return);  //这个串口的发送是通过手套的HC-12无线通讯模块发送的
    
  }
  
}

第四节

//  A0—A5,是模拟输入  ，  3,4,5,9,10,11是模拟输出口
void analogRead(pin); //读取模拟量电压值，返回一个0到1023的数值（int型）
void anglogWrite(pin,value); //输出到引脚，PWM的信号频率约为490赫兹脚位通常在3，5,6,9,10,11，value变数范围0—255，而0——255对应的是 0—5V电压
int map（value，fromlow，fromHigh，toLow，toHigh），把一个数从一个范围变换到另一个范围就是将value变数依照fromlow与fromHigh范围，对等转化至toLow 与toHigh。
    

    
    
    
    
/*    Arduino Long Range Wireless Communication using HC-12
                      Example 01
   by Dejan Nedelkovski, www.HowToMechatronics.com
*/
#include <SoftwareSerial.h>

SoftwareSerial HC12(10, 11); // HC-12 TX Pin, HC-12 RX Pin

byte analog_pin[5] = {A1, A2, A3, A4, A5};  //定义电位器引脚数组
int sensorValue[6]={0,0,0,0,0,0};           //手指读取的模拟量
int sensorMaxValue[6]={0,0,0,0,0,0};
int sensorMinValue[6]={1024,1024,1024,1024,1024,1024};
int FingerBend[6]={0,0,0,0,0,0};
char cmd_return[256];
byte readBuf;

void setup() {
  Serial.begin(115200);             // Serial port to computer
  HC12.begin(115200);               // Serial port to HC12
}

void loop() {
  while (HC12.available()) {        // If HC-12 has data
    readBuf = HC12.read();
//    Serial.println(HC12.read());      // Send the data to Serial monitor
//    Serial.println("\n");
      Serial.println("有数据啦");
  }
  static u32 systick_ms_bak = 0;
  if(millis() - systick_ms_bak > 100) {      //25ms为一个执行周期
    systick_ms_bak = millis();
    // 大拇指
    sensorValue[1] = analogRead(A1);
//    Serial.print("   1max = ");  Serial.print(sensorMaxValue[1]); Serial.print("   1min = ");  Serial.print(sensorMinValue[1]); Serial.print("  ");
    sensorMinValue[1] =min(sensorValue[1],sensorMinValue[1]);
    sensorMaxValue[1] =max(sensorValue[1],sensorMaxValue[1]);
    int temp = map(sensorValue[1],sensorMinValue[1],sensorMaxValue[1],600,2100);//因为模拟读取的是1023，输出却是255，用map函数转换
    FingerBend[1] = 2700-temp;
    
    // 食指
    readFingerBend(2);
    readFingerBend(3);
    readFingerBend(4);
    readFingerBend(5);
    for(int i=1;i<=5;i++){
        Serial.print(sensorValue[i]);      // Send the data to Serial monitor
        Serial.print("  ");
    }
    Serial.print("\n");
//    
//    sprintf(cmd_return,"#001P%04dT0500!",FingerBend[1]);
//    Serial.println(cmd_return);
//    HC12.write(cmd_return);
//    memset(cmd_return, 0, sizeof(cmd_return));

    
    
    sprintf(cmd_return,"{#001P%04dT0500!#002P%04dT0500!#003P%04dT0500!#004P%04dT0500!#005P%04dT0500!}", 
                    FingerBend[1],FingerBend[2],FingerBend[3],FingerBend[4],FingerBend[5]);
    Serial.println(cmd_return);      // Send the data to Serial monitor
    HC12.write(cmd_return);  //这个串口的发送是通过手套的HC-12无线通讯模块发送的
    
  }
  
}
void readFingerBend(int index){
    // 食指
    sensorValue[index] = analogRead(index);
//    Serial.print(sensorValue[index]);      // Send the data to Serial monitor
//    Serial.print("  "); Serial.print(index);Serial.print("max = ");  Serial.print(sensorMaxValue[index]);
//    Serial.print(index);Serial.print("min = ");  Serial.print(sensorMinValue[index]); Serial.print("  ");
    sensorMinValue[index] =min(sensorValue[index],sensorMinValue[index]);
    sensorMaxValue[index] =max(sensorValue[index],sensorMaxValue[index]);
    FingerBend[index]= map(sensorValue[index],sensorMinValue[index],sensorMaxValue[index],800,2050);//因为模拟读取的是1023，输出却是255，用map函数转换
}

输出数据

520  568  329  383  376  
519  569  329  383  375  
519  568  328  383  375  
519  568  328  383  375  
520  568  329  384  375  
519  568  329  383  375  
520  569  328  383  376  
520  568  329  383  375  
519  568  328  383  376  
519  568  328  383  376  
519  568  328  383  375  
519  568  328  383  375  
519  568  328  383  376  
519  568  328  383  375  
519  568  329  383  375  
519  569  329  383  375  
519  569  329  383  376  
519  568  329  383  375  
519  569  328  384  376  
520  569  329  383  375  
519  568  329  384  375  
519  568  329  383  376  
519  568  329  383  376  
519  568  329  383  375  
519  568  329  383  376  
519  568  329  383  375  
519  568  328  383  376  
519  569  329  383  376  
519  568  329  383  376  
519  568  328  383  376  
519  568  328  383  377  
519  569  328  383  376  
519  568  328  383  375  
519  568  328  383  376  
519  568  327  383  375  
519  568  327  383  375  
519  568  328  384  375  
519  568  328  383  376  
519  568  328  383  375  
519  568  328  383  376  
519  568  328  383  375  
519  569  328  383  376  
519  568  328  383  377  
519  569  328  384  376  
519  568  327  383  376  
519  573  328  383  373  
517  570  328  383  375  
398  521  266  412  365  
399  575  247  414  367  
466  538  291  400  367  
474  550  307  406  367  
509  554  309  405  367  
582  554  311  404  367  
732  560  312  398  368  
735  562  313  396  367  
745  561  314  397  368  
731  561  314  399  368  
714  562  315  402  368  
395  560  292  389  367  
477  559  321  395  369  
483  562  324  400  369  
482  563  325  399  369  
481  563  325  399  368  
483  563  325  396  369  
477  535  288  389  369  
489  573  296  388  367  
493  580  30