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业余时间完成的一款在线统计过程分析工具SPC,及SPC知识分享网站qdo
今天从淘宝上订购的两个机械臂终于到货了,从这篇开始逐步讲解ROS机械臂的控制,这两个机械臂又花掉了800块,配的MG99R模拟舵机,如果配数字舵机每个机械臂要555元,价格还是有点小贵。机械臂安装好后如下图
本来有一块通过串口控制24路舵机控制的模块,但由于树莓派的串口已经被蓝牙所使用,现在蓝牙还要接蓝牙音箱,所以只好在找其他的舵机控制版,最后找到这款2路电机,和16路舵机控制模块,可以直接插在arduino上,通过ardunio的i2c接口控制舵机,同时通过arduino的D6、D7、D11、D12口控制电机,正好满足需求,而且其还留了两排arduino引脚插孔,可以自己焊接上两排插针,做扩展板用,这块板子淘宝价格是58元。
下图是装完机械臂后的Diego 1#的图片,看到是挺酷的
1.修改电机驱动代码
因为更换了电机驱动板,所以先要更改一下电机驱动的代码,其实很简单,只需要修改DualL298PMotorShield_h中接口中其中一个电机的控制对应arduino引脚,由原来的4和5改为11和12就可以了,代码如下:
#ifndef DualL298PMotorShield_h
#define DualL298PMotorShield_h
#include <Arduino.h>
class DualL298PMotorShield
{
public:
// CONSTRUCTORS
DualL298PMotorShield(); // Default pin selection.
DualL298PMotorShield(unsigned char M1DIR, unsigned char M1PWM,
unsigned char M2DIR, unsigned char M2PWM); // User-defined pin selection.
// PUBLIC METHODS
void init(); // Initialize TIMER 1, set the PWM to 20kHZ.
void setM1Speed(int speed); // Set speed for M1.
void setM2Speed(int speed); // Set speed for M2.
void setSpeeds(int m1Speed, int m2Speed); // Set speed for both M1 and M2.
private:
//static const unsigned char _M1DIR = 5;
static const unsigned char _M1DIR = 12;
static const unsigned char _M2DIR = 7;
//static const unsigned char _M1PWM = 4;
static const unsigned char _M1PWM = 11;
static const unsigned char _M2PWM = 6;
};
#endif
2.修改码盘数据读取的代码
由于这款舵机控制模块是通过arduino 的I2C接口控制舵机,即arduino上的A4,A5。我们之前有一个电机码盘的数据是通过A4,A5读取的,所以修改到其他其他的模拟量接口,我在这里用了A2,A3。只需要修改encoder_driver.h对应接口引脚即可,同时要保证实际的连线也要做相应的调整,代码如下:
#ifdef ARDUINO_ENC_COUNTER
//below can be changed, but should be PORTD pins;
//otherwise additional changes in the code are required
#define LEFT_ENC_PIN_A PD2 //pin 2
#define LEFT_ENC_PIN_B PD3 //pin 3
//below can be changed, but should be PORTC pins
//#define RIGHT_ENC_PIN_A PC4 //pin A4
#define RIGHT_ENC_PIN_A PC2 //pin A2
//#define RIGHT_ENC_PIN_B PC5 //pin A5
#define RIGHT_ENC_PIN_B PC3 //pin A3
#endif
long readEncoder(int i);
void resetEncoder(int i);
void resetEncoders();
3.舵机控制
修改servos.h
//定义12 个舵机
#define N_SERVOS 12
//Servo servos [N_SERVOS];
//byte servoPins [N_SERVOS] = {3, 5};//由于本身没有使用arduino的PWM引脚控制舵机,所以这行注释
short servoslastpos [N_SERVOS];//0~180//记录舵机当前的位置
修改ROSArduinoBridge-diego.uno的void setup()的servo初始化代码。
void setup() {
Serial.begin(BAUDRATE);
// Initialize the motor controller if used */
#ifdef USE_BASE
#ifdef ARDUINO_ENC_COUNTER
//set as inputs
DDRD &= ~(1 << LEFT_ENC_PIN_A);
DDRD &= ~(1 << LEFT_ENC_PIN_B);
DDRC &= ~(1 << RIGHT_ENC_PIN_A);
DDRC &= ~(1 << RIGHT_ENC_PIN_B);
//enable pull up resistors
PORTD |= (1 << LEFT_ENC_PIN_A);
PORTD |= (1 << LEFT_ENC_PIN_B);
PORTC |= (1 << RIGHT_ENC_PIN_A);
PORTC |= (1 << RIGHT_ENC_PIN_B);
// tell pin change mask to listen to left encoder pins
PCMSK2 |= (1 << LEFT_ENC_PIN_A) | (1 << LEFT_ENC_PIN_B);
// tell pin change mask to listen to right encoder pins
PCMSK1 |= (1 << RIGHT_ENC_PIN_A) | (1 << RIGHT_ENC_PIN_B);
// enable PCINT1 and PCINT2 interrupt in the general interrupt mask
PCICR |= (1 << PCIE1) | (1 << PCIE2);
#endif
initMotorController();
resetPID();
#endif
/* Attach servos if used */
#ifdef USE_SERVOS
//int i;
//for (i = 0; i < N_SERVOS; i++) {
//servos[i].attach(servoPins[i]);
//}
int i;
for (i = 0; i < N_SERVOS; i++) {
servosPos[i]=90;
}
servodriver.begin();
servodriver.setPWMFreq(50);
#endif
}
修改头部的宏定义,启用servo
#define USE_SERVOS // Enable use of PWM servos as defined in servos.h
//#undef USE_SERVOS // Disable use of PWM servos
修改头部的宏定义,增加servo的引用和ServoDriver的控制变量servodriver
#ifdef USE_SERVOS
//#include <Servo.h>
#include "servos.h"
#include <Wire.h>
#include <ServoDriver.h>
#define SERVOMIN 102 // this is the 'minimum' pulse length count (out of 4096)
#define SERVOMAX 512 // this is the 'maximum' pulse length count (out of 4096)
ServoDriver servodriver = ServoDriver();
#endif
修改runCommand舵机控制部分代码如下
#ifdef USE_SERVOS
case SERVO_WRITE:
//servos[arg1].write(arg2);
servodriver.setPWM(arg1,0,short(SERVOMIN+arg2*(SERVOMAX-SERVOMIN)/180));//将舵机我这0~180转换为舵机控制脉冲长度
servosPos[arg1]=short(arg2);
Serial.println("OK");
break;
case SERVO_READ:
//Serial.println(servos[arg1].read());
Serial.println(servosPos[arg1]);
break;
#endif