1. 硬件
Arduino控制板:1个;
数码管:1个;
杜邦线:若干;
1.1 接线方式
参考如下:
a = 1; tb = 2; c = 3;d = 4; e = 5; f = 6; g = 7; dp = 8;
注意:上面的这些都需要串联电阻。
//设置阳极接口
d4 = 9; d3 = 10; d2 = 11; d1 = 12;
注意:这些可以直接连接到Arduino上。
来张实际的照片(略麻烦):
2 程序
#include <ros.h>
#include <std_msgs/Empty.h>
int a = 13;
int b = 2;
int c = 3;
int d = 4;
int e = 5;
int f = 6;
int g = 7;
int dp = 8;
//设置阳极接口
int d4 = 9;
int d3 = 10;
int d2 = 11;
int d1 = 12;
///
void WeiXuan(unsigned char n)//
{
switch(n)
{
case 1:
digitalWrite(d1,HIGH);
digitalWrite(d2, LOW);
digitalWrite(d3, LOW);
digitalWrite(d4, LOW);
break;
case 2:
digitalWrite(d1, LOW);
digitalWrite(d2, HIGH);
digitalWrite(d3, LOW);
digitalWrite(d4, LOW);
break;
case 3:
digitalWrite(d1,LOW);
digitalWrite(d2, LOW);
digitalWrite(d3, HIGH);
digitalWrite(d4, LOW);
break;
case 4:
digitalWrite(d1, LOW);
digitalWrite(d2, LOW);
digitalWrite(d3, LOW);
digitalWrite(d4, HIGH);
break;
default :
digitalWrite(d1, LOW);
digitalWrite(d2, LOW);
digitalWrite(d3, LOW);
digitalWrite(d4, LOW);
break;
}
}
void Num_0()
{
digitalWrite(a, LOW);
digitalWrite(b, LOW);
digitalWrite(c, LOW);
digitalWrite(d, LOW);
digitalWrite(e, LOW);
digitalWrite(f, LOW);
digitalWrite(g, HIGH);
digitalWrite(dp,HIGH);
}
void Num_1()
{
digitalWrite(a, HIGH);
digitalWrite(b, LOW);
digitalWrite(c, LOW);
digitalWrite(d, HIGH);
digitalWrite(e, HIGH);
digitalWrite(f, HIGH);
digitalWrite(g, HIGH);
digitalWrite(dp,HIGH);
}
void Num_2()
{
digitalWrite(a, LOW);
digitalWrite(b, LOW);
digitalWrite(c, HIGH);
digitalWrite(d, LOW);
digitalWrite(e, LOW);
digitalWrite(f, HIGH);
digitalWrite(g, LOW);
digitalWrite(dp,HIGH);
}
void Num_3()
{
digitalWrite(a, LOW);
digitalWrite(b, LOW);
digitalWrite(c, LOW);
digitalWrite(d, LOW);
digitalWrite(e, HIGH);
digitalWrite(f, HIGH);
digitalWrite(g, LOW);
digitalWrite(dp,HIGH);
}
void Num_4()
{
digitalWrite(a, HIGH);
digitalWrite(b, LOW);
digitalWrite(c, LOW);
digitalWrite(d, HIGH);
digitalWrite(e, HIGH);
digitalWrite(f, LOW);
digitalWrite(g, LOW);
digitalWrite(dp,HIGH);
}
void Num_5()
{
digitalWrite(a, LOW);
digitalWrite(b, HIGH);
digitalWrite(c, LOW);
digitalWrite(d, LOW);
digitalWrite(e, HIGH);
digitalWrite(f, LOW);
digitalWrite(g, LOW);
digitalWrite(dp,HIGH);
}
void Num_6()
{
digitalWrite(a, LOW);
digitalWrite(b, HIGH);
digitalWrite(c, LOW);
digitalWrite(d, LOW);
digitalWrite(e, LOW);
digitalWrite(f, LOW);
digitalWrite(g, LOW);
digitalWrite(dp,HIGH);
}
void Num_7()
{
digitalWrite(a, LOW);
digitalWrite(b, LOW);
digitalWrite(c, LOW);
digitalWrite(d, HIGH);
digitalWrite(e, HIGH);
digitalWrite(f, HIGH);
digitalWrite(g, HIGH);
digitalWrite(dp,HIGH);
}
void Num_8()
{
digitalWrite(a, LOW);
digitalWrite(b, LOW);
digitalWrite(c, LOW);
digitalWrite(d, LOW);
digitalWrite(e, LOW);
digitalWrite(f, LOW);
digitalWrite(g, LOW);
digitalWrite(dp,HIGH);
}
void Num_9()
{
digitalWrite(a, LOW);
digitalWrite(b, LOW);
digitalWrite(c, LOW);
digitalWrite(d, LOW);
digitalWrite(e, HIGH);
digitalWrite(f, LOW);
digitalWrite(g, LOW);
digitalWrite(dp,HIGH);
}
void Clear() //清屏
{
digitalWrite(a, HIGH);
digitalWrite(b, HIGH);
digitalWrite(c, HIGH);
digitalWrite(d, HIGH);
digitalWrite(e, HIGH);
digitalWrite(f, HIGH);
digitalWrite(g, HIGH);
digitalWrite(dp,HIGH);
}
void pickNumber(unsigned char n)//选数
{
switch(n)
{
case 0:Num_0();
break;
case 1:Num_1();
break;
case 2:Num_2();
break;
case 3:Num_3();
break;
case 4:Num_4();
break;
case 5:Num_5();
break;
case 6:Num_6();
break;
case 7:Num_7();
break;
case 8:Num_8();
break;
case 9:Num_9();
break;
default:Clear();
break;
}
}
void Display(unsigned char x, unsigned char Number)//显示x为坐标,Number为数字
{
WeiXuan(x);
pickNumber(Number);
delay(500); //时间不能太长,要不ROS系统不稳定。
Clear();
}
void messageCb(std_msgs::Empty &message)
{
Display(1,1);
Display(2,2);
Display(3,3);
Display(4,4);
}
ros::NodeHandle nh;
ros::Subscriber<std_msgs::Empty> sub("chatter",&messageCb);
void setup(){
nh.initNode();
nh.subscribe(sub);
pinMode(d1, OUTPUT);
pinMode(d2, OUTPUT);
pinMode(d3, OUTPUT);
pinMode(d4, OUTPUT);
pinMode(a, OUTPUT);
pinMode(b, OUTPUT);
pinMode(c, OUTPUT);
pinMode(d, OUTPUT);
pinMode(e, OUTPUT);
pinMode(f, OUTPUT);
pinMode(g, OUTPUT);
pinMode(dp, OUTPUT);
}
void loop(){
nh.spinOnce();
delay(1000);
}
2.1 程序下载和运行
首先:roscore
其次:rosrun rosserial_python serial_node.py /dev/ttyACM0
/dev/ttyACM0 这个是自己的端口号
最后:rostopic pub -1 /buzzer_msgs/Int8 1
来张图片: