自制机械臂,5自由度,舵机安装的时候需将其全部舵机矫正到中位值在来组装。全部使用300度舵机
204.8为1MS脉冲宽度 //此处根据不同的arduino板做不同的频率换算,常见pwmServoDriver库说明
// the setup function runs once when you press reset or power the board
#include <Adafruit_PWMServoDriver.h>
Adafruit_PWMServoDriver servo_pmw;
int j = 0;
String comdata = "";
int numdata[6] = { 0 }, SERVO_PIN[6] = { 0, 1, 2, 3, 4, 5 }, mark = 0;
void setup() {
pinMode(13, OUTPUT);
Serial.begin(9600);
servo_pmw.begin();
servo_pmw.setPWMFreq(50);
servo_xiaozun();
delay(1000);
servo_dakai();
}
// the loop function runs over and over again until power down or reset
void loop() {
zhuaqu();
}
//抓取动作
void zhuaqu()
{
servo_pmw.setPWM(0, 0, 307);
delay(1000);
servo_pmw.setPWM(4, 0, 150);
delay(1000);
servo_pmw.setPWM(1, 0, 152);
delay(1000);
servo_pmw.setPWM(2, 0, 204);
delay(1000);
servo_pmw.setPWM