ROS2硬件控制--小鱼部分

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已于 2023-08-12 14:09:03 修改

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文章标签：学习 python 笔记

于 2023-08-12 09:22:41 首次发布

本文链接：https://blog.csdn.net/qq_70136976/article/details/132244134

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【ROS2硬件控制】1.课程及开发平台介绍_哔哩哔哩_bilibili

动手学ROS2

串口输出helloworld工程

#include <Arduino.h>

// put function declarations here:

void setup() {
  // put your setup code here, to run once:
  Serial.begin(115200);
  Serial.printf("hello world setup\n");
}

void loop() {
  // put your main code here, to run repeatedly:
  Serial.printf("hello world loop\n");
  delay(1000);

}

串口通讯接收实验

Serial.available() 的意思是：返回串口缓冲区中当前剩余的字符个数。一般用这个函数来判断串口的缓冲区有无数据，当Serial.available()>0时，说明串口接收到了数据，可以读取；

Serial.read()指从串口的缓冲区取出并读取一个Byte的数据，比如有设备通过串口向Arduino发送数据了，我们就可以用Serial.read()来读取发送的数据。

#include <Arduino.h>

// put function declarations here:

void setup()
{
  // put your setup code here, to run once:
  Serial.begin(115200);
}

void loop()
{
  // put your main code here, to run repeatedly:
  if (Serial.available())
  {
    int c = Serial.read();  // 一次性接收一个字符
    // String c = Serial.readString();
    if (c != -1)
    {
      Serial.printf("i receve %c\n", c);
    }
  }
}

// put function definitions here:

#include <Arduino.h>

// put function declarations here:

void setup()
{
  // put your setup code here, to run once:
  Serial.begin(115200);
}

void loop()
{
  // put your main code here, to run repeatedly:
  if (Serial.available())
  {
    // int c = Serial.read();  // 一次性接收一个字符
    String c = Serial.readString();  // 接受字符串，但是由于不知道什么时候结束，所以反映会慢一点
    // if (c != -1)
    // {
    // Serial.printf("i receve %c\n", c);
    Serial.printf("i receve %s\n", c);

    // }
  }
}

// put function definitions here:

#include <Arduino.h>

// put function declarations here:

void setup()
{
  // put your setup code here, to run once:
  Serial.begin(115200);
}

void loop()
{
  // put your main code here, to run repeatedly:
  if (Serial.available())
  {
    // int c = Serial.read();  // 一次性接收一个字符
    // String c = Serial.readString();  // 接受字符串，但是由于不知道什么时候结束，所以反映会慢一点
    String c = Serial.readStringUntil('\n');  // 接受字符串，直到遇到换行终止，反应快速
    
    // if (c != -1)
    // {
    // Serial.printf("i receve %c\n", c);
    Serial.printf("i receve %s\n", c);

    // }
  }
}

// put function definitions here:

完成点灯-GPIO控制

LED闪烁代码

#include <Arduino.h>

// put function declarations here:
#define LED_PIN 2
void setup() {
  // put your setup code here, to run once:
  pinMode(LED_PIN, OUTPUT);
}

void loop() {
  // put your main code here, to run repeatedly:
  digitalWrite(LED_PIN, LOW);
  delay(1000);
  digitalWrite(LED_PIN, HIGH);
  delay(1000);
}

// put function definitions here:

通过串口控制LED

#include <Arduino.h>

// put function declarations here:
#define LED_PIN 2
void setup()
{
  // put your setup code here, to run once:
  Serial.begin(115200); // 初始化串口
  pinMode(LED_PIN, OUTPUT);
  digitalWrite(LED_PIN, HIGH); // 关闭LED

}

void loop()
{
  // put your main code here, to run repeatedly:
  if (Serial.available())
  {
    String command = Serial.readStringUntil('\n');
    if (command == "on")
    {
      digitalWrite(LED_PIN, LOW);  // 打开LED
    }
    else if (command == "off")
    {
      digitalWrite(LED_PIN, HIGH); // 关闭LED
    }
  }
}

// put function definitions here:

使用按键-GPIO输入

#include <Arduino.h>

// put function declarations here:
#define LED_PIN 2
#define KEY_PIN 0

bool status = false; // 初始化为关闭状态

void setup()
{
  // put your setup code here, to run once:
  Serial.begin(115200);
  pinMode(LED_PIN, OUTPUT);
  pinMode(KEY_PIN, INPUT);
}

void loop()
{

  if (digitalRead(KEY_PIN) == LOW)
  {
    delay(50);                       // 防止误触
    if (digitalRead(KEY_PIN) == LOW) // 按键被按下了
    {
      status = !status; // 状态取反
      while (digitalRead(KEY_PIN) == LOW)
        ;
    }
  }

  if (status == true)
  {
    digitalWrite(LED_PIN, LOW);
  }
  else
  {
    digitalWrite(LED_PIN, HIGH);
  }
}

// put function definitions here:

电池电压的测量-学会使用ADC

#include <Arduino.h>

// put function declarations here:
#define ADC_PIN 34

void setup() {
  // put your setup code here, to run once:
  Serial.begin(115200);
  pinMode(ADC_PIN, INPUT);
  analogSetAttenuation(ADC_11db);    // 设置衰减系数，默认ADC_11db
}

void loop() {
  // put your main code here, to run repeatedly:
  int analogValue = analogRead(ADC_PIN);
  int analogvolts = analogReadMilliVolts(ADC_PIN);   //模拟电压值
  float realvolts = 5.02 *((float)analogvolts * 1e-3);

  Serial.printf("analog:%d volts:%dmV real:%fV \n", analogValue, analogvolts, realvolts);
  delay(1000);
}

// put function definitions here:

学会安装第三方库

使用开源库驱动IMU

/* Get all possible data from MPU6050
 * Accelerometer values are given as multiple of the gravity [1g = 9.81 m/s²]
 * Gyro values are given in deg/s
 * Angles are given in degrees
 * Note that X and Y are tilt angles and not pitch/roll.
 *
 * License: MIT
 */

#include "Wire.h"
#include <MPU6050_light.h>

MPU6050 mpu(Wire);

long timer = 0;

void setup() {
  Serial.begin(115200);
  Wire.begin(18, 19);
  
  byte status = mpu.begin();
  Serial.print(F("MPU6050 status: "));
  Serial.println(status);
  while(status!=0){ } // stop everything if could not connect to MPU6050
  
  Serial.println(F("Calculating offsets, do not move MPU6050"));
  delay(1000);
  mpu.calcOffsets(true,true); // gyro and accelero
  Serial.println("Done!\n");
  
}

void loop() {
  mpu.update();

  if(millis() - timer > 1000){ // print data every second
    Serial.print(F("TEMPERATURE: "));Serial.println(mpu.getTemp());
    Serial.print(F("ACCELERO  X: "));Serial.print(mpu.getAccX());
    Serial.print("\tY: ");Serial.print(mpu.getAccY());
    Serial.print("\tZ: ");Serial.println(mpu.getAccZ());
  
    Serial.print(F("GYRO      X: "));Serial.print(mpu.getGyroX());
    Serial.print("\tY: ");Serial.print(mpu.getGyroY());
    Serial.print("\tZ: ");Serial.println(mpu.getGyroZ());
  
    Serial.print(F("ACC ANGLE X: "));Serial.print(mpu.getAccAngleX());
    Serial.print("\tY: ");Serial.println(mpu.getAccAngleY());
    
    Serial.print(F("ANGLE     X: "));Serial.print(mpu.getAngleX());
    Serial.print("\tY: ");Serial.print(mpu.getAngleY());
    Serial.print("\tZ: ");Serial.println(mpu.getAngleZ());
    Serial.println(F("=====================================================\n"));
    timer = millis();
  }

}

OLED屏幕

#include <Arduino.h>
#include "Wire.h"
#include "Adafruit_GFX.h"
#include "Adafruit_SSD1306.h"
// #include "IMU.h"

// put function declarations here:
Adafruit_SSD1306 display;
// MPU6050 mpu(Wire); // 初始化MPU6050对象
// IMU imu(mpu);      // 初始化IMU对象
// imu_t imu_data;
// unsigned long timer = 0;

void setup() {
  // put your setup code here, to run once:
  Serial.begin(115200);
  display.begin(18, 19);
  display = Adafruit_SSD1306(128, 64, &Wire);
  display.begin(SSD1306_SWITCHCAPVCC, 0x3c);
  display.clearDisplay();
  display.setTextSize(2);
  display.setCursor(0, 0);
  display.setTextColor(SSD1306_WHITE);
  display.println("hello oled");
  display.display();
}

void loop() {
  // put your main code here, to run repeatedly:
  // imu.update();
  // delay(10);
  // if ((millis() - timer) > 100)
  // {
  //   imu.getImuData(imu_data); // 获取IMU数据结构体
  //   Serial.printf("imu:\teuler(%f,%f,%f)\n",
  //                 imu_data.angle_euler.x, imu_data.angle_euler.y, imu_data.angle_euler.z);
  //   Serial.printf("imu:\torientation(%f,%f,%f,%f)\n",
  //                 imu_data.orientation.w, imu_data.orientation.x, imu_data.orientation.y, imu_data.orientation.z);
  //   display.clearDisplay();
  //   display.setCursor(0,0);
  //   display.print("X=");   // 输出X
  //   display.println(mpu.getAngleX());
  //   display.print("Y="); // 输出Y
  //   display.println(mpu.getAngleY());
  //   display.print("Z="); // 输出Z
  //   display.println(mpu.getAngleZ());
  //   display.display();
  //   timer = millis();
  // }
}

// put function definitions here:

#include <Arduino.h>
#include "Wire.h"
// put function declarations here:
uint8_t cmd_ssd1315[] = {0xae, 0x00, 0x10, 0x40, 0x81, 0xcf, 0xa1, 0xc8, 0xa6, 0xa8,
                         0x3f, 0xd3, 0x00, 0xd5, 0x80, 0xd9, 0xf1, 0xda, 0x12, 0xdb,
                         0x40, 0x20, 0x00, 0x8d, 0x14, 0xa4, 0xa6, 0xaf};
void setup() {
  // put your setup code here, to run once:
  Wire.begin(18, 19);
  Wire.beginTransmission(0x3c);
  for (int i = 0; i < 28; i++)
  {
    Wire.write(cmd_ssd1315[i]);
  }
  Wire.endTransmission();
  
}

void loop() {
  // put your main code here, to run repeatedly:
}

// put function definitions here: