-
Notifications
You must be signed in to change notification settings - Fork 0
/
sketch_may12b.ino
340 lines (288 loc) · 7.85 KB
/
sketch_may12b.ino
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
#include<Servo.h>
#include <LiquidCrystal.h>
////////////////定义常量/////////////////
#define chan_number 8 //读取的通道总数
#define PPM_INPUT 15 //定义读取引脚
#define ESC_LPin 3 //定义左电调引脚
#define ESC_RPin 2 //定义右电调引脚
#define beep 31 //定义蜂鸣器引脚
//////////////////定义数组/////////////////
int chan_value[chan_number]; //定义各通道值实际数值 数组
int figured_value[chan_number];//换算后的各通道数值 数组 【常用】
int Midvalue1,Midvalue2,Lowvalue3,Midvalue4;
float turning_Sensitivity = 1; //转弯灵敏度 倍数
//int hands[6]={4,5,6,7,8,9};
int s3_old=0;
int s5_old=0;
///////////////////定义子函数///////////////
void Reading_Value();//读各通道值 子函数
void figure_out_value(int v1,int v2,int v3,int v4);//转换成百分制,v1,v2,v3,v4分别为各通道中值
//转换后范围{-50~50,-50~50,0~100,-50~50,1200~2000,未定义,未定义,-1|0|1}
void Receiver_Init();//接收机初始化函数
void ESC_Init();//电调初始化
void R_N_F();//!!!接收并计算,预计耗时20ms,用延时程序时,小延时尽量用这个代替,可以更频繁的更新数据!!!!!!!【常用】隔一阵子运行一次
void ESC_write(int L,int R);//电调赋值(左,右)范围-100~100
void Reporting();//反馈到电脑 子函数
void run_control(int thro,int angle);//运行控制,输入油门(0~100),转动角度(-50~50)
void lcd_init();
void lcd_battary();
void hands_Init();
void hands_control(int s1,int s2,int s3,int s4,int s5,int s6);
//void hands_free();//不干扰的机械臂控制
void lose_control();
///////////////////舵机定义//////////////////
Servo L_ESC;//左电调
Servo R_ESC;//右电调
Servo hand1;
Servo hand2;
Servo hand3;
Servo hand4;
Servo hand5;//主转盘
Servo hand6;//爪子舵机
LiquidCrystal lcd(47, 46, 44, 42, 40, 38, 36, 34, 32, A14, A12);
///////////////////具体子函数/////////////////
void Reporting()//反馈到电脑 子函数
{
for(int x=0;x<=7;x++){
Serial.print(figured_value[x]); //Print the value
Serial.print(" ");
//chan_value[x]=0;
}
Serial.println();
//Serial.write(hand1.readMicroseconds());
}
void Reading_Value()//读各通道值 子函数
{
while(pulseIn(PPM_INPUT,HIGH)<4000);
for(int x=0;x<=chan_number-1;x++)
chan_value[x]=pulseIn(PPM_INPUT,HIGH)+500;
}
void Receiver_Init()//接收机初始化函数
{
for(int i=0;i<=20;i++)
Reading_Value();
Reading_Value();
Midvalue1=chan_value[0];
Midvalue2=chan_value[1];
Lowvalue3=chan_value[2];
Midvalue4=chan_value[3];
}
void figure_out_value(int v1,int v2,int v3,int v4)
{
figured_value[0]=(chan_value[0]-v1)/7.88;
figured_value[1]=(chan_value[1]-v2)/7.88;
figured_value[2]=(chan_value[2]-v3+5)/7.88;
figured_value[3]=(chan_value[3]-v4)/7.88;
figured_value[4]=chan_value[4];//未定义
figured_value[5]=chan_value[5];//未定义
//figured_value[6]=chan_value[6];//未定义
if (chan_value[7]>=1150 && chan_value[7]<=1250)
figured_value[7]=1;
else if (chan_value[7]>=1450 && chan_value[7]<=1600)
figured_value[7]=0;
else if (chan_value[7]>=1950 && chan_value[7]<=2050)
figured_value[7]=-1;
if (chan_value[6]>=1150 && chan_value[6]<=1250)
figured_value[6]=1;
else if (chan_value[6]>=1950 && chan_value[6]<=2050)
figured_value[6]=0;
}
void ESC_Init()
{
L_ESC.attach(ESC_LPin);
R_ESC.attach(ESC_RPin);
L_ESC.write(90);
R_ESC.write(90);
delay(3000);
}
void ESC_write(int L,int R)
{
int left,right;
L=constrain(L,-100,100);
R=constrain(R,-100,100);
left=map(L,-100,100,1000,2000);
right=map(R,-100,100,1000,2000);
L_ESC.writeMicroseconds(left);
R_ESC.writeMicroseconds(right);
}
void R_N_F()
{
Reading_Value();
figure_out_value(Midvalue1,Midvalue2,Lowvalue3,Midvalue4);
}
void run_control(int thro,int angle)
{
int PWM_left,PWM_right;
if (figured_value[7]==-1)//判断前进还是后退信号
{
thro=-thro;
PWM_left=-1*angle*turning_Sensitivity + thro ;
PWM_right=1*angle*turning_Sensitivity + thro ;
}
else if (figured_value[7]==1)
{
PWM_left=1*angle*turning_Sensitivity + thro ;
PWM_right=-1*angle*turning_Sensitivity + thro ;
}
else
{
PWM_left=0 ;
PWM_right=0 ;
}
ESC_write(PWM_left,PWM_right);
//Serial.print(PWM_left );
//Serial.println(PWM_right );
}
void lcd_init()
{
lcd.begin(16, 2);
lcd.print("Welcome!");
tone(beep,600,200);
lcd.setCursor(8,2);
lcd.print("--by MIC");
delay(500);
tone(beep,600,200);
delay(500);
tone(beep,600,200);
delay(500);
lcd.clear();
lcd.print("Waiting for ");
lcd.setCursor(5,2);
//lcd.autoscroll();
lcd.print("Receiver...");
}
void lcd_battary()
{
float Va1,Va2,Va3;
Va1=analogRead(A0);
Va2=analogRead(A1);
Va3=analogRead(A3);
//float Ba1=Va1*5/1020;
//float Ba2=2*Va2*5/1020-Ba1;
float Ba3=3*Va3*5/1020;
lcd.clear();
lcd.print("Robot by MIC");
lcd.setCursor(0,1);
lcd.print("Bat Value:");
lcd.setCursor(11,1);
lcd.print(Ba3);
lcd.setCursor(15,1);
lcd.print("V");
/*lcd.setCursor(6,2);
lcd.print(Ba2);
lcd.setCursor(11,2);
lcd.print(Ba3);*/
if(Ba3<10.5&&Ba3>3.8)
//if (Ba1<3.4||Ba2<3.4||Ba3<3.4)
tone(beep,800,200);
}
void hands_Init()
{
hand1.attach(4);
hand2.attach(5);
hand3.attach(6);
hand4.attach(7);
hand5.attach(8);
hand6.attach(9);
hand1.write(90);
hand2.writeMicroseconds(2200);
hand3.write(30);
hand4.write(90);
hand5.write(20);
hand6.write(100);
}
void hands_control(int s1,int s2,int s3,int s4,int s5,int s6)
{
if(abs(s1)>7 )
{
int handms1=hand1.readMicroseconds()-s1;
hand1.writeMicroseconds(constrain(handms1,500,2500));
}
if( abs(s4)>7)
{
int handms4=hand4.readMicroseconds()+s4;
hand4.writeMicroseconds(constrain(handms4,500,2500));
}
if(abs(s2)>7)
{
int handms2=hand2.readMicroseconds()-s2;
hand2.writeMicroseconds(constrain(handms2,900,2400));
}
if(abs(figured_value[4]-s5_old)>70){
hand5.write(map(figured_value[4],1100,2000,0,180));
s5_old=figured_value[4];
}
if(abs(figured_value[5]-s3_old)>70){
hand3.write(map(figured_value[5],1100,2000,0,180));
s3_old=figured_value[5];
}
if (figured_value[6])
hand6.write(0);
else
hand6.write(95);
}
void lose_control()
{
if (chan_value[6]<=1000){
lcd.clear();
lcd.print("Warning: ");
lcd.setCursor(0,1);
lcd.print("Losing control !");
tone(beep,800,200);
delay(200);
tone(beep,800,200);
delay(1500);
lcd.clear();
lcd.print("Warning: ");
lcd.setCursor(0,1);
lcd.print("Please Restart !");
tone(beep,800,200);
delay(200);
tone(beep,800,200);
delay(1500);
ESC_Init();
hands_Init();
}
}
//////////////////////////////////////
void setup() {
// put your setup code here, to run once:
Serial.begin(19200);
hands_Init();
pinMode(PPM_INPUT,INPUT);
pinMode(beep,OUTPUT);
pinMode(A0,INPUT);
pinMode(A1,INPUT);
pinMode(A3,INPUT);
lcd_init();
Receiver_Init();
lcd.noAutoscroll();
lcd.clear();
lcd.print("Welcome!");
lcd.setCursor(1,1);
lcd.print("Initializing...");
ESC_Init();
tone(beep,600,500);
delay(100);
tone(beep,400,500);
delay(100);
tone(beep,800,600);
lcd.clear();
lcd.print("Robot Ready!");
delay(1000);
R_N_F();
}
void loop() {
// put your main code here, to run repeatedly:
R_N_F();
//Reporting();
lose_control();
if(figured_value[7])
run_control(figured_value[2],figured_value[3]);
else
hands_control(figured_value[0],figured_value[1],figured_value[2],figured_value[3],figured_value[4],figured_value[5]);
//hands_free();
lcd_battary();
//hand5.writeMicroseconds(figured_value[4]);
//Serial.write(hand1.readMicroseconds());
}