Projektas #6: Valdykite „Arm Robot“ roboto rank? 2 vairasvirt?mis

Projektai

Po to kai sukonstravote „Arm Robot“ roboto rank? ir atlikote 1-5 pratimus, atlikite š? galutin? projekt?, nor?dami valdyti roboto rankos judesius naudodami 2 vairasvirtes. Su vairasvirte Nr. 1 judinsite rieš? (S3) ir griebtuv? (S4), o su vairasvirte Nr. 2 judinsite rank? (S2) ir pagrind? (S1).

SUD?TINGUMO LYGIS: Pažengusiems.

PRATIMO TRUKM?: 60 min.

MEDŽIAGOS:

  • „Arm Robot“ roboto ranka
  • USB - USB B tipo kabelis
  • Kompiuteris

JUNGTYS:

Šio projekto ?gyvendinimui, „Arm Robot“ roboto ranka turi b?ti sukonstruota pagal instrukcijas (nuorod? ? vadov?). Atlikite veiksmus ir sujunkite atitinkamas jungtis.

PROGRAMOS KODAS

Galite atlikti š? projekt? naudodami „Arduino“ program? arba suderinam? vaizdin? programavimo programin? ?rang?, naudojan?i? blokus. Toliau pateikiamas reikiamas kodas.

„Arduino“ kodas

  1. Parsisi?skite  ir ?diekite „Arduino IDE“ program?. Ji si?loma „Windows“, „Mac OS“ ir „Linux“.
  2. Paleiskite „Arduino“ program? ir nukopijuokite ? j? toliau pateikt? kod?: 
    #include <Servo.h>

int valueX = 0; // J2 X-AXIS READING
int valueY = 0; // J2 Y-AXIS READING
int valueX2 = 0; // J1 X-AXIS READING
int valueY2 = 0; // J1 Y-AXIS READING
/*-----------------------------------------------------------------------------------------*/
int pinJX = A1; // A1 X-AXIS ANALOG PIN
int pinJY = A0; // A0 Y-AXIS ANALOG PIN
int pinJX2 = A2; // A2 X2-AXIS ANALOG PIN
int pinJY2 = A3; // A3 Y2-AXIS ANALOG PIN
/*-----------------------------------------------------------------------------------------*/
Servo motor1; // DECLARE S1 // SERVO MOTOR 1
Servo motor2; // DECLARE S2 // SERVO MOTOR 2
Servo motor3; // DECLARE S3 // SERVO MOTOR 3
Servo motor4; // DECLARE S4 // SERVO MOTOR 4
/*-----------------------------------------------------------------------------------------*/
int degree1 = 0; // S1 DEGREES
int degree2 = 0; // S2 DEGREES
int degree3 = 0; // S3 DEGREES
int degree4 = 0; // S4 DEGREES
/*-----------------------------------------------------------------------------------------*/
float tiempo;

void setup() {
  // put your setup code here, to run once: 
motor1.attach (6); // DIGITAL PIN PWM 6 WHERE S1 IS CONNECTED
motor2.attach (9); // DIGITAL PIN PWM 9 WHERE S2 IS CONNECTED
motor3.attach (10); // DIGITAL PIN PWM 10 WHERE S3 IS CONNECTED 
motor4.attach (11); // DIGITAL PIN PWM 11 WHERE S4 IS CONNECTED
/*-----------------------------------------------------------------------------------------*/
// ARM ROBOT INITIAL POSITION
degree1 = 20;  //S1
degree2 = 70;  //S2
degree3 = 80;  //S3
degree4 = 90;  //S4
/*-----------------------------------------------------------------------------------------*/
}

void loop() {
  // put your main code here, to run repeatedly:
Motor1();
Motor2();
Motor3();
Motor4();

for (tiempo = 0; tiempo < 2500; tiempo++)
{
  if (tiempo >= 2500)
  {
    tiempo == 0;
  }
}
}

void Motor1 ()
{
  valueX = analogRead ( pinJX); // STORES THE READINGS OF THE Y-AXIS OF THE ANALOG PORT A1
  // INCREASE MOTOR 1 DEGREES 
  if ( (valueX > 520) && (valueX <= 1023) && (degree1 < 170)  ) // INCREASE THE DEGREES WHEN THE X-AXIS READING IS HIGHER THAN THE CALIBRATION OR LOWER/EQUAL TO 1023
  {
    degree1 = degree1 + 5; // +5 degree
  }
  
  // DECREASE MOTOR 1 DEGREES 
  else if ( (valueX >= 0 ) && (valueX < 480)&& (degree1 > 20) ) // DECREASE DEGREES WHEN THE X-AXIS READING IS LOWER THAN THE CALIBRATION OR HIGHER / EQUAL TO 0
  {
    degree1 = degree1 - 5;  // -5 degree
  }
  motor1.write (degree1); // SEND DEGREES TO SERVO 1
}

void Motor2 ()
{
  valueY = analogRead ( pinJY); // STORES THE READINGS OF THE Y-AXIS OF THE ANALOG PORT AO
    // INCREASE MOTOR2 DEGREES
  if ( (valueY > 530 ) && (valueY <= 1023) && (degree2 < 140)  )// INCREASE THE DEGREES WHEN THE Y-AXIS READING IS HIGHER THAN THE CALIBRATION O LOWER / EQUAL TO 1023
  {
    degree2 = degree2 + 5; // +5 degree
  }
    
  // MOTRO2 DECREASE DEGREES
  else if ( (valueY >= 0 ) && (valueY < 480) && (degree2 > 70) ) // DECREASE DEGREES WHEN THE Y-AXIS LECTURE IS LOWER THAN THE CALIBRATION OR HIGHER/EQUAL TO 0
  {
    degree2 = degree2 - 5;  // -5 degree
  }
  motor2.write (degree2); // SEND DEGREES TO SERVO 2 
}

void Motor3 ()
{
  valueX2 = analogRead ( pinJX2); // STORES THE READINGS OF THE X2-AXIS OF THE ANALOG PORT A2
    // MOTOR3 DEGREES INCREASE
  if ( (valueX2 >= 0 ) && (valueX2 < 480) && (degree3 < 155)  ) // INCREASE DEGREES WHEN THE X2-AXIS READING IS HIGHER THAN THE CALIBRATION OR LOWER/EQUAL TO 1023
  {
    degree3 = degree3 + 5; // +5 degree
  }
  
  // MOTOR3 DEGREE DECREASE
  if ( (valueX2 > 530 ) && (valueX2 <= 1023) && (degree3 > 80)  ) // DECREASE DEGREES WHEN THE X2-AXIS READING IS LOWER THAN THE CALIBRATION OR HIGHER/EQUAL TO 0
  {
    degree3 = degree3 - 5;  // -5 degree
  }
  motor3.write (degree3); // SEND DEGREES TO SERVO 3 
}

void Motor4 ()
{
  valueY2 = analogRead ( pinJY2); // STORES THE READINGS OF THE Y-AXIS OF THE ANALOG PORT A3
    // MOTOR4 INCREASE DEGREES
  if ( (valueY2 >= 0 ) && (valueY2 < 480) && (degree4 < 125) ) // INCREASE DEGREES WHEN Y2-AXIS READING IS HIGHER THAN THE CALIBRATION OR LOWER/EQUAL TO 1023
  { 
    degree4 = degree4 + 5; // +5 degree
  }
  
  // MOTOR4 DEGREE DECREASE
  else if ( (valueY2 > 530 ) && (valueY2 <= 1023) && (degree4 > 90) ) // DECREASE DEGREES WHEN THE Y2-AXIS READING IS LOWER THAN THE CALIBRATION OR HIGHER/EQUAL TO 0
  {
    degree4 = degree4 - 5;  // -5 degree
  }
  motor4.write (degree4); // SEND DEGREES TO SERVO 4 
}
  3. Sukonfig?ruokite ir ?kelkite kod? vadovaudamiesi instrukcijomis pateiktomis „Arm Robot“ roboto rankos pirm?j? veiksm? vadove

Kodas vaizdinio programavimo programinei ?rangai naudojan?iai blokus

  1. Parsisi?skite ir ?diekite program?
  2. Paleiskite program? ir nukopijuokite toliau pateikt? kod?:
  3. Sukonfig?ruokite program? ir ?kelkite j? ? „Arm Robot“ roboto rank?. Instrukcijos pateikiamos „Arm Robot“ roboto rankos vadovo pirmuosiuose veiksmuose.

PRATIMO REZULTATAS:

Suk?rus program? gal?site valdyti „Arm Robot“ roboto rank? naudodami dvi vairasvirtes. Su vairasvirte Nr. 1 judinsite rieš? (S3) ir griebtuv? (S4), o su vairasvirte Nr. 2 judinsite rank? (S2) ir pagrind? (S1).