基于intel Curie的开源机械臂(转帖）
喜欢就支持下这个项目吧： http://www.kenrobot.com/arduinocn/vote参赛编号13基于intel Curie的机械臂具有动作记忆功能，通过记录每个点的位置，依次去回放动作，达到对机械臂编程的作用。机械臂的是用方法是：
1.DC及USB均上电，上电后并成功启动后LED会闪一下白光。2.成功启动后手拧电位器可以看到机械抓的开合。
试教步骤
1. 掰动机械臂到需要的位置后轻触一下按键，等待LED闪烁两次红色表示该位置已记录完毕。2. 依上述方法掰动几次机械臂完成录入时长按按键1秒以上，松开按键后LED闪烁两次蓝色表示录入结束开始自动执行记录动作程序。3. 需要停止重新录入动作时，长按按键1秒以上，松开按键后LED闪烁两次蓝色表示可以重新录入动作。
目前，机械臂的模型和代码都还在优化阶段，等成熟后，计划可以推出机械臂套件出售，下面是目前已经修改的模型特征目前SW的工程文件我已经上传，大家可以提出自己的宝贵意见，如果有更好的制作方案，欢迎提出交流。
机械臂视频：
模型stl文件：ARM_PRINTABLE.zip (423.23 KB, 下载次数: 153)
co#include #include
Servo myservo0,myservo1,myservo2,myservo3,myservo4;// create servo object to control a servo
// twelve servo objects can be created on most boards
int addr = 0;
int pos = 0; // variable to store the servo position
int read_Servo0, read_Servo1, read_Servo2, read_Servo3, read_Servo4;
bool bottom = false;
bool bottom_pressed = false;
int min_0, max_0, min_1, max_1, min_2, max_2, min_3, max_3;
//int R_PIN, G_PIN, B_PIN;
#define R_PIN4
#define G_PIN5
#define B_PIN6
bool eeprom_end()
{
if (EEPROM.read(addr) == 6666) {
delay(100);
return false;
}
else
return true;
}
bool match_servo()
{
int read_Servo0_p, read_Servo1_p, read_Servo2_p, read_Servo3_p, read_Servo4_p;
read_Servo0_p = analogRead(A0);
if (read_Servo0_p > max_0)
read_Servo0_p = max_0;
if (read_Servo0_p < min_0)
read_Servo0_p = min_0;
read_Servo0_p = map(read_Servo0_p, min_0, max_0, 611, 2389);
read_Servo1_p = analogRead(A1);
if (read_Servo1_p > max_1)
read_Servo1_p = max_1;
if (read_Servo1_p < min_1)
read_Servo1_p = min_1;
read_Servo1_p = map(read_Servo1_p, min_1, max_1, 611, 2389);
read_Servo2_p = analogRead(A2);
if (read_Servo2_p > max_2)
read_Servo2_p = max_2;
if (read_Servo2_p < min_2)
read_Servo2_p = min_2;
read_Servo2_p = map(read_Servo2_p, min_2, max_2, 611, 2389);
read_Servo3_p = analogRead(A3);
if (read_Servo3_p > max_3)
read_Servo3_p = max_3;
if (read_Servo3_p < min_3)
read_Servo3_p = min_3;
read_Servo3_p = map(read_Servo3_p, min_3, max_3, 611, 2389);
read_Servo4_p = analogRead(A4);
if (read_Servo4_p > 1024)
read_Servo4_p = 1024;
if (read_Servo4_p < 0)
read_Servo4_p = 0;
read_Servo4_p = map(read_Servo4_p, 0, 1024, 1222, 1722);
Serial.print("read_Servo_p:");
Serial.print(read_Servo0_p);
Serial.print(":");
Serial.print(read_Servo1_p);
Serial.print(":");
Serial.print(read_Servo2_p);
Serial.print(":");
Serial.print(read_Servo3_p);
Serial.print(":");
Serial.print(read_Servo4_p);
Serial.print("");
if (abs(read_Servo0_p - read_Servo0) > 20) {
//Serial.print(read_Servo0_p - read_Servo0);
Serial.println("!0");
return false;
}
else if (abs(read_Servo1_p - read_Servo1_p) > 20) {
Serial.println("!1");
return false;
}
else if (abs(read_Servo2_p - read_Servo2_p) > 20) {
Serial.println("!2");
return false;
}
else if (abs(read_Servo3_p - read_Servo3_p) > 20) {
Serial.println("!3");
return false;
}
else if (abs(read_Servo4_p - read_Servo4_p) > 20) {
Serial.println("!4");
return false;
}
else if (abs(EEPROM.read(addr - 5) - read_Servo0) > 20) {
/*Serial.print(":");
Serial.print(EEPROM.read(addr - 5) - read_Servo0);
Serial.print("");*/
Serial.println("!5");
return false;
}
else if (abs(EEPROM.read(addr - 4) - read_Servo1) > 20) {
Serial.println("!6");
return false;
}
else if (abs(EEPROM.read(addr - 3) - read_Servo2) > 20) {
Serial.println("!7");
return false;
}
else if (abs(EEPROM.read(addr - 2) - read_Servo3) > 20) {
Serial.println("!8");
return false;
}
else if (abs(EEPROM.read(addr - 1) - read_Servo4) > 20) {
Serial.println("!9");
return false;
}
else
return true;
}
void get_Servo()
{
read_Servo0 = analogRead(A0);
if (read_Servo0 > max_0)
read_Servo0 = max_0;
if (read_Servo0 < min_0)
read_Servo0 = min_0;
read_Servo0 = map(read_Servo0, min_0, max_0, 611, 2389);
read_Servo1 = analogRead(A1);
if (read_Servo1 > max_1)
read_Servo1 = max_1;
if (read_Servo1 < min_1)
read_Servo1 = min_1;
read_Servo1 = map(read_Servo1, min_1, max_1, 611, 2389);
read_Servo2 = analogRead(A2);
if (read_Servo2 > max_2)
read_Servo2 = max_2;
if (read_Servo2 < min_2)
read_Servo2 = min_2;
read_Servo2 = map(read_Servo2, min_2, max_2, 611, 2389);
read_Servo3 = analogRead(A3);
if (read_Servo3 > max_3)
read_Servo3 = max_3;
if (read_Servo3 < min_3)
read_Servo3 = min_3;
read_Servo3 = map(read_Servo3, min_3, max_3, 611, 2389);
read_Servo4 = analogRead(A4);
if (read_Servo4 > 1024)
read_Servo4 = 1024;
if (read_Servo4 < 0)
read_Servo4 = 0;
read_Servo4 = map(read_Servo4, 0, 1024, 1222, 1722);
EEPROM.write(addr, read_Servo0);
delay(100);
addr++;
EEPROM.write(addr, read_Servo1);
delay(100);
addr++;
EEPROM.write(addr, read_Servo2);
delay(100);
addr++;
EEPROM.write(addr, read_Servo3);
delay(100);
addr++;
EEPROM.write(addr, read_Servo4);
delay(100);
addr++;
Serial.print("read_Servo:");
Serial.print(read_Servo0);
Serial.print(":");
Serial.print(read_Servo1);
Serial.print(":");
Serial.print(read_Servo2);
Serial.print(":");
Serial.print(read_Servo3);
Serial.print(":");
Serial.print(read_Servo4);
Serial.print("");
}
void write_eeprom_end()
{
EEPROM.write(addr, 6666);
delay(100);
}
void read_eeprom()
{
for (int i = 0; i < 512; i)
{
int value = EEPROM.read(i);
delay(100);
Serial.print(value);
if ((i+1) % 5 == 0)
Serial.print("");
else
Serial.print(":");
if (value != 6666)
i++;
else
i = 512;
}
Serial.print("");
}
void get_Servo4()
{
pos = analogRead(A4);
myservo4.writeMicroseconds(map(pos, 0, 1024, 1222, 1722));
}
void servo_detach()
{
myservo0.detach();
myservo1.detach();
myservo2.detach();
myservo3.detach();
//myservo4.detach();
}
void servo_attach()
{
myservo0.attach(8);
myservo1.attach(9);
myservo2.attach(10);
myservo3.attach(11);
//myservo4.attach(12);
}
void bottom_press()
{
long now_time = millis();
//detachInterrupt(digitalPinToInterrupt(UPS_INT_PIN));
detachInterrupt(7);
delay(5);
if (digitalRead(7) == LOW)
{
bottom = !bottom;
Serial.println(bottom);
unsigned long value;
while (digitalRead(7) == LOW);
if (millis() - now_time >= 1000)
{
bottom_pressed = !bottom_pressed;
Serial.println("LONG PRESS!");
digitalWrite(B_PIN, LOW);
delay(500);
digitalWrite(B_PIN, HIGH);
delay(500);
digitalWrite(B_PIN, LOW);
delay(500);
digitalWrite(B_PIN, HIGH);
delay(500);
if (bottom_pressed)
{
write_eeprom_end();
read_eeprom();
addr = 0;
servo_attach();
}
/*else
{
digitalWrite(G_PIN, LOW);
delay(500);
digitalWrite(G_PIN, HIGH);
delay(500);
digitalWrite(G_PIN, LOW);
delay(500);
digitalWrite(G_PIN, HIGH);
delay(500);
}*/
//read_eeprom();
//addr = 0;
}
else
{
get_Servo();
while (!match_servo())
{
addr -= 5;
get_Servo();
}
Serial.println("EEPROM WRITE END");
Serial.print(EEPROM.read(addr - 5));
Serial.print(":");
Serial.print(EEPROM.read(addr - 4));
Serial.print(":");
Serial.print(EEPROM.read(addr - 3));
Serial.print(":");
Serial.print(EEPROM.read(addr - 2));
Serial.print(":");
Serial.println(EEPROM.read(addr - 1));
digitalWrite(R_PIN, LOW);
delay(500);
digitalWrite(R_PIN, HIGH);
delay(500);
digitalWrite(R_PIN, LOW);
delay(500);
digitalWrite(R_PIN, HIGH);
delay(500);
}
}
attachInterrupt(7, bottom_press, FALLING);
}
void get_analog()
{
for (pos = 10; pos <= 170; pos += 10) // goes from 0 degrees to 180 degrees
{ // in steps of 1 degree
myservo0.write(pos);
myservo1.write(pos);
myservo2.write(pos);
myservo3.write(pos);
myservo4.write(map(pos, 10, 170, 65*11, 110*11));// tell servo to go to position in variable 'pos'
delay(500); // waits 15ms for the servo to reach the position
if (pos == 10 || pos == 170)
{
Serial.print(analogRead(A0));
Serial.print(" : ");
Serial.print(analogRead(A1));
Serial.print(" : ");
Serial.print(analogRead(A2));
Serial.print(" : ");
Serial.print(analogRead(A3));
Serial.print("");
}
}
for (pos = 170; pos >= 10; pos -= 10) // goes from 180 degrees to 0 degrees
{
myservo0.write(pos);
myservo1.write(pos);
myservo2.write(pos);
myservo3.write(pos);
//if(pos >= 65 && pos <= 110)
myservo4.write(map(pos, 10, 170, 65*11, 110*11));// tell servo to go to position in variable 'pos'
delay(500); // waits 15ms for the servo to reach the position
if (pos == 10 || pos == 170)
{
Serial.print(analogRead(A0));
Serial.print(" : ");
Serial.print(analogRead(A1));
Serial.print(" : ");
Serial.print(analogRead(A2));
Serial.print(" : ");
Serial.print(analogRead(A3));
Serial.print("");
}
}
}
void process_servo()
{
int servo_pos_0, servo_pos_1, servo_pos_2, servo_pos_3, servo_pos_4;
int servo_des_0, servo_des_1, servo_des_2, servo_des_3, servo_des_4;
int servo_move_0, servo_move_1, servo_move_2, servo_move_3, servo_move_4;
int rate_0, rate_1, rate_2, rate_3, rate_4, servo_move_max, rate_time;
servo_pos_0 = read_Servo0;
servo_pos_1 = read_Servo1;
servo_pos_2 = read_Servo2;
servo_pos_3 = read_Servo3;
servo_pos_4 = read_Servo4;
myservo0.writeMicroseconds(servo_pos_0);
myservo1.writeMicroseconds(servo_pos_1);
myservo2.writeMicroseconds(servo_pos_2);
myservo3.writeMicroseconds(servo_pos_3);
myservo4.writeMicroseconds(servo_pos_4);
servo_des_0 = EEPROM.read(addr);
//delay(100);
addr++;
servo_des_1 = EEPROM.read(addr);
//delay(100);
addr++;
servo_des_2 = EEPROM.read(addr);
//delay(100);
addr++;
servo_des_3 = EEPROM.read(addr);
//delay(100);
addr++;
servo_des_4 = EEPROM.read(addr);
//delay(100);
addr++;
servo_move_0 = servo_des_0 - servo_pos_0;
servo_move_1 = servo_des_1 - servo_pos_1;
servo_move_2 = servo_des_2 - servo_pos_2;
servo_move_3 = servo_des_3 - servo_pos_3;
servo_move_4 = servo_des_4 - servo_pos_4;
servo_move_max = max(abs(servo_move_0), max(abs(servo_move_1), max(abs(servo_move_2), max(abs(servo_move_3), abs(servo_move_4)))));
rate_0 = servo_move_0 * 50 / servo_move_max;
rate_1 = servo_move_1 * 50 / servo_move_max;
rate_2 = servo_move_2 * 50 / servo_move_max;
rate_3 = servo_move_3 * 50 / servo_move_max;
rate_4 = servo_move_4 * 50 / servo_move_max;
/*Serial.print("Servo_rate:");
Serial.print(rate_0);
Serial.print(" : ");
Serial.print(rate_1);
Serial.print(" : ");
Serial.print(rate_2);
Serial.print(" : ");
Serial.print(rate_3);
Serial.print(" : ");
Serial.print(rate_4);
Serial.print("");*/
rate_time = servo_move_max;
//rate_num = 5;
//int rate_num = 0;
while (rate_time)
{
if (rate_time < 50)
{
servo_pos_0 = servo_des_0;
servo_pos_1 = servo_des_1;
servo_pos_2 = servo_des_2;
servo_pos_3 = servo_des_3;
servo_pos_4 = servo_des_4;
rate_time = 0;
}
else
{
servo_pos_0 += rate_0;
servo_pos_1 += rate_1;
servo_pos_2 += rate_2;
servo_pos_3 += rate_3;
servo_pos_4 += rate_4;
rate_time -= 50;
}
//rate_num++;
/*Serial.print("rate_time:");
Serial.print(rate_time);
Serial.print("Servo_test:");
Serial.print(servo_pos_0);
Serial.print(" : ");
Serial.print(servo_pos_1);
Serial.print(" : ");
Serial.print(servo_pos_2);
Serial.print(" : ");
Serial.print(servo_pos_3);
Serial.print(" : ");
Serial.print(servo_pos_4);
Serial.print(" : ");
Serial.print(rate_num);
Serial.print("");*/
myservo0.write(servo_pos_0);
myservo1.write(servo_pos_1);
myservo2.write(servo_pos_2);
myservo3.write(servo_pos_3);
myservo4.write(servo_pos_4);
delay(40);
}
/*Serial.print(servo_pos_0);
Serial.print(" : ");
Serial.print(servo_pos_1);
Serial.print(" : ");
Serial.print(servo_pos_2);
Serial.print(" : ");
Serial.print(servo_pos_3);
Serial.print(" : ");
Serial.print(servo_pos_4);
Serial.print("");*/
read_Servo0 = servo_des_0;
read_Servo1 = servo_des_1;
read_Servo2 = servo_des_2;
read_Servo3 = servo_des_3;
read_Servo4 = servo_des_4;
}
void config_init()
{
min_0 = 177;
min_1 = 178;
min_2 = 194;
min_3 = 172;
max_0 = 660;
max_1 = 668;
max_2 = 704;
max_3 = 650;
pinMode(A0, INPUT);
pinMode(A1, INPUT);
pinMode(A2, INPUT);
pinMode(A3, INPUT);
pinMode(A4, INPUT);
pinMode(7, INPUT_PULLUP);
pinMode(R_PIN, OUTPUT);
pinMode(G_PIN, OUTPUT);
pinMode(B_PIN, OUTPUT);
digitalWrite(R_PIN, HIGH);
digitalWrite(G_PIN, HIGH);
digitalWrite(B_PIN, HIGH);
attachInterrupt(7, bottom_press, FALLING);
myservo0.attach(8);
myservo1.attach(9);
myservo2.attach(10);
myservo3.attach(11);
myservo4.attach(12);
}
void setup()
{
config_init();
Serial.begin(9600);
}
void loop()
{
if (bottom_pressed)
{
if (eeprom_end())
process_servo();
else
addr = 0;
}
else
{
servo_detach();
get_Servo4();
delay(50);
}
}
//for(pos = 10; pos <= 170; pos += 1) // goes from 0 degrees to 180 degrees
//{ // in steps of 1 degree
//myservo0.write(90);
//myservo1.write(90);
//myservo2.write(90);
//myservo3.write(90);
////if(pos >= 65 && pos <= 110)
//myservo4.write(map(pos,10,170,65,110));// tell servo to go to position in variable 'pos'
//delay(20); // waits 15ms for the servo to reach the position
//}
//for(pos = 170; pos>=10; pos -= 1) // goes from 180 degrees to 0 degrees
//{
//myservo0.write(90);
//myservo1.write(90);
//myservo2.write(90);
//myservo3.write(90);
////if(pos >= 65 && pos <= 110)
//myservo4.write(map(pos,10,170,65,110));// tell servo to go to position in variable 'pos'
//delay(20); // waits 15ms for the servo to reach the position
//}de
原帖出处：http://www.arduino.cn/thread-23525-1-1.html
顶贴是一种美德！
不错不错
顶一个。。。
不错，收藏了，有时间搞个玩玩
帮顶一个
很完整的资料，收藏了。多谢！
结合人工智能的话，厉害了
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