基于Arduino UNO的手臂外骨骼源码.zip

#include <Adafruit_PWMServoDriver.h> #include <Wire.h> Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver(); #define MIN_PULE_WIDTH 650 #define MAX_PULE_WIDTH 2350 #define DEFAULT_PULE_WIDTH 1500 #define FREQUENCY 50 #define GROUND_JOY_PIN A3 //joystick ground pin will connect to Arduino analog pin A3 #define VOUT_JOY_PIN A2 //joystick +5 V pin will connect to Arduino analog pin A2 #define XJOY_PIN A1 #define X2JOY_PIN A0 void setup() { pwm.begin(); pwm.setPWMFreq(FREQUENCY); Serial.begin(9600); pinMode(VOUT_JOY_PIN, OUTPUT) ; //pin A3 shall be used as output pinMode(GROUND_JOY_PIN, OUTPUT) ; //pin A2 shall be used as output digitalWrite(VOUT_JOY_PIN, HIGH) ; //set pin A3 to high (+5V) digitalWrite(GROUND_JOY_PIN,LOW) ; //set pin A3 to low (ground) } int pulseWidth (int angle) { int pulse_wide, analog_value; pulse_wide = map( angle, 0, 180, MIN_PULE_WIDTH, MAX_PULE_WIDTH); analog_value = int(float(pulse_wide)/1000000*FREQUENCY*4096); return analog_value; } void loop() { delay(200); int joystickXVal = analogRead(XJOY_PIN) ; int joystickX2Val = analogRead(X2JOY_PIN); Serial.print(joystickXVal); //print the value from A1 Serial.println(" = input from joystick"); //print "=input from joystick" next to the value Serial.print((joystickXVal+520)/10); //print a from A1 calculated, scaled value Serial.println(" = output to servo"); //print "=output to servo" next to the value Serial.println() ; pwm.setPWM(1, 0, pulseWidth((joystickXVal+520)/10)); pwm.setPWM(0, 0, pulseWidth((joystickXVal+520)/10)); pwm.setPWM(4, 0, pulseWidth((joystickX2Val+520)/10)); }