2016年7月6日

用arduino控制伺服馬達定量定速轉動

學生專題進行某個實驗,需要定量定時的某個擺動。於是找了SciBrick,組合上伺服馬達,在加上Arduino來控制,這樣就可以作實驗了。

兩個可變電阻分別控制伺服馬達的擺動次數和擺動週期,調整的數字會顯示在LCD上面。確認好以後,按下按鈕就會執行動作一次,然後就停止。
IMAG2151

IMAG2153

IMAG2154

程式碼下載
https://drive.google.com/file/d/0Bzwhi7Oh9a5ZZzdhTXJWZ0FPUUk/view?usp=sharing

按鈕從5v接D2,另外D2還有再接一個10k電阻到Gnd。(意思就是按鈕沒按的時候,D2接收到Gnd的低電位,按下去則是收到高電位)

伺服馬達的信號線接D9
控制時間週期的可變電阻接A0
控制伺服馬達擺動次數的可變電阻接A1

程式碼
=====

/*
  Copyright (c) 2014 MediaTek Inc.  All right reserved.

  This library is free software; you can redistribute it and/or
  modify it under the terms of the GNU Lesser General Public
  License as published by the Free Software Foundation; either
  version 2.1 of the License..

  This library is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  See the GNU Lesser General Public License for more details.

  Note: Only D9 and D10 is supported
*/
/*
  Button

  Turns on and off a light emitting diode(LED) connected to digital
  pin 13, when pressing a pushbutton attached to pin 2.


  The circuit:
   LED attached from pin 13 to ground
   pushbutton attached to pin 2 from +5V
   10K resistor attached to pin 2 from ground

   Note: on most Arduinos there is already an LED on the board
  attached to pin 13.


  created 2005
  by DojoDave <http://www.0j0.org>
  modified 30 Aug 2011
  by Tom Igoe

  This example code is in the public domain.

  http://www.arduino.cc/en/Tutorial/Button
*/

// constants won't change. They're used here to
// set pin numbers:

//https://github.com/fdebrabander/Arduino-LiquidCrystal-I2C-library
#include <LiquidCrystal_I2C.h>

LiquidCrystal_I2C lcd(0x27, 16, 2);


const int buttonPin = 2;     // the number of the pushbutton pin
const int ledPin =  13;      // the number of the LED pin


// Variables will change:
int buttonPushCounter = 0;   // counter for the number of button presses
int buttonState = 0;         // current state of the button
int lastButtonState = 0;     // previous state of the button


#include <Servo.h>

Servo myservo;


void setup()
{
  Serial.begin(115200);
  myservo.attach(9);
  myservo.write(90);
  pinMode(10, OUTPUT);

  lcd.begin();
  lcd.backlight();
  // initialize the LED pin as an output:
  pinMode(ledPin, OUTPUT);
  // initialize the pushbutton pin as an input:
  pinMode(buttonPin, INPUT);
}

void loop(void)
{
  int A0Value = analogRead(A0);
  int delaytime = map(A0Value, 0, 1023, 1,6);

  int A1Value = analogRead(A1);
  int hitTime = map(A1Value, 0, 1023, 1, 9);


  //  lcd.clear();
  lcd.setCursor(0, 0);
  lcd.print(delaytime);
  lcd.print("s  ");

  lcd.setCursor(0, 1);
  lcd.print(hitTime);
  lcd.print("hits  ");

  // read the pushbutton input pin:
  buttonState = digitalRead(buttonPin);

  // compare the buttonState to its previous state
  if (buttonState != lastButtonState) {
    // if the state has changed, increment the counter
    if (buttonState == HIGH) {
      // if the current state is HIGH then the button
      // wend from off to on:
      buttonPushCounter++;
      Serial.println("on");
      Serial.print("number of button pushes:  ");
      Serial.println(buttonPushCounter);
    } else {
      // if the current state is LOW then the button
      // wend from on to off:
      Serial.println("off");
    }
    // Delay a little bit to avoid bouncing
    delay(50);
  }

  // save the current state as the last state,
  //for next time through the loop
  lastButtonState = buttonState;


  // turns on the LED every four button pushes by
  // checking the modulo of the button push counter.
  // the modulo function gives you the remainder of
  // the division of two numbers:
  if (buttonPushCounter % 2 == 0) {
    digitalWrite(ledPin, HIGH);
    for (int i = 1; i <= hitTime; i++) {

      for (int i = 100; i < 180; i++)
      {
        myservo.write(i);
        delay(delaytime*1000/(2*80));
      }

      for (int i = 180; i > 100; i--)
      {
        myservo.write(i);
        delay(delaytime*1000/(2*80));
      }
    }
    buttonPushCounter++;
  }

}

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