Hướng dẫn lập trình cánh tay robot

Đây là topic cho thử thách của chương trình
Học lập trình ở đâu


Và dưới này thì có code mẫu nhé
Code nạp vào Arduino trên tay robot


#include

Servo khop1; //0-180
Servo khop2; //0-80-150
Servo khop3; //0-100
Servo khop4; //0-100

int bluetoothByte = 0;

void setup()
{
Serial.begin (9600);
khop1.attach(2);//0-180
khop2.attach(3);//0-80-150
khop3.attach(4);//0-100
khop4.attach(5);//0-100
}

void loop()
{
bluetoothRobotArm();
}

void bluetoothRobotArm()
{
if (Serial.available() > 0)
bluetoothByte = Serial.read();
switch (bluetoothByte)
{
case '0':
stopArm();
break;
case '1':
vuonRa1Buoc();
break;
case '2':
thuVao1Buoc();
break;
case '3':
quayTrai1Buoc();
break;
case '4':
quayPhai1Buoc();
break;
case '5':
nangLen1Buoc();
break;
case '6':
haXuong1Buoc();
break;
case '7':
kep1Buoc();
break;
case '8':
moRa1Buoc();
break;


}
}

void stopArm()
{
servoPosition(khop1.read(), khop2.read(), khop3.read(), khop4.read());
}

void kep()
{
khop4.write(0);
}
void kep1Buoc()
{
khop4.write(khop4.read() - 1);
delay(50);
}

void moRa()
{
khop4.write(100);
}
void moRa1Buoc()
{
khop4.write(khop4.read() + 1);
delay(50);
}

void moRaTuTu()
{
for (int i = khop4.read(); i <= 130; i++)
{
khop4.write(i);
delay(10);
}
}
void kepTuTu()
{
for (int i = khop4.read(); i >= 0; i--)
{
khop4.write(i);
delay(10);
}
}
void nangLenTuTu()
{
for (int i = khop2.read(); i <= 90; i++)
{
khop2.write(i);
delay(50);
}
}
void nangLen1Buoc()
{
khop2.write(khop2.read() + 1);
delay(50);
}

void haXuongTuTu()
{
for (int i = khop2.read(); i >= 50; i--)
{
khop2.write(i);
delay(50);
}
}
void haXuong1Buoc()
{
khop2.write(khop2.read() - 1);
delay(50);
}
void haXuong()
{
khop2.write(50);
}
void nangLen()
{
khop2.write(90);
}

void vuonRa()
{
khop3.write(0);
}

void vuonRa1Buoc()
{
khop3.write(khop3.read() - 1);
delay(50);
}
void vuonRaTuTu()
{
for (int i = khop3.read(); i >= 0; i--)
{
khop3.write(i);
delay(50);
}
}

void thuVao()
{
khop3.write(100);
}

void thuVao1Buoc()
{
khop3.write(khop3.read() + 1);
delay(50);
}
void thuVaoTuTu()
{
for (int i = khop3.read(); i <= 100; i++)
{
khop3.write(i);
delay(50);
}
}
void quayTrai()
{
khop1.write(180);
}

void quayTrai1Buoc()
{
khop1.write(khop1.read() + 1);
delay(50);
}
void quayPhai()
{
khop1.write(0);
}

void quayPhai1Buoc()
{
khop1.write(khop1.read() - 1);
delay(50);
}
void quayTraiTuTu()
{
for (int i = khop1.read(); i <= 180; i++)
{
khop1.write(i);
delay(50);
}
}
void quayPhaiTuTu()
{
for (int i = khop1.read(); i >= 0; i--)
{
khop1.write(i);
delay(50);
}
}

void readyPosition()
{
khop1.write(90);
khop2.write(100);
khop3.write(80);
khop4.write(100);
}

void testMove()
{
for (int i = 0; i <= 180; i++)
{
khop1.write(i);
delay (20);
}
for (int i = 180; i >= 0; i--)
{
khop1.write(i);
delay (20);
}
readyPosition();
delay(500);
for (int i = 0; i <= 100; i++)
{
khop2.write(i);
delay (20);
}
for (int i = 100; i >= 0; i--)
{
khop2.write(i);
delay (20);
}

readyPosition();
delay(500);
for (int i = 0; i <= 80; i++)
{
khop3.write(i);
delay (20);
}
for (int i = 80; i >= 0; i--)
{
khop3.write(i);
delay (20);
}
readyPosition();
delay(500);
for (int i = 0; i <= 100; i++)
{
khop4.write(i);
delay (20);
}
for (int i = 100; i >= 0; i--)
{
khop4.write(i);
delay (20);
}
}
void servoPosition (byte servo1, byte servo2, byte servo3, byte servo4)
{
khop1.write(servo1);
khop2.write(servo2);
khop3.write(servo3);
khop4.write(servo4);
}


void turnAround ()
{
for (int i = 0; i <= 180; i++)
{
khop1.write(i);
delay (20);
}
for (int i = 180; i >= 0; i--)
{
khop1.write(i);
delay (20);
}
}

Code cho visual C# (không phải cứ nạp vào là ăn đâu nhé
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Windows.Forms;
using System.IO.Ports;



namespace RobotBluetooth
{
public partial class Form1 : Form
{
public Form1()
{
InitializeComponent();
getAvailablePort();
}

void getAvailablePort()
{
string[] ports = SerialPort.GetPortNames();
comboBox1.Items.AddRange(ports);
}


private void button1_Click(object sender, EventArgs e)
{
try
{
if (comboBox1.Text == "" || comboBox2.Text == "")// Neu khong co 1 trong 2 thong so Port va baurate
{
textBox1.Text = "Please select port setting";
}
else
{
serialPort1.PortName = comboBox1.Text;
serialPort1.BaudRate = Convert.ToInt32(comboBox2.Text);
serialPort1.Open();
button1.Enabled = false;
button2.Enabled = true;
textBox1.Enabled = true;
button3.Enabled = true;
button4.Enabled = true;
button5.Enabled = true;
button6.Enabled = true;
button7.Enabled = true;
button8.Enabled = true;
button9.Enabled = true;
button10.Enabled = true;

}
}
catch (UnauthorizedAccessException)
{
textBox1.Text = " Unauthorized Acesse ";
}
}
private void button2_Click(object sender, EventArgs e)
{
serialPort1.Close();
button1.Enabled = true;
button2.Enabled = false;
button3.Enabled = false;
button4.Enabled = false;
button5.Enabled = false;
button6.Enabled = false;
textBox1.Enabled = false;
}

private void button3_MouseDown(object sender, MouseEventArgs e)
{
serialPort1.Write("1");
}

private void button3_MouseUp(object sender, MouseEventArgs e)
{
serialPort1.Write("0");
}

private void button4_MouseDown(object sender, MouseEventArgs e)
{
serialPort1.Write("2");
}

private void button4_MouseUp(object sender, MouseEventArgs e)
{
serialPort1.Write("0");
}

private void button5_MouseDown(object sender, MouseEventArgs e)
{
serialPort1.Write("3");
}

private void button5_MouseUp(object sender, MouseEventArgs e)
{
serialPort1.Write("0");
}

private void button6_MouseDown(object sender, MouseEventArgs e)
{
serialPort1.Write("4");
}

private void button6_MouseUp(object sender, MouseEventArgs e)
{
serialPort1.Write("0");
}

private void Form1_Load(object sender, EventArgs e)
{

}
private void button9_MouseDown(object sender, MouseEventArgs e)
{
serialPort1.Write("7");
}

private void button9_MouseUp(object sender, MouseEventArgs e)
{
serialPort1.Write("0");
}

private void button10_MouseDown(object sender, MouseEventArgs e)
{
serialPort1.Write("8");
}

private void button10_MouseUp(object sender, MouseEventArgs e)
{
serialPort1.Write("0");
}

private void button7_MouseDown(object sender, MouseEventArgs e)
{
serialPort1.Write("5");
}

private void button8_MouseDown(object sender, MouseEventArgs e)
{
serialPort1.Write("6");
}

private void button8_MouseUp(object sender, MouseEventArgs e)
{
serialPort1.Write("0");
}

private void button7_MouseUp(object sender, MouseEventArgs e)
{
serialPort1.Write("0");
}



}
}

TIN TỨC KHÁC