(SKU:ROB0080)六足机器人套件
目录 |
STEP 1:安装蜘蛛
这篇教程将教你怎么做个大蜘蛛,通过代码来控制蜘蛛的腿脚灵活运动。 第一步,安装蜘蛛。具体可参看蜘蛛详细安装教程
STEP 2: 设置舵机ID号
在连接蜘蛛之前,需要给每个舵机设置ID号,就像编号一样,每个舵机都有个独立的编号,便于之后代码中进行控制。我们通过直接代码串口发指令来完成设置。如果你是机器人高手的话,那直接看CDS5500机器人舵机用户手册
连接图
按下图将舵机连接到控制器上,舵机驱动板接上电源。
下载代码
插上USB线,下载下段代码,由于代码还有需要个.h文件,所以建议直接下载样例代码cds5516_set。
/* * created: lisper * by: 2013-09-10 * description: test the digitalservo shield with cds556 servo * */ #include "cds55.h" #define CMD_SIZE 32 #define CMDP_SIZE 8 char cmd_buf[CMD_SIZE]; //buf from serial char *cmdp_buf[CMD_SIZE]; //build from cmd_buf, easy to get argument by index // void setup (void) { Serial.begin(9600); // 开始串口通讯 Serial1.begin(1000000); // 开始串口通讯 } uint8_t readBuf[10]; // void loop (void) { int readLeng = serialRead (Serial1, readBuf, 10, 4); if (readLeng > 0) { for (int i=0; i<readLeng; i++) { Serial.print (readBuf[i], HEX); Serial.print (" "); } Serial.println (); } if (serialRead (Serial, (uint8_t *)cmd_buf, CMD_SIZE, 4)) { //read serial data to cmd_buf int leng = split (cmdp_buf, cmd_buf, CMDP_SIZE); //build cmdp_buf by cmd_buf char command = cmdp_buf[0][0]; //get command uint8_t id = atoi (cmdp_buf[1]); //get id uint16_t value = atoi (cmdp_buf[2]); //get a argument Serial.print ("command = "); // display command Serial.print (command); // Serial.print (" id = "); // Serial.print (id); // Serial.print (" value = "); // Serial.println (value); // switch (command) { case 'p': //move to value (0~300) cds55_pos (id, value); break; case 'r': //reset servo cds55_reset (id); break; case 'l': //open or close led by 1 or 0 cds55_led (id, value); break; case 't': //enable or disable torque by 1 or 0 cds55_torque (id, value); break; case 'i': //change id to newid by value cds55_setID (id, value); break; case 'v': //change move velocity cds55_velocity (id, value); break; default: Serial.println ("error! no this command!"); } } } int split (char **cmdstr, char *str, int leng) { int i; for (i=0; *str && i<leng-1; i++) { while (isspace (*str)) *str++='\0'; if (*str == '\0') break; cmdstr[i] = str; while (isgraph (*str)) str++; } cmdstr[i] = '\0'; return i; } //call like : serialRead (Serial1, buffer, 12, 5) uint8_t serialRead (HardwareSerial the_serial, uint8_t *buf, uint8_t leng, uint8_t timeout) { int sub; if (the_serial.available ()) { for (sub=0; sub<leng; sub++) { uint32_t start_time = millis (); while (!the_serial.available ()) { if (millis () - start_time > timeout) return sub; } buf[sub] = the_serial.read (); } return sub; } return 0; }
下载完后,看到这段代码是不是有点懵,怎么设置呢?没关系,继续往下看。。。
串口发指令
其实真正用到的部分是下面这段:
switch (command) { case 'p': //move to value (0~300) cds55_pos (id, value); break; case 'r': //reset servo cds55_reset (id); break; case 'l': //open or close led by 1 or 0 cds55_led (id, value); break; case 't': //enable or disable torque by 1 or 0 cds55_torque (id, value); break; case 'i': //change id to newid by value cds55_setID (id, value); break; case 'v': //change move velocity cds55_velocity (id, value); break; default: Serial.println ("error! no this command!"); }
我这里举个例子,你就明白了。。
举例: CDS55数字舵机出厂ID号默认都是1,将舵机的ID号由1改为2。
打开串口监视器,波特率设置为9600,输入i 1 2,会有对应的返回数据。
"i": cds55_setID函数对应的command
"1": cds55_setID函数的参数id
"2": cds55_setID函数的参数value
如下图所示:
如何验证是否设置成功?
可以使用cds55_led (id, value)函数,继续串口发送l 2 1。
如果舵机ID号设置成功的话,舵机的LED会被打开,这条指令是设置2号舵机开灯。
"l": cds55_led函数对应的command
"2": cds55_led函数的参数id
"1": cds55_led函数的参数value
设置每个舵机的ID号
如果你已经学会如何设置了话,那就按照下表,每个位置对应的舵机,分别设置ID号。
左边前腿(前,中,后): 0, 1, 2
左边中腿(前,中,后):10, 11, 12
左边后腿(前,中,后): 20, 21, 22
右边前腿(前,中,后): 30, 31, 32
右边中腿(前,中,后):40, 41, 42
右边后腿(前,中,后): 50, 51, 52
函数介绍
1. cds55_pos (id, value)
功能: 设置舵机角度
id: 舵机ID号
value :角度值0~300
例如:让1号舵机运行到150°
cds55_pos(1,150);
2. cds55_reset (id)
功能:重置舵机
id:舵机ID号
3. cds55_led (id, value)
功能: 打开舵机LED
id: 舵机ID号
value :0或者1
例如:打开1号舵机LED
cds55_led (1,1);
4. cds55_torque(id, value)
功能:是否打开锁定角度
id: 舵机ID号
value :0或者1
5. cds55_setID (id, value)
功能: 重置舵机ID号
id: 舵机原ID号
value: 舵机新ID号
6. cds55_velocity (id, value)
功能:改变舵机转动速度
id: 舵机ID号
value:速度值
STEP 3:硬件连接
如果前面舵机的ID号都设置好的话,可以继续往下走了,按下图进行整机连线。
STEP 4:下载代码
下载代码前,需先加载库,点击下载库Hexapod。如何加载库,可戳此处。建议使用Arduino 1.0及之前的版本下载,点击下载
#include <CDS5500_2Serials.h> #include <Hexapod_Servo.h> #include <ServoConsole.h> // Below are the ID arrays of servos. You must set the IDs of the servo according //to the documents : //IDs of the servos of the left front leg: 0, 1, 2 (inner, middle, outer) //IDs of the servos of the left middle leg: 10, 11, 12(inner, middle, outer) //IDs of the servos of the left back leg: 20, 21, 22 (inner, middle, outer) //IDs of the servos of the right back leg: 30, 31, 32(inner, middle, outer) //IDs of the servos of the right middle leg: 40, 41, 42 (inner, middle, outer) //IDs of the servos of the right front leg: 50, 51, 52(inner, middle, outer) int axisA[] = {0, 20, 40}; int axisB[] = {10, 30, 50}; int hipA[] = {1, 21, 41}; int hipB[] = {11, 31, 51}; int legA[] = {2, 22, 32}; int legB[] = {12, 32, 52}; int axis[] = {0, 10, 20, 30, 40, 50}; int hips[] = {1, 11, 21, 31, 41, 51}; int legs[] = {2, 12, 22, 32 ,42, 52}; // servo controller ServoConsole console; void setup(){ Serial.begin(115200); //For printing out data, or debugging. Serial2.begin(1000000); // Used for control servos on left side. Serial1.begin(1000000);// Used for control servos on right side. } void loop(){ console.Move(legs, 6, 170, 511); //Legs move to 170 for standing up console.Move(hips,6, 480, 511); // hips move to 480 for standing up console.Move(axisA, 3, 130, 511); // axis group A move to 130. Prepare for walking console.Move(axisB, 3, 70, 511); // axis group B move 70. Prepare for walking delay(1000); // waits for their moving while(1){ walk(); //walking loop } } void walk(){ delay(500); console.MoveUp(hipB, 3, 100, 500); //hips group B move up 100 console.MoveUp(axisB, 3, 60, 300);// axis group B move forward 60 console.MoveDown(axisA, 3, 60, 300);// axis group A move backward 60 delay(500);// waits for movement console.MoveDown(hipB, 3, 100, 500);//hips group B move down 100 delay(500);// waits for movement console.MoveUp(hipA, 3, 100, 500);//hips group A move up 100 console.MoveDown(axisB, 3, 60, 300);// axis group B move backward 60 console.MoveUp(axisA, 3, 60, 300);// axis group A move forward 60 delay(500);// waits for movement console.MoveDown(hipA,3, 100, 500);//hips group A move down 100 }
库说明
1. CDS5500_2Serials
该库是用来直接控制舵机角度。这个版本是专为六足机器人设计的,因为需要用到两个串口,所以用到2块舵机驱动板驱动18个舵机。
2.Hexapod_Servo
该库主要用来存储所有信息,包括IDs,转动的极限值,及最后转动的位置。
3.ServoConsole
该库从Hexapod Servo中调用函数来控制舵机。库含三个函数:Move,Moveup,MoveDown。