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상품 정보 | 가격 | 삭제 |
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아두이노 로봇팔용 고출력 서보모터 MG996R (180도 회전) | ||
TOTAL PRICE(수량) 0 |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 | #include <Wire.h> #include <Adafruit_PWMServoDriver.h> #define nbPCAServo 16 int MIN_IMP [nbPCAServo] ={500, 500, 500, 500, 500, 500, 500, 500, 500, 500, 500, 500, 500, 500, 500, 500}; int MAX_IMP [nbPCAServo] ={2500, 2500, 2500, 2500, 2500, 2500, 2500, 2500, 2500, 2500, 2500, 2500, 2500, 2500, 2500, 2500}; int MIN_ANG [nbPCAServo] ={0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; int MAX_ANG [nbPCAServo] ={180, 180, 180, 180, 180, 180, 180, 180, 180, 180, 180, 180, 180, 180, 180, 180}; Adafruit_PWMServoDriver pca= Adafruit_PWMServoDriver(0x40); void setup(){ Serial.begin(9600); Serial.println(F("Initialize System")); pca.begin(); pca.setPWMFreq(60); // Analog servos run at ~60 Hz updates } void loop(){ pcaScenario(); } void pcaScenario(){ for (int i=0; i<nbPCAServo; i++) { Serial.print("Servo"); Serial.println(i); for(int pos=(MAX_IMP[i]+MIN_IMP[i])/2;pos<MAX_IMP[i];pos+=10){ pca.writeMicroseconds(i,pos);delay(10); } for(int pos=MAX_IMP[i];pos>MIN_IMP[i];pos-=10){ pca.writeMicroseconds(i,pos);delay(10); } for(int pos=MIN_IMP[i];pos<(MAX_IMP[i]+MIN_IMP[i])/2;pos+=10){ pca.writeMicroseconds(i,pos);delay(10); } pca.setPin(i,0,true); } } int jointToImp(double x,int i){ int imp=(x - MIN_ANG[i]) * (MAX_IMP[i]-MIN_IMP[i]) / (MAX_ANG[i]-MIN_ANG[i]) + MIN_IMP[i]; imp=max(imp,MIN_IMP[i]); imp=min(imp,MAX_IMP[i]); return imp; } | cs |