Acrob006: Rozdiel medzi revíziami
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| + | [[Acrob005|< Previous]] | [[Acrob|Home]] | [[Acrob007|Next >]] | ||
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| + | == Basic movements. Finally! == | ||
| + | |||
| + | |||
| + | [[Obrázok:DifferentialKinematics.png|center]] | ||
| + | |||
| + | Robot používa dva modifikované servomotory. Majú trojvodičové pripojenie, dva vodiče slúžia na napájanie, | ||
| + | tretí je riadiaci signál. Rýchlosť a smer otáčania sa riadia šírkou impulzu. Pôvodne slúžil na nastavenie | ||
| + | polohy v rozsahu 0-180 stupňov. Po úprave signál pre 90 st. motorček zastaví, 180 roztočí max. rýchlosťou | ||
| + | jedným smerom a 0 max. rýchlosťou druhým smerom (TODO: upraviť knižnicu z polohy na rýchlosť). | ||
| + | |||
| + | [[Obrázok:ServoAnimation.gif|center]] | ||
| + | |||
| + | Tento program ilustruje použitie základných pohybových príkazov. Všimnite si použitie | ||
| + | knižnice Servo.h: | ||
| + | |||
| + | <source lang="c"> | ||
| + | #include <Servo.h> // this program uses the Servo library | ||
| + | |||
| + | Servo LeftServo; // create servo object to control both servos | ||
| + | Servo RightServo; // a maximum of eight servos can be created | ||
| + | |||
| + | #define FAST 50 // try to change these values during the test | ||
| + | #define SLOW 5 | ||
| + | |||
| + | void setup() | ||
| + | { | ||
| + | LeftServo.attach(9); // attaches the servo on pin 9 to the servo object | ||
| + | RightServo.attach(10); // attaches the servo on pin 10 to the servo object | ||
| + | } | ||
| + | |||
| + | void loop() | ||
| + | { | ||
| + | // FAST FORWARD | ||
| + | LeftServo.write(90 + FAST); // value 90 is in middle, i.e. stop | ||
| + | RightServo.write(90 - FAST); // mirrored position | ||
| + | delay(1500); // go fast forward for 1,5 s | ||
| + | |||
| + | // SLOW FORWARD | ||
| + | LeftServo.write(90 + SLOW); // test varying speed of movement | ||
| + | RightServo.write(90 - SLOW); | ||
| + | delay(1500); | ||
| + | |||
| + | LeftServo.write(90 - FAST); // FAST BACKWARD | ||
| + | RightServo.write(90 + FAST); | ||
| + | delay(1500); | ||
| + | |||
| + | LeftServo.write(90 + FAST); // ROTATE (PIVOT) RIGHT | ||
| + | RightServo.write(90 + FAST); | ||
| + | delay(1500); | ||
| + | |||
| + | LeftServo.write(90 - FAST); // ROTATE (PIVOT) LEFT | ||
| + | RightServo.write(90 - FAST); | ||
| + | delay(1500); | ||
| + | |||
| + | LeftServo.write(90); // STOP both motors | ||
| + | RightServo.write(90); | ||
| + | |||
| + | for(;;); // stop the program operation here | ||
| + | |||
| + | } /* End of Loop */ | ||
| + | </source> | ||
| + | |||
| + | [[Obrázok:ServoConnection.png|center]] | ||
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Verzia zo dňa a času 12:07, 12. jún 2010
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Basic movements. Finally!
Robot používa dva modifikované servomotory. Majú trojvodičové pripojenie, dva vodiče slúžia na napájanie, tretí je riadiaci signál. Rýchlosť a smer otáčania sa riadia šírkou impulzu. Pôvodne slúžil na nastavenie polohy v rozsahu 0-180 stupňov. Po úprave signál pre 90 st. motorček zastaví, 180 roztočí max. rýchlosťou jedným smerom a 0 max. rýchlosťou druhým smerom (TODO: upraviť knižnicu z polohy na rýchlosť).
Tento program ilustruje použitie základných pohybových príkazov. Všimnite si použitie knižnice Servo.h:
#include <Servo.h> // this program uses the Servo library
Servo LeftServo; // create servo object to control both servos
Servo RightServo; // a maximum of eight servos can be created
#define FAST 50 // try to change these values during the test
#define SLOW 5
void setup()
{
LeftServo.attach(9); // attaches the servo on pin 9 to the servo object
RightServo.attach(10); // attaches the servo on pin 10 to the servo object
}
void loop()
{
// FAST FORWARD
LeftServo.write(90 + FAST); // value 90 is in middle, i.e. stop
RightServo.write(90 - FAST); // mirrored position
delay(1500); // go fast forward for 1,5 s
// SLOW FORWARD
LeftServo.write(90 + SLOW); // test varying speed of movement
RightServo.write(90 - SLOW);
delay(1500);
LeftServo.write(90 - FAST); // FAST BACKWARD
RightServo.write(90 + FAST);
delay(1500);
LeftServo.write(90 + FAST); // ROTATE (PIVOT) RIGHT
RightServo.write(90 + FAST);
delay(1500);
LeftServo.write(90 - FAST); // ROTATE (PIVOT) LEFT
RightServo.write(90 - FAST);
delay(1500);
LeftServo.write(90); // STOP both motors
RightServo.write(90);
for(;;); // stop the program operation here
} /* End of Loop */
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