【Arduino 动手做】通过蓝牙控制 LittleArm Arduino 机器人

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https://blog.csdn.net/weixin_41659040/category_12422453.html

本教程基于此页面中的资源。
LittleArm 是一种传统上使用运行在 Windows 和 Linux 上的免费台式计算机应用程序进行控制的。但这需要将 LittleArm 连接到计算机进行控制。我们终于完成了 LittleArm 的应用程序，以便您可以通过蓝牙无线控制 Arduino。
该应用程序允许您控制 LittleArm 的所有 DOF，还可以记录命令集并播放它们。Arduino 的代码与这里软件包中的传统代码没有变化。
该项目的 LittleArm 应用程序可以在此处下载。

项目代码

#include  //arduino library#include  //standard c library#define PI 3.141Servo baseServo; Servo shoulderServo; Servo elbowServo; Servo gripperServo;int command;struct jointAngle{ int base; int shoulder; int elbow;};int desiredGrip;int gripperPos;int desiredDelay;int servoSpeed = 15;int ready = 0;struct jointAngle desiredAngle; //desired angles of the servos//+++++++++++++++FUNCTION DECLARATIONS+++++++++++++++++++++++++++int servoParallelControl (int thePos, Servo theServo );//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++void setup(){ Serial.begin(9600); baseServo.attach(9); // attaches the servo on pin 9 to the servo object  shoulderServo.attach(10); elbowServo.attach(11); gripperServo.attach(6); Serial.setTimeout(50); //ensures the the arduino does not read serial for too long Serial.println(\"started\"); baseServo.write(90); //intial positions of servos shoulderServo.write(150); elbowServo.write(110); ready = 0;} //primary arduino loopvoid loop() { if (Serial.available()){ ready = 1; desiredAngle.base = Serial.parseInt(); desiredAngle.shoulder = Serial.parseInt(); desiredAngle.elbow = Serial.parseInt(); desiredGrip = Serial.parseInt(); desiredDelay = Serial.parseInt(); if(Serial.read() == \'\\n\'){  // if the last byte is \'d\' then stop reading and execute command \'d\' stands for \'done\' Serial.flush();  //clear all other commands piled in the buffer //send completion of the command Serial.print(\'d\'); } } int status1 = 0; int status2 = 0; int status3 = 0; int status4 = 0; int done = 0 ; while(done == 0 && ready == 1){ //move the servo to the desired position status1 = servoParallelControl(desiredAngle.base, baseServo, desiredDelay); status2 = servoParallelControl(desiredAngle.shoulder, shoulderServo, desiredDelay); status3 = servoParallelControl(desiredAngle.elbow, elbowServo, desiredDelay); status4 = servoParallelControl(desiredGrip, gripperServo, desiredDelay); if (status1 == 1 & status2 == 1 & status3 == 1 & status4 == 1){ done = 1; } }// end of while }//++++++++++++++++++++++++++++++FUNCTION DEFITNITIONS++++++++++++++++++++++++++++++++++++++++++int servoParallelControl (int thePos, Servo theServo, int theSpeed ){ int startPos = theServo.read(); //read the current pos int newPos = startPos; //int theSpeed = speed; //define where the pos is with respect to the command // if the current position is less that the actual move up if (startPos < (thePos-5)){  newPos = newPos + 1; theServo.write(newPos); delay(theSpeed); return 0;  } else if (newPos > (thePos + 5)){ newPos = newPos - 1; theServo.write(newPos); delay(theSpeed); return 0;  } else { return 1; } }

【Arduino 动手做】通过蓝牙控制 LittleArm Arduino 机器人
项目链接：https://www.hackster.io/slantconcepts/control-arduino-robot-arm-with-android-app-1c0d96
项目作者：Slant Concepts
项目视频 ：https://www.youtube.com/watch?v=K9Bn1SxP-Xs
项目代码：https://www.hackster.io/code_files/87111/download
LittleArm 的应用程序：https://pin-up-casinos2.in/