這是給Pizg Chen與Bridan Wang(http://4rdp.blogspot.tw/2015/12/rosa-18-p-6-x-2-spider.html)六足機器人做出一個動作的簡單程式，六隻腳12個馬達，分別接到servoPin[]指定的12的pin，spiderMove[]共有8個動作，每個動作有13個參數，第一個是該動作的執行時間，後面接著12個馬達的角度。loop()不斷地送出每個馬達的角度，然後休息指定的動作時間，程式非常簡單。
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#include <Servo.h>
Servo servo[12]; int servoPin[12]={2,3,4,5,6,7,8,9,A0,A1,A2,A3};
#define Steps 8 int spiderMove[] = { 200, 150, 90, 60, 90, 90, 90, 150, 90, 60, 90, 90, 90, //put leg set 2 200, 150, 90, 60, 45, 90, 90, 150, 135, 60, 90, 90, 135, //lift leg set 1 200, 90, 90, 60, 45, 30, 90, 150, 130, 120, 90, 90, 135, //backward leg set 2 200, 90, 90, 120, 45, 30, 90, 90, 130, 120, 90, 30, 135, //forward leg set 1 200, 90, 90, 120, 90, 30, 90, 90, 90, 120, 90, 30, 90, //21 put leg set 1 200, 90, 45, 120, 90, 30, 45, 90, 90, 120, 135, 30, 90, //lift leg set 2 200, 90, 45, 60, 90, 30, 45, 150, 90, 120, 135, 90, 90, //backward leg set 1 200, 150, 45, 60, 90, 90, 45, 150, 90, 60, 135, 90, 90, //forward leg set 2 //repeat put leg set 2 };
void setup() { Serial.begin(9600); servoInit(); }
void loop() { for (int cmd=0; cmd<Steps; cmd++) { Serial.print("Command"); Serial.print(cmd); Serial.print(":"); for (int i=0; i<12; i++) { servo[i].write(spiderMove[cmd*13+i+1]); Serial.print(spiderMove[cmd*13+i+1]); Serial.print(" "); } delay(spiderMove[cmd*13]); Serial.println(spiderMove[cmd*13]); } }
void servoInit() { // 指定各個馬達使用腳位 for (int i=0; i<12; i++) { servo[i].attach(servoPin[i]); } } |
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