机械臂控制代码.docx

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1、##include#include#include#include"Wire.h"#include"WiiChuck.h"Servoservo1;  //createservoobjecttocontrolaservoServoservo2;Servoservo3;Servoservo4;          //amaximumofeightservoobjectscanbecreatedServoservo5;Servoservo6;WiiChu

2、ckwii=WiiChuck();intpos1,pos2,pos3,pos4,pos5,pos6,x,y,z,c;  //variabletostoretheservopositionvoidsetup(){  //attachestheservoonpin9totheservoobjectservo1.attach(8);  servo2.attach(9);  servo3.attach(10);  servo4.attach(11);  servo5.attach(12);  servo6.a

3、ttach(13);  pos1=60;  pos2=50;  pos3=100;  pos4=100;  pos5=90;  pos6=90;servo1.write(pos1);  servo2.write(pos2);  servo3.write(pos3);  servo4.write(pos4);  servo5.write(pos5);  servo6.write(pos6);  wii.initWithPower();  }voidloop(){  if(true==wii.read()

4、)  {    //读取手柄值    x=wii.getJoyAxisX();    y=wii.getJoyAxisY();    c=wii.getButtonC();    z=wii.getButtonZ();}  if(x==255  &&y>120&&y<140  &&c==0&&z==1)//一号舵机  {pos1=pos1+10;  servo1.write(pos1);  delay(40);    if(pos1>160)  {    pos1=160;    servo1.wri

5、te(pos1);  }        }  elseif(x==255&&y>120&&y<140&&z==0&&c==1)  {pos1=pos1-10;    servo1.write(pos1);  delay(40);  if(pos1<20)  {    pos1=20;    servo1.write(pos1);  }  }  elseif(x>220  &&y==0  &&c==0&&z==1)//2号舵机  {      pos2=pos2+10;    servo2.write(

6、pos2);  delay(40);    if(pos2>160)  {    pos2=160;    servo2.write(pos2);  }      }  elseif(x>220&&y==0  &&z==0&&c==1)  {      pos2=pos2-10;      servo2.write(pos2);    delay(40);    if(pos2<90)    {      pos2=90;      servo2.write(pos2);    }  }    els

7、eif(x>110  &&x<140  &&y==0  &&c==0&&z==1)//3号舵机  {      pos3=pos3+10;    servo3.write(pos3);  delay(40);    if(pos3>160)  {    pos3=160;    servo3.write(pos3);  }      }  elseif(x>110  &&x<140  &&y==0  &&z==0&&c==1)  {      pos3=pos3-10;      servo3.wri

8、te(pos3);    delay(40);    if(pos3<20)    {      pos3=20;      servo3.write(pos3);    }  }    elseif(x==0  &&y==0  &&c==0&&z==1)//4号舵机  {      pos4=pos4+10;    servo4.write(pos4);  delay(40);      if(pos4>160)  {    pos4=160;