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garbage_classification_achen (2).zip 大约有105个文件
  1. garbage_classification_achen/
  2. garbage_classification_achen/.git/
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  5. garbage_classification_achen/.git/description 73B
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  22. garbage_classification_achen/.git/index 1.03KB
  23. garbage_classification_achen/.git/info/
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  30. garbage_classification_achen/.git/objects/
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  87. garbage_classification_achen/.git/objects/fb/405a0aade90c748f6c8e04e78eebcfd35eba38 455B
  88. garbage_classification_achen/.git/objects/info/
  89. garbage_classification_achen/.git/objects/pack/
  90. garbage_classification_achen/.git/refs/
  91. garbage_classification_achen/.git/refs/heads/
  92. garbage_classification_achen/.git/refs/heads/master 41B
  93. garbage_classification_achen/.git/refs/tags/
  94. garbage_classification_achen/action_control.ino 4.12KB
  95. garbage_classification_achen/Arduino_UART_CMDw.ino 19.7KB
  96. garbage_classification_achen/def.h 851B
  97. garbage_classification_achen/garbage_classification_achen.ino 7.69KB
  98. garbage_classification_achen/LobotServoController.cpp 11.2KB
  99. garbage_classification_achen/LobotServoController.h 2.06KB
  100. garbage_classification_achen/PositionXY.ino 376B
  101. garbage_classification_achen/Step.cpp 1.88KB
  102. garbage_classification_achen/Step.h 532B
  103. garbage_classification_achen/UartStep.cpp 3.63KB
  104. garbage_classification_achen/UartStep.h 708B
  105. garbage_classification_achen/Uart_POS_XY.ino 1.16KB

资源介绍:

garbage_classification_achen (2).zip
/****************************************************** * FileName: LobotServoController.cpp ** Company: 乐幻索尔 * Date: 2016/07/02 16:53 * Description: Lobot舵机控制板二次开发库，本文件包含 了此库的具体实现 *****************************************************/ #include "LobotServoController.h" #define GET_LOW_BYTE(A) (uint8_t)((A)) //宏函数 获得A的低八位 #define GET_HIGH_BYTE(A) (uint8_t)((A) >> 8) //宏函数 获得A的高八位 #define BYTE_TO_HW(A, B) ((((uint16_t)(A)) << 8) | (uint8_t)(B)) //宏函数 以A为高八位 B为低八位 合并为16位整形 LobotServoController::LobotServoController() { //初始化运行中动作组号为0xFF，运行次数为0，运行中标识为假，电池电压为0 numOfActinGroupRunning = 0xFF; actionGroupRunTimes = 0; isRunning = false; batteryVoltage = 0; #if defined(__AVR_ATmega32U4__) //for Arduino Leonardo，Micro.... SerialX = &Serial1; #else SerialX = &Serial; #endif } LobotServoController::LobotServoController(HardwareSerial &A) { LobotServoController(); SerialX = &A; } LobotServoController::~LobotServoController() { } /********************************************************************************* * Function: moveServo * Description： 控制单个舵机转动 * Parameters: sevoID:舵机ID，Position:目标位置,Time:转动时间 舵机ID取值:0<=舵机ID<=31,Time取值: Time > 0 * Return: 无返回 * Others: **********************************************************************************/ void LobotServoController::moveServo(uint8_t servoID, uint16_t Position, uint16_t Time) { uint8_t buf[11]; if (servoID > 31 || !(Time > 0)) { //舵机ID不能打于31,可根据对应控制板修改 return; } buf[0] = FRAME_HEADER; //填充帧头 buf[1] = FRAME_HEADER; buf[2] = 8; //数据长度=要控制舵机数*3+5，此处=1*3+5 buf[3] = CMD_SERVO_MOVE; //填充舵机移动指令 buf[4] = 1; //要控制的舵机个数 buf[5] = GET_LOW_BYTE(Time); //填充时间的低八位 buf[6] = GET_HIGH_BYTE(Time); //填充时间的高八位 buf[7] = servoID; //舵机ID buf[8] = GET_LOW_BYTE(Position); //填充目标位置的低八位 buf[9] = GET_HIGH_BYTE(Position); //填充目标位置的高八位 SerialX->write(buf, 10); } /********************************************************************************* * Function: moveServos * Description： 控制多个舵机转动 * Parameters: servos[]:舵机结体数组，Num:舵机个数,Time:转动时间 0 < Num <= 32,Time > 0 * Return: 无返回 * Others: **********************************************************************************/ void LobotServoController::moveServos(LobotServo servos[], uint8_t Num, uint16_t Time) { uint8_t buf[103]; //建立缓存 if (Num < 1 || Num > 32 || !(Time > 0)) { return; //舵机数不能为零和大与32，时间不能为零 } buf[0] = FRAME_HEADER; //填充帧头 buf[1] = FRAME_HEADER; buf[2] = Num * 3 + 5; //数据长度 = 要控制舵机数*3+5 buf[3] = CMD_SERVO_MOVE; //填充舵机移动指令 buf[4] = Num; //要控制的舵机个数 buf[5] = GET_LOW_BYTE(Time); //取得时间的低八位 buf[6] = GET_HIGH_BYTE(Time); //取得时间的高八位 uint8_t index = 7; for (uint8_t i = 0; i < Num; i++) { //循环填充舵机ID和对应目标位置 buf[index++] = servos[i].ID; //填充舵机ID buf[index++] = GET_LOW_BYTE(servos[i].Position); //填充目标位置低八位 buf[index++] = GET_HIGH_BYTE(servos[i].Position);//填充目标位置高八位 } SerialX->write(buf, buf[2] + 2); //发送帧，长度为数据长度+两个字节的帧头 } /********************************************************************************* * Function: moveServos * Description： 控制多个舵机转动 * Parameters: Num:舵机个数,Time:转动时间,...:舵机ID,转动角，舵机ID,转动角度 如此类推 * Return: 无返回 * Others: **********************************************************************************/ void LobotServoController::moveServos(uint8_t Num, uint16_t Time, ...) { uint8_t buf[128]; va_list arg_ptr = NULL; va_start(arg_ptr, Time); //取得可变参数首地址 if (Num < 1 || Num > 32 || (!(Time > 0)) || arg_ptr == NULL) { return; //舵机数不能为零和大与32，时间不能为零，可变参数不能为空 } buf[0] = FRAME_HEADER; //填充帧头 buf[1] = FRAME_HEADER; buf[2] = Num * 3 + 5; //数据长度 = 要控制舵机数 * 3 + 5 buf[3] = CMD_SERVO_MOVE; //舵机移动指令 buf[4] = Num; //要控制舵机数 buf[5] = GET_LOW_BYTE(Time); //取得时间的低八位 buf[6] = GET_HIGH_BYTE(Time); //取得时间的高八位 uint8_t index = 7; for (uint8_t i = 0; i < Num; i++) { //从可变参数中取得并循环填充舵机ID和对应目标位置 uint16_t tmp = va_arg(arg_ptr, uint16_t); //可参数中取得舵机ID buf[index++] = GET_LOW_BYTE(tmp); //貌似avrgcc中可变参数整形都是十六位 //再取其低八位 uint16_t pos = va_arg(arg_ptr, uint16_t); //可变参数中取得对应目标位置 buf[index++] = GET_LOW_BYTE(pos); //填充目标位置低八位 buf[index++] = GET_HIGH_BYTE(pos); //填充目标位置高八位 } va_end(arg_ptr); //置空arg_ptr SerialX->write(buf, buf[2] + 2); //发送帧 } /********************************************************************************* * Function: runActionGroup * Description： 运行指定动作组 * Parameters: NumOfAction:动作组序号, Times:执行次数 * Return: 无返回 * Others: Times = 0 时无限循环 **********************************************************************************/ void LobotServoController::runActionGroup(uint8_t numOfAction, uint16_t Times) { uint8_t buf[7]; buf[0] = FRAME_HEADER; //填充帧头 buf[1] = FRAME_HEADER; buf[2] = 5; //数据长度，数据帧除帧头部分数据字节数，此命令固定为5 buf[3] = CMD_ACTION_GROUP_RUN; //填充运行动作组命令 buf[4] = numOfAction; //填充要运行的动作组号 buf[5] = GET_LOW_BYTE(Times); //取得要运行次数的低八位 buf[6] = GET_HIGH_BYTE(Times); //取得要运行次数的高八位 SerialX->write(buf, 7); //发送数据帧 } /********************************************************************************* * Function: stopActiongGroup * Description： 停止动作组运行 * Parameters: Speed: 目标速度 * Return: 无返回 * Others: **********************************************************************************/ void LobotServoController::stopActionGroup(void) { uint8_t buf[4]; buf[0] = FRAME_HEADER; //填充帧头 buf[1] = FRAME_HEADER; buf[2] = 2; //数据长度，数据帧除帧头部分数据字节数，此命令固定为2 buf[3] = CMD_ACTION_GROUP_STOP; //填充停止运行动作组命令 SerialX->write(buf, 4); //发送数据帧 } /********************************************************************************* * Function: setActionGroupSpeed * Description： 设定指定动作组的运行速度 * Parameters: NumOfAction: 动作组序号 , Speed:目标速度 * Return: 无返回 * Others: **********************************************************************************/ void LobotServoController::setActionGroupSpeed(uint8_t numOfAction, uint16_t Speed) { uint8_t buf[7]; buf[0] = FRAME_HEADER; //填充帧头 buf[1] = FRAME_HEADER; buf[2] = 5; //数据�
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