機器人制作開源方案 | 蓮花燈

版權(quán)說明：Copyright 2023 Robottime(Beijing) Technology Co., Ltd. All Rights Reserved.

Distributed under MIT license.See file LICENSE for detail or copy at

https://opensource.org/licenses/MIT

by 機器譜 2023-10-25 https://www.robotway.com/

------------------------------*/

/*

* Light測試例程

* 2018/04/17

* ————————————

* 接線：

*? ? 燈帶：9、10

*? ? 舵機：4

*? ? 藍牙：Bigfish擴展塢

*? ? 光強：A0

* ————————————

* 功能：

*? ? 控制模式：藍牙控制燈葉開合

*? ? 自主模式：光強傳感器控制燈葉開合

*

*? ? 燈葉打開，燈亮；燈葉閉合，燈滅

*/

#include <ServoTimer2.h>

#include "light.h"

ServoTimer2 myServo;

int servo_port = 4;? ? ? ?//定義舵機引腳

int sensor_port = A0;? ? ?//定義光強傳感器引腳

int servo_value = 1550;? ?//定義舵機初始值 PWM

/*

int open_angle = 1150;? ? //燈葉打開時舵機的值

int close_angle = 1550;? ?//燈葉閉合時舵機的值

*/

void setup() {

Serial.begin(9600);

PortInit();

myServo.write(servo_value);

delay(1000);

}

void loop() {

/*Bluetooth Mode*/

if(SerialRead() == '1'){

Serial.println("Bluetooth Mode");

while(true){

switch(SerialRead()){

case '2':

Serial.println("OPEN");

ServoGo(1150); ? //OPEN

break;

case '3':

Serial.println("CLOSE");

ServoGo(1550); ? //CLOSE

break;

default:break;

}

if(SerialRead() == '4') {

Serial.println("Auto Mode");

break;

}

}

}

/* Auto Mode*/

AutoMode();

}

/*端口初始化*/

void PortInit(){

pinMode(sensor_port, INPUT);

pinMode(servo_port, OUTPUT);

pinMode(9, OUTPUT);

pinMode(10, OUTPUT);

digitalWrite(9, LOW);

digitalWrite(10, LOW);

myServo.attach(servo_port);

}

/*串口控制*/

char SerialRead(){

char c;

while(Serial.available()) {

c = Serial.read();

}

return c;

}

/*自主模式*/

void AutoMode(){

if(digitalRead(sensor_port)){? ?//亮光下，光強返回值1，燈葉閉合，燈光關(guān)閉

ServoGo(1550);

}

if(!digitalRead(sensor_port)){ ? //黑暗中，光強返回0，燈葉打開，燈光開啟

ServoGo(1150);

}

}

/*舵機控制*/

void ServoGo(int where){? ?//舵機控制函數(shù)，參數(shù)：目標(biāo)角度

int delta = where - servo_value;? ? //delta < 0: OPEN ; delta > 0: CLOSE

if(delta == 0) return;

float light_value = delta < 0 ? 0 : 255;

int diff = delta < 0 ? -1 : 1;

for(int i=0;i<abs(delta);i++){

servo_value += diff;

if(delta < 0){

light_value += 0.65; ? //0.65 (255 / delta);

if(light_value > 255) light_value = 255;

}else if(delta > 0){

light_value -= 0.65;

if(light_value < 0) light_value = 0;

}

LightState(&light_value);

myServo.write(servo_value);

delay(10);

}

}

/*燈光控制*/

void LightState(float * value){

analogWrite(9, *value);

analogWrite(10, 0);

}