[CODE MẪU] CÁNH TAY ROBOT ĐIỀU KHIỂN BẰNG MÁY TÍNH
Nào chúng ta cùng lao vào một thử thách cùng robot cho mọi người nhé. Đây là thử thách điều khiển cánh tay robot bằng máy tính.
Học lập trình ở đâu
Đây là topic cho thử thách của chương trình
Và dưới này thì có code mẫu nhé
Code nạp vào Arduino trên tay robot
#include <Servo.h>
Servo khop1; //0-180
Servo khop2; //0-80-150
Servo khop3; //0-100
Servo khop4; //0-100
int bluetoothByte = 0;
void setup()
{
Serial.begin (9600);
khop1.attach(2);//0-180
khop2.attach(3);//0-80-150
khop3.attach(4);//0-100
khop4.attach(5);//0-100
}
void loop()
{
bluetoothRobotArm();
}
void bluetoothRobotArm()
{
if (Serial.available() > 0)
bluetoothByte = Serial.read();
switch (bluetoothByte)
{
case '0':
stopArm();
break;
case '1':
vuonRa1Buoc();
break;
case '2':
thuVao1Buoc();
break;
case '3':
quayTrai1Buoc();
break;
case '4':
quayPhai1Buoc();
break;
case '5':
nangLen1Buoc();
break;
case '6':
haXuong1Buoc();
break;
case '7':
kep1Buoc();
break;
case '8':
moRa1Buoc();
break;
}
}
void stopArm()
{
servoPosition(khop1.read(), khop2.read(), khop3.read(), khop4.read());
}
void kep()
{
khop4.write(0);
}
void kep1Buoc()
{
khop4.write(khop4.read() - 1);
delay(50);
}
void moRa()
{
khop4.write(100);
}
void moRa1Buoc()
{
khop4.write(khop4.read() + 1);
delay(50);
}
void moRaTuTu()
{
for (int i = khop4.read(); i <= 130; i++)
{
khop4.write(i);
delay(10);
}
}
void kepTuTu()
{
for (int i = khop4.read(); i >= 0; i--)
{
khop4.write(i);
delay(10);
}
}
void nangLenTuTu()
{
for (int i = khop2.read(); i <= 90; i++)
{
khop2.write(i);
delay(50);
}
}
void nangLen1Buoc()
{
khop2.write(khop2.read() + 1);
delay(50);
}
void haXuongTuTu()
{
for (int i = khop2.read(); i >= 50; i--)
{
khop2.write(i);
delay(50);
}
}
void haXuong1Buoc()
{
khop2.write(khop2.read() - 1);
delay(50);
}
void haXuong()
{
khop2.write(50);
}
void nangLen()
{
khop2.write(90);
}
void vuonRa()
{
khop3.write(0);
}
void vuonRa1Buoc()
{
khop3.write(khop3.read() - 1);
delay(50);
}
void vuonRaTuTu()
{
for (int i = khop3.read(); i >= 0; i--)
{
khop3.write(i);
delay(50);
}
}
void thuVao()
{
khop3.write(100);
}
void thuVao1Buoc()
{
khop3.write(khop3.read() + 1);
delay(50);
}
void thuVaoTuTu()
{
for (int i = khop3.read(); i <= 100; i++)
{
khop3.write(i);
delay(50);
}
}
void quayTrai()
{
khop1.write(180);
}
void quayTrai1Buoc()
{
khop1.write(khop1.read() + 1);
delay(50);
}
void quayPhai()
{
khop1.write(0);
}
void quayPhai1Buoc()
{
khop1.write(khop1.read() - 1);
delay(50);
}
void quayTraiTuTu()
{
for (int i = khop1.read(); i <= 180; i++)
{
khop1.write(i);
delay(50);
}
}
void quayPhaiTuTu()
{
for (int i = khop1.read(); i >= 0; i--)
{
khop1.write(i);
delay(50);
}
}
void readyPosition()
{
khop1.write(90);
khop2.write(100);
khop3.write(80);
khop4.write(100);
}
void testMove()
{
for (int i = 0; i <= 180; i++)
{
khop1.write(i);
delay (20);
}
for (int i = 180; i >= 0; i--)
{
khop1.write(i);
delay (20);
}
readyPosition();
delay(500);
for (int i = 0; i <= 100; i++)
{
khop2.write(i);
delay (20);
}
for (int i = 100; i >= 0; i--)
{
khop2.write(i);
delay (20);
}
readyPosition();
delay(500);
for (int i = 0; i <= 80; i++)
{
khop3.write(i);
delay (20);
}
for (int i = 80; i >= 0; i--)
{
khop3.write(i);
delay (20);
}
readyPosition();
delay(500);
for (int i = 0; i <= 100; i++)
{
khop4.write(i);
delay (20);
}
for (int i = 100; i >= 0; i--)
{
khop4.write(i);
delay (20);
}
}
void servoPosition (byte servo1, byte servo2, byte servo3, byte servo4)
{
khop1.write(servo1);
khop2.write(servo2);
khop3.write(servo3);
khop4.write(servo4);
}
void turnAround ()
{
for (int i = 0; i <= 180; i++)
{
khop1.write(i);
delay (20);
}
for (int i = 180; i >= 0; i--)
{
khop1.write(i);
delay (20);
}
}
Code cho visual C# (không phải cứ nạp vào là ăn đâu nhé
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Windows.Forms;
using System.IO.Ports;
namespace RobotBluetooth
{
public partial class Form1 : Form
{
public Form1()
{
InitializeComponent();
getAvailablePort();
}
void getAvailablePort()
{
string[] ports = SerialPort.GetPortNames();
comboBox1.Items.AddRange(ports);
}
private void button1_Click(object sender, EventArgs e)
{
try
{
if (comboBox1.Text == "" || comboBox2.Text == "")// Neu khong co 1 trong 2 thong so Port va baurate
{
textBox1.Text = "Please select port setting";
}
else
{
serialPort1.PortName = comboBox1.Text;
serialPort1.BaudRate = Convert.ToInt32(comboBox2.Text);
serialPort1.Open();
button1.Enabled = false;
button2.Enabled = true;
textBox1.Enabled = true;
button3.Enabled = true;
button4.Enabled = true;
button5.Enabled = true;
button6.Enabled = true;
button7.Enabled = true;
button8.Enabled = true;
button9.Enabled = true;
button10.Enabled = true;
}
}
catch (UnauthorizedAccessException)
{
textBox1.Text = " Unauthorized Acesse ";
}
}
private void button2_Click(object sender, EventArgs e)
{
serialPort1.Close();
button1.Enabled = true;
button2.Enabled = false;
button3.Enabled = false;
button4.Enabled = false;
button5.Enabled = false;
button6.Enabled = false;
textBox1.Enabled = false;
}
private void button3_MouseDown(object sender, MouseEventArgs e)
{
serialPort1.Write("1");
}
private void button3_MouseUp(object sender, MouseEventArgs e)
{
serialPort1.Write("0");
}
private void button4_MouseDown(object sender, MouseEventArgs e)
{
serialPort1.Write("2");
}
private void button4_MouseUp(object sender, MouseEventArgs e)
{
serialPort1.Write("0");
}
private void button5_MouseDown(object sender, MouseEventArgs e)
{
serialPort1.Write("3");
}
private void button5_MouseUp(object sender, MouseEventArgs e)
{
serialPort1.Write("0");
}
private void button6_MouseDown(object sender, MouseEventArgs e)
{
serialPort1.Write("4");
}
private void button6_MouseUp(object sender, MouseEventArgs e)
{
serialPort1.Write("0");
}
private void Form1_Load(object sender, EventArgs e)
{
}
private void button9_MouseDown(object sender, MouseEventArgs e)
{
serialPort1.Write("7");
}
private void button9_MouseUp(object sender, MouseEventArgs e)
{
serialPort1.Write("0");
}
private void button10_MouseDown(object sender, MouseEventArgs e)
{
serialPort1.Write("8");
}
private void button10_MouseUp(object sender, MouseEventArgs e)
{
serialPort1.Write("0");
}
private void button7_MouseDown(object sender, MouseEventArgs e)
{
serialPort1.Write("5");
}
private void button8_MouseDown(object sender, MouseEventArgs e)
{
serialPort1.Write("6");
}
private void button8_MouseUp(object sender, MouseEventArgs e)
{
serialPort1.Write("0");
}
private void button7_MouseUp(object sender, MouseEventArgs e)
{
serialPort1.Write("0");
}
}
}
Và dưới này thì có code mẫu nhé
Code nạp vào Arduino trên tay robot
#include <Servo.h>
Servo khop1; //0-180
Servo khop2; //0-80-150
Servo khop3; //0-100
Servo khop4; //0-100
int bluetoothByte = 0;
void setup()
{
Serial.begin (9600);
khop1.attach(2);//0-180
khop2.attach(3);//0-80-150
khop3.attach(4);//0-100
khop4.attach(5);//0-100
}
void loop()
{
bluetoothRobotArm();
}
void bluetoothRobotArm()
{
if (Serial.available() > 0)
bluetoothByte = Serial.read();
switch (bluetoothByte)
{
case '0':
stopArm();
break;
case '1':
vuonRa1Buoc();
break;
case '2':
thuVao1Buoc();
break;
case '3':
quayTrai1Buoc();
break;
case '4':
quayPhai1Buoc();
break;
case '5':
nangLen1Buoc();
break;
case '6':
haXuong1Buoc();
break;
case '7':
kep1Buoc();
break;
case '8':
moRa1Buoc();
break;
}
}
void stopArm()
{
servoPosition(khop1.read(), khop2.read(), khop3.read(), khop4.read());
}
void kep()
{
khop4.write(0);
}
void kep1Buoc()
{
khop4.write(khop4.read() - 1);
delay(50);
}
void moRa()
{
khop4.write(100);
}
void moRa1Buoc()
{
khop4.write(khop4.read() + 1);
delay(50);
}
void moRaTuTu()
{
for (int i = khop4.read(); i <= 130; i++)
{
khop4.write(i);
delay(10);
}
}
void kepTuTu()
{
for (int i = khop4.read(); i >= 0; i--)
{
khop4.write(i);
delay(10);
}
}
void nangLenTuTu()
{
for (int i = khop2.read(); i <= 90; i++)
{
khop2.write(i);
delay(50);
}
}
void nangLen1Buoc()
{
khop2.write(khop2.read() + 1);
delay(50);
}
void haXuongTuTu()
{
for (int i = khop2.read(); i >= 50; i--)
{
khop2.write(i);
delay(50);
}
}
void haXuong1Buoc()
{
khop2.write(khop2.read() - 1);
delay(50);
}
void haXuong()
{
khop2.write(50);
}
void nangLen()
{
khop2.write(90);
}
void vuonRa()
{
khop3.write(0);
}
void vuonRa1Buoc()
{
khop3.write(khop3.read() - 1);
delay(50);
}
void vuonRaTuTu()
{
for (int i = khop3.read(); i >= 0; i--)
{
khop3.write(i);
delay(50);
}
}
void thuVao()
{
khop3.write(100);
}
void thuVao1Buoc()
{
khop3.write(khop3.read() + 1);
delay(50);
}
void thuVaoTuTu()
{
for (int i = khop3.read(); i <= 100; i++)
{
khop3.write(i);
delay(50);
}
}
void quayTrai()
{
khop1.write(180);
}
void quayTrai1Buoc()
{
khop1.write(khop1.read() + 1);
delay(50);
}
void quayPhai()
{
khop1.write(0);
}
void quayPhai1Buoc()
{
khop1.write(khop1.read() - 1);
delay(50);
}
void quayTraiTuTu()
{
for (int i = khop1.read(); i <= 180; i++)
{
khop1.write(i);
delay(50);
}
}
void quayPhaiTuTu()
{
for (int i = khop1.read(); i >= 0; i--)
{
khop1.write(i);
delay(50);
}
}
void readyPosition()
{
khop1.write(90);
khop2.write(100);
khop3.write(80);
khop4.write(100);
}
void testMove()
{
for (int i = 0; i <= 180; i++)
{
khop1.write(i);
delay (20);
}
for (int i = 180; i >= 0; i--)
{
khop1.write(i);
delay (20);
}
readyPosition();
delay(500);
for (int i = 0; i <= 100; i++)
{
khop2.write(i);
delay (20);
}
for (int i = 100; i >= 0; i--)
{
khop2.write(i);
delay (20);
}
readyPosition();
delay(500);
for (int i = 0; i <= 80; i++)
{
khop3.write(i);
delay (20);
}
for (int i = 80; i >= 0; i--)
{
khop3.write(i);
delay (20);
}
readyPosition();
delay(500);
for (int i = 0; i <= 100; i++)
{
khop4.write(i);
delay (20);
}
for (int i = 100; i >= 0; i--)
{
khop4.write(i);
delay (20);
}
}
void servoPosition (byte servo1, byte servo2, byte servo3, byte servo4)
{
khop1.write(servo1);
khop2.write(servo2);
khop3.write(servo3);
khop4.write(servo4);
}
void turnAround ()
{
for (int i = 0; i <= 180; i++)
{
khop1.write(i);
delay (20);
}
for (int i = 180; i >= 0; i--)
{
khop1.write(i);
delay (20);
}
}
Code cho visual C# (không phải cứ nạp vào là ăn đâu nhé
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Windows.Forms;
using System.IO.Ports;
namespace RobotBluetooth
{
public partial class Form1 : Form
{
public Form1()
{
InitializeComponent();
getAvailablePort();
}
void getAvailablePort()
{
string[] ports = SerialPort.GetPortNames();
comboBox1.Items.AddRange(ports);
}
private void button1_Click(object sender, EventArgs e)
{
try
{
if (comboBox1.Text == "" || comboBox2.Text == "")// Neu khong co 1 trong 2 thong so Port va baurate
{
textBox1.Text = "Please select port setting";
}
else
{
serialPort1.PortName = comboBox1.Text;
serialPort1.BaudRate = Convert.ToInt32(comboBox2.Text);
serialPort1.Open();
button1.Enabled = false;
button2.Enabled = true;
textBox1.Enabled = true;
button3.Enabled = true;
button4.Enabled = true;
button5.Enabled = true;
button6.Enabled = true;
button7.Enabled = true;
button8.Enabled = true;
button9.Enabled = true;
button10.Enabled = true;
}
}
catch (UnauthorizedAccessException)
{
textBox1.Text = " Unauthorized Acesse ";
}
}
private void button2_Click(object sender, EventArgs e)
{
serialPort1.Close();
button1.Enabled = true;
button2.Enabled = false;
button3.Enabled = false;
button4.Enabled = false;
button5.Enabled = false;
button6.Enabled = false;
textBox1.Enabled = false;
}
private void button3_MouseDown(object sender, MouseEventArgs e)
{
serialPort1.Write("1");
}
private void button3_MouseUp(object sender, MouseEventArgs e)
{
serialPort1.Write("0");
}
private void button4_MouseDown(object sender, MouseEventArgs e)
{
serialPort1.Write("2");
}
private void button4_MouseUp(object sender, MouseEventArgs e)
{
serialPort1.Write("0");
}
private void button5_MouseDown(object sender, MouseEventArgs e)
{
serialPort1.Write("3");
}
private void button5_MouseUp(object sender, MouseEventArgs e)
{
serialPort1.Write("0");
}
private void button6_MouseDown(object sender, MouseEventArgs e)
{
serialPort1.Write("4");
}
private void button6_MouseUp(object sender, MouseEventArgs e)
{
serialPort1.Write("0");
}
private void Form1_Load(object sender, EventArgs e)
{
}
private void button9_MouseDown(object sender, MouseEventArgs e)
{
serialPort1.Write("7");
}
private void button9_MouseUp(object sender, MouseEventArgs e)
{
serialPort1.Write("0");
}
private void button10_MouseDown(object sender, MouseEventArgs e)
{
serialPort1.Write("8");
}
private void button10_MouseUp(object sender, MouseEventArgs e)
{
serialPort1.Write("0");
}
private void button7_MouseDown(object sender, MouseEventArgs e)
{
serialPort1.Write("5");
}
private void button8_MouseDown(object sender, MouseEventArgs e)
{
serialPort1.Write("6");
}
private void button8_MouseUp(object sender, MouseEventArgs e)
{
serialPort1.Write("0");
}
private void button7_MouseUp(object sender, MouseEventArgs e)
{
serialPort1.Write("0");
}
}
}
