（7）STM32开发例程 舵机和多路舵机驱动板

 

 

 

 1 直接驱动

180度塑料蓝色舵机

pb11不能用

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#include <Servo.h>    Servo myservo;  // 定义Servo对象来控制      void setup() {   myservo.attach(PA7);  // 控制线连接数字9 }    void loop() {     myservo.write(90);      delay(3000);      myservo.write(0);   delay(3000);   }

　　

2间接驱动、

 

 

2-1接线

B6 是 SCL，B7 是 SDA。

 

2-2 装库 

Adafruit_PWMServoDriver

 2-3 测试代码

1 自动扫描转动

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/***************************************************   This is an example for our Adafruit 16-channel PWM & Servo driver   Servo test - this will drive 8 servos, one after the other on the   first 8 pins of the PCA9685      Pick one up today in the adafruit shop!   ------> http://www.adafruit.com/products/815        These drivers use I2C to communicate, 2 pins are required to   interface.      Adafruit invests time and resources providing this open source code,   please support Adafruit and open-source hardware by purchasing   products from Adafruit!      Written by Limor Fried/Ladyada for Adafruit Industries.   BSD license, all text above must be included in any redistribution  ****************************************************/    #include <Wire.h> #include <Adafruit_PWMServoDriver.h>    // called this way, it uses the default address 0x40 Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver(); // you can also call it with a different address you want //Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver(0x41); // you can also call it with a different address and I2C interface //Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver(0x40, Wire);    //根据您的伺服品牌，最小和最大脉冲宽度可能会有所不同 调整它 #define SERVOMIN  150 // This is the 'minimum' pulse length count (out of 4096) #define SERVOMAX  600 // This is the 'maximum' pulse length count (out of 4096)    #define SERVO_FREQ 50 // Analog servos run at ~50 Hz updates    // our servo # counter uint8_t servonum = 0;    void setup() {   Serial.begin(9600);   Serial.println("8 channel Servo test!");      pwm.begin(); //理论上内部振荡器是25MHz，但实际上不是 //非常精确。你可以调整这个数字直到 //你得到了你期望的频率！   pwm.setOscillatorFrequency(27000000);  // The int.osc. is closer to 27MHz   pwm.setPWMFreq(SERVO_FREQ);  // Analog servos run at ~50 Hz updates      delay(10); }    void loop() {      Serial.println(servonum);   for (uint16_t pulselen = SERVOMIN; pulselen < SERVOMAX; pulselen++) {     pwm.setPWM(servonum, 0, pulselen);   }      delay(500);   for (uint16_t pulselen = SERVOMAX; pulselen > SERVOMIN; pulselen--) {     pwm.setPWM(servonum, 0, pulselen);   }      delay(500);      servonum++;   if (servonum > 3) servonum = 0; // Testing the first 8 servo channels }

　　

 

2 串口接收测试

 

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//--------------------舵机初始化开始-----------------        #include <Wire.h> #include <Adafruit_PWMServoDriver.h>     // called this way, it uses the default address 0x40 Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();    //根据您的伺服品牌，最小和最大脉冲宽度可能会有所不同 调整它    //底部舵机-0号口-水平旋转 #define SERVOMIN1  150 //150 // 对应0度 #define SERVOMAX1  600 //150  // 对应180度    //底部舵机-1号口-俯仰旋转 #define SERVOMIN2  150//150 // 对应0度 #define SERVOMAX2  600//600 // 对应180度          #define SERVO_FREQ 50 // Analog servos run at ~50 Hz updates     int curent_d1=90; int curent_d2=90;    void servo_int()  {    pwm.begin();   //理论上内部振荡器是25MHz，但实际上不是非常精确。你可以调整这个数字直到   //你得到了你期望的频率！   pwm.setOscillatorFrequency(27000000);  // The int.osc. is closer to 27MHz   pwm.setPWMFreq(SERVO_FREQ);  // Analog servos run at ~50 Hz updates         pwm.setPWM(0, 0, int((SERVOMAX1+SERVOMIN1)/2));// 初始化90度   delay(50);   pwm.setPWM(1, 0, int((SERVOMAX2+SERVOMIN2)/2));//初始化90度   delay(50);                 }    //控制引脚号servonum的舵机 // 0-180   dushu/180*(SERVOMAX-SERVOMIN) //pwm.setPWM(servonum, 0, pulselen);    //--------------------舵机初始化结束-----------------    String comdata = "";     /* 分割字符串-获取数据类型+数据 数据格式：  名字-数据（混合数据）;(分号结尾) 普通灯 开 NomLED-on;  关 NomLED-off; 1个舵机   开 DuoJi-90;（数据范围0-180） 控制个舵机 模式1 直接过去 开 DuoJiMore-90-90;（数据范围0-180） 模式2 每一度循环过去 DuoJifor-90-90;    */    int speeed=20; void Fenge(String str){        int index = str.indexOf('-');    String sensor_class=str.substring(0, index);    Serial.println(sensor_class);    String sensor_data=str.substring(index + 1, str.length());    Serial.println(sensor_data);       // DuoJiMore-90-90-  DuoJiMore-0-0-  if(sensor_class=="DuoJiMore"){                if (sensor_data){              int nindex = sensor_data.indexOf('-');          String data1=sensor_data.substring(0, nindex);          sensor_data=sensor_data.substring(nindex + 1, sensor_data.length());              nindex = sensor_data.indexOf('-');          String data2=sensor_data.substring(0, nindex);              //String data3=sensor_data.substring(nindex + 1, sensor_data.length());              //Serial.println(data1.toInt());          //Serial.println(data2.toInt());          //Serial.println(data3.toInt());                      int s1=int(float(data1.toInt())/180.0*float(SERVOMAX1-SERVOMIN1))+SERVOMIN1;          int s2=int(float(data2.toInt())/180.0*float(SERVOMAX2-SERVOMIN2))+SERVOMIN2;          //int s3=int(data3.toInt()/180*(SERVOMAX-SERVOMIN));                      Serial.println(s1);          Serial.println(s2);                      pwm.setPWM(0, 0, s1);          delay(50);          pwm.setPWM(1, 0, s2);          delay(50);                                }     }      }     void setup() {     Serial.begin(9600);     while(Serial.read()>= 0){} //clear serialbuffer          servo_int();//舵级初始化       }     void loop() {              if(Serial.available()>0){       //delay(1);              comdata = Serial.readStringUntil(';');       //Serial.println(comdata);       Fenge(comdata);     }            comdata = "";        }

　　

3 双舵机 液晶屏 称重机

 

 

 

 

 

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//--------------------舵机初始化开始----------------- #include <Wire.h>     #include <Arduino.h> #include <U8g2lib.h>             U8G2_SSD1306_128X64_NONAME_F_SW_I2C u8g2(U8G2_R0, /* clock=*/ PB8, /* data=*/ PB9, /* reset=*/ U8X8_PIN_NONE);    int i=0;   void u8g2_sendStrint(int x,int y,String &msg){          int c_length=msg.length();             if(c_length==0)c_length=20;     char send_char[c_length];            //char send_char[20]="0";     strcpy(send_char, msg.c_str());            u8g2.drawStr(x,y,send_char);  // 绘制字符串             }     // 重力 #include "HX711.h"       // HX711 circuit wiring const int LOADCELL_DOUT_PIN = PB1; const int LOADCELL_SCK_PIN = PB10;       HX711 scale;         #include <Adafruit_PWMServoDriver.h>      // called this way, it uses the default address 0x40 Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();     //根据您的伺服品牌，最小和最大脉冲宽度可能会有所不同 调整它     //底部舵机-0号口-水平旋转 #define SERVOMIN1  100 //150 // 对应0度 #define SERVOMAX1  500 //150  // 对应180度     //底部舵机-1号口-俯仰旋转 #define SERVOMIN2  150//150 // 对应0度 #define SERVOMAX2  600//600 // 对应180度             #define SERVO_FREQ 50 // Analog servos run at ~50 Hz updates      int curent_d1=90; int curent_d2=90;     void servo_int()  {    pwm.begin();   //理论上内部振荡器是25MHz，但实际上不是非常精确。你可以调整这个数字直到   //你得到了你期望的频率！   pwm.setOscillatorFrequency(27000000);  // The int.osc. is closer to 27MHz   pwm.setPWMFreq(SERVO_FREQ);  // Analog servos run at ~50 Hz updates          pwm.setPWM(0, 0, int((SERVOMAX1+SERVOMIN1)/2));// 初始化90度   delay(50);   pwm.setPWM(1, 0, int((SERVOMAX2+SERVOMIN2)/2));//初始化90度   delay(50);                   }     //控制引脚号servonum的舵机 // 0-180   dushu/180*(SERVOMAX-SERVOMIN) //pwm.setPWM(servonum, 0, pulselen);     //--------------------舵机初始化结束-----------------     String comdata = "";            int speeed=20; void Fenge(String str){         int index = str.indexOf('-');    String sensor_class=str.substring(0, index);   // Serial.println(sensor_class);    String sensor_data=str.substring(index + 1, str.length());   // Serial.println(sensor_data);        // Fenge DuoJiMore-90-90-;  DuoJiMore-0-0-;  if(sensor_class=="DuoJiMore"){                 if (sensor_data){               int nindex = sensor_data.indexOf('-');          String data1=sensor_data.substring(0, nindex);          sensor_data=sensor_data.substring(nindex + 1, sensor_data.length());               nindex = sensor_data.indexOf('-');          String data2=sensor_data.substring(0, nindex);               //String data3=sensor_data.substring(nindex + 1, sensor_data.length());               //Serial.println(data1.toInt());          //Serial.println(data2.toInt());          //Serial.println(data3.toInt());                       int s1=int(float(data1.toInt())/180.0*float(SERVOMAX1-SERVOMIN1))+SERVOMIN1;          int s2=int(float(data2.toInt())/180.0*float(SERVOMAX2-SERVOMIN2))+SERVOMIN2;          //int s3=int(data3.toInt()/180*(SERVOMAX-SERVOMIN));                       //Serial.println(s1);         // Serial.println(s2);                       pwm.setPWM(0, 0, s1);          delay(50);          pwm.setPWM(1, 0, s2);          delay(50);                                   }     }       }               String msg="11";     void setup() {     Serial.begin(9600);     while(Serial.read()>= 0){} //clear serialbuffer           servo_int();//舵级初始化       u8g2.begin();// 屏幕初始化            scale.begin(LOADCELL_DOUT_PIN, LOADCELL_SCK_PIN);     scale.set_scale(2280.f);                      // this value is obtained by calibrating the scale with known weights; see the README for details     scale.tare();                     // reset the scale to 0 }     int weight=0; String weight_s="000"; String class_="000";   int dgree_zuoyou=0; String dgree_zuoyou_="000";   void loop() {                if(Serial.available()>0){       //delay(1);               comdata = Serial.readStringUntil(';');       //Serial.println(comdata);         //comdata="DuoJiMore-"+String(i)+"-"+String(i)+"-;";       Fenge(comdata);                 }     weight=int(scale.get_units(10));      if(weight<2)   {     weight_s=String(weight);     class_="0";     dgree_zuoyou=0;     dgree_zuoyou_=String(dgree_zuoyou);   }   else if(weight<10 && weight>2 ){// 酒精           weight_s=String(weight);     class_="1";     dgree_zuoyou=0;     dgree_zuoyou_=String(dgree_zuoyou);   }   else if(weight<30 && weight>=10)// 可乐   {         class_="2";     weight_s=String(weight);     dgree_zuoyou=90;     dgree_zuoyou_=String(dgree_zuoyou);           }   else if( weight>=30)// 玻璃杯满   {        class_="3";        weight_s=String(weight);        dgree_zuoyou=180;        dgree_zuoyou_=String(dgree_zuoyou);           }                     Serial.print("分类结果:\t");     Serial.print(class_);     Serial.print("\t重量结果:\t");     Serial.print(weight_s);     Serial.print("\t分类角度:\t");     Serial.println(dgree_zuoyou_);                           i=i+1;     msg="time:          "+String(i);     if(i>100)i=0;     u8g2.clearBuffer();          // 清除oled缓存     u8g2.setFont(u8g2_font_ncenB08_tr); // 设置字体           u8g2.drawStr(0,10,"weight: ");  // 绘制字符串     u8g2_sendStrint(60,10,weight_s);  // 绘制字符串         u8g2.drawStr(0,25,"class:");  // 绘制字符串     u8g2_sendStrint(60,25,class_);  // 绘制字符串       u8g2.drawStr(0,35,"dgree:");  // 绘制字符串     u8g2_sendStrint(60,35,dgree_zuoyou_);  // 绘制字符串       u8g2_sendStrint(0,45,msg);  // 绘制字符串           u8g2.sendBuffer();          // 显示           if(weight<2)   {      Serial.println("没有货物，复位，分类舵机0度，倾倒舵机90度");     comdata="DuoJiMore-"+String(0)+"-90-";      Fenge(comdata);     delay(2000);   }   else{            Serial.print("步骤1-分类舵机-分类-旋转到");Serial.println(dgree_zuoyou_);     comdata="DuoJiMore-"+String(dgree_zuoyou)+"-90-";      Fenge(comdata);     delay(2000);        Serial.println("步骤2-倾倒舵机-倾倒-旋转到0度");     comdata="DuoJiMore-"+String(dgree_zuoyou)+"-0-";      Fenge(comdata);     delay(2000);       Serial.println("步骤3-倾倒舵机-回平-旋转到90度");     comdata="DuoJiMore-"+String(dgree_zuoyou)+"-90-";      Fenge(comdata);     delay(2000);      } }