机械臂控制代码##include#include#include#include"Wire.h"#include"WiiChuck.h"Servoservo1;//createservoobjecttocontrolaservoServoservo2;Servoservo3;Servoservo4;//amaximumofeightservoobjectscanbecreatedServoservo5;Servoservo6;WiiChuckwii=WiiChuck();intpos1,pos2,pos3,pos4,pos5,p...
##include#include#include#include"Wire.h"#include"WiiChuck.h"Servoservo1;//createservoobjecttocontrolaservoServoservo2;Servoservo3;Servoservo4;//amaximumofeightservoobjectscanbecreatedServoservo5;Servoservo6;WiiChuckwii=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.attach(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()){//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.write(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(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);}}elseif(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.write(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;servo4.write(pos4);}}elseif(x==0&&y==0&&z==0&&c==1){pos4=pos4-10;servo4.write(pos4);delay(40);if(pos4<20){pos4=20;servo4.write(pos4);}}elseif(x==0&&y==128&&c==0&&z==1)//5号舵机{servo5.write(pos5);pos5=pos5+10;delay(40);if(pos5>170){pos5=160;}}elseif(x==0&&y==128&&z==0&&c==1){servo5.write(pos5);pos5=pos5-10;delay(40);if(pos5<20){pos5=30;}}elseif(x==0&&y>240&&c==0&&z==1)//6号舵机{servo6.write(pos6);pos6=pos6+10;delay(40);if(pos6>120){pos6=119;}}elseif(x==0&&y>240&&z==0&&c==1){servo6.write(pos6);pos6=pos6-10;delay(40);if(pos6<45){pos6=41;}}}
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