1、机械臂控制代码精编 Document number：WTT-LKK-GBB-08921-EIGG-22986机械臂控制代码精编#include #include #include #include #include Servo servo1;/ create servo object to control a servo Servo servo2;Servo servo3;Servo servo4; / a maximum of eight servo objects can be created Servo servo5;Servo servo6; WiiChuck wii = WiiChu
2、ck();int pos1,pos2,pos3,pos4,pos5,pos6,x,y,z,c; / variable to store the servo position void setup() / attaches the servo on pin 9 to the servo object (8);(9);(10);(11);(12);(13); pos1 = 60; pos2 = 50; pos3 = 100; pos4 =100; pos5 = 90; pos6 = 90;(pos1);(pos2);(pos3);(pos4);(pos5);(pos6); (); void loo
3、p() if(true = () ) /读取手柄值 x=(); y=(); c=(); z=(); if(x=255& y120 & y160) pos1=160; (pos1); else if(x=255 & y120 & y140 & z=0 & c=1 ) pos1 = pos1-10; (pos1); delay(40); if(pos1220& y=0& c = 0 & z=1) /2号舵机 pos2 = pos2+10; (pos2); delay (40); if(pos2160) pos2=160; (pos2); else if(x220 & y=0& z=0 & c=1
4、) pos2 = pos2-10; (pos2); delay(40); if(pos2110& x160) pos3=160; (pos3); else if(x110& x140& y=0& z=0 & c=1 ) pos3 = pos3-10; (pos3); delay(40); if(pos3160) pos4=160; (pos4); else if(x=0 & y=0& z=0 & c=1 ) pos4 = pos4-10; (pos4); delay(40); if(pos4170) pos5=160; else if(x=0 & y=128& z=0 & c=1 ) (pos5); pos5 = pos5-10; delay(40); if(pos5240& c = 0 & z=1) /6号舵机 (pos6); pos6 = pos6+10; delay (40); if(pos6120) pos6=119; else if(x=0 & y240& z=0 & c=1 ) (pos6); pos6 = pos6-10; delay(40); if(pos645) pos6=41;
