plotclock 小贱钟的套件基本完毕
本帖最后由 shihaipeng04 于 2014-6-20 11:26 编辑最新出锅链接淘宝网 http://item.taobao.com/item.htm?id=39370904218
目前套件基本准备完毕了。还有几个小障碍。
1.自己做的一套，始终没有能写出个完整的时间来。可能是因为安装的问题，写出来的字总是歪歪扭扭的。
2.整体结构不是很稳定，因为支撑的部分是T型，当摆臂剧烈摇晃的时候，可能会倒掉。也许是我的笔太重了。
3.虽然做了一个很不错的舵机连接的摆臂，但是发现不同的舵机，主轴直径还不一样。目前已经见到2种舵机了。
4.架子用亚克力胶粘接会更好。但是，这种胶又不太好运输。也许用502可以替代。还没有试验。
5.笔擦找朋友做3d打印去了，还没有出锅。
#define CALIBRATION
#define SERVOFAKTORLEFT 650
#define SERVOFAKTORRIGHT 650
#define SERVOLEFTNULL 2250
#define SERVORIGHTNULL 920
#define SERVOPINLIFT2
#define SERVOPINLEFT3
#define SERVOPINRIGHT 4
#define LIFT0 1080 // on drawing surface
#define LIFT1 925// between numbers
#define LIFT2 725// going towards sweeper
#define LIFTSPEED 1500
#define L1 35
#define L2 55.1
#define L3 13.2
#define O1X 22
#define O1Y -25
#define O2X 47
#define O2Y -25
#include <Time.h>
#include <Servo.h>
#include <Wire.h>
#include <DS3231.h>
int servoLift = 1500;
Servo servo1;//
Servo servo2;//
Servo servo3;//
volatile double lastX = 75;
volatile double lastY = 47.5;
int last_min = 0;
void setup()
{
Serial.begin(9600);
Wire.begin();
drawTo(75.2, 47);
lift(0);
servo1.attach(SERVOPINLIFT);//lifting servo
servo2.attach(SERVOPINLEFT);//left servo
servo3.attach(SERVOPINRIGHT);//right servo
delay(1000);
}
void loop()
{
int i = 0;
if (last_min != minute()) {
if (!servo1.attached()) servo1.attach(SERVOPINLIFT);
if (!servo2.attached()) servo2.attach(SERVOPINLEFT);
if (!servo3.attached()) servo3.attach(SERVOPINRIGHT);
lift(0);
hour();
while ((i+1)*10 <= hour())
{
i++;
}
number(3, 3, 111, 1);
number(5, 25, i, 0.9);
number(19, 25, (hour()-i*10), 0.9);
number(28, 25, 11, 0.9);
i=0;
while ((i+1)*10 <= minute())
{
i++;
}
number(34, 25, i, 0.9);
number(48, 25, (minute()-i*10), 0.9);
lift(2);
drawTo(74.2, 47.5);
lift(1);
last_min = minute();
servo1.detach();
servo2.detach();
servo3.detach();
}
}
void number(float bx, float by, int num, float scale) {
switch (num) {
case 0:
drawTo(bx + 12 * scale, by + 6 * scale);
lift(0);
bogenGZS(bx + 7 * scale, by + 10 * scale, 10 * scale, -0.8, 6.7, 0.5);
lift(1);
break;
case 1:
drawTo(bx + 3 * scale, by + 15 * scale);
lift(0);
drawTo(bx + 10 * scale, by + 20 * scale);
drawTo(bx + 10 * scale, by + 0 * scale);
lift(1);
break;
case 2:
drawTo(bx + 2 * scale, by + 12 * scale);
lift(0);
bogenUZS(bx + 8 * scale, by + 14 * scale, 6 * scale, 3, -0.8, 1);
drawTo(bx + 1 * scale, by + 0 * scale);
drawTo(bx + 12 * scale, by + 0 * scale);
lift(1);
break;
case 3:
drawTo(bx + 2 * scale, by + 17 * scale);
lift(0);
bogenUZS(bx + 5 * scale, by + 15 * scale, 5 * scale, 3, -2, 1);
bogenUZS(bx + 5 * scale, by + 5 * scale, 5 * scale, 1.57, -3, 1);
lift(1);
break;
case 4:
drawTo(bx + 10 * scale, by + 0 * scale);
lift(0);
drawTo(bx + 10 * scale, by + 20 * scale);
drawTo(bx + 2 * scale, by + 6 * scale);
drawTo(bx + 12 * scale, by + 6 * scale);
lift(1);
break;
case 5:
drawTo(bx + 2 * scale, by + 5 * scale);
lift(0);
bogenGZS(bx + 5 * scale, by + 6 * scale, 6 * scale, -2.5, 2, 1);
drawTo(bx + 5 * scale, by + 20 * scale);
drawTo(bx + 12 * scale, by + 20 * scale);
lift(1);
break;
case 6:
drawTo(bx + 2 * scale, by + 10 * scale);
lift(0);
bogenUZS(bx + 7 * scale, by + 6 * scale, 6 * scale, 2, -4.4, 1);
drawTo(bx + 11 * scale, by + 20 * scale);
lift(1);
break;
case 7:
drawTo(bx + 2 * scale, by + 20 * scale);
lift(0);
drawTo(bx + 12 * scale, by + 20 * scale);
drawTo(bx + 2 * scale, by + 0);
lift(1);
break;
case 8:
drawTo(bx + 5 * scale, by + 10 * scale);
lift(0);
bogenUZS(bx + 5 * scale, by + 15 * scale, 5 * scale, 4.7, -1.6, 1);
bogenGZS(bx + 5 * scale, by + 5 * scale, 5 * scale, -4.7, 2, 1);
lift(1);
break;
case 9:
drawTo(bx + 9 * scale, by + 11 * scale);
lift(0);
bogenUZS(bx + 7 * scale, by + 15 * scale, 5 * scale, 4, -0.5, 1);
drawTo(bx + 5 * scale, by + 0);
lift(1);
break;
case 111:
lift(0);
drawTo(70, 46);
drawTo(65, 43);
drawTo(65, 49);
drawTo(5, 49);
drawTo(5, 45);
drawTo(65, 45);
drawTo(65, 40);
drawTo(5, 40);
drawTo(5, 35);
drawTo(65, 35);
drawTo(65, 30);
drawTo(5, 30);
drawTo(5, 25);
drawTo(65, 25);
drawTo(65, 20);
drawTo(5, 20);
drawTo(60, 44);
drawTo(75.2, 47);
lift(2);
break;
case 11:
drawTo(bx + 5 * scale, by + 15 * scale);
lift(0);
bogenGZS(bx + 5 * scale, by + 15 * scale, 0.1 * scale, 1, -1, 1);
lift(1);
drawTo(bx + 5 * scale, by + 5 * scale);
lift(0);
bogenGZS(bx + 5 * scale, by + 5 * scale, 0.1 * scale, 1, -1, 1);
lift(1);
break;
}
}
void lift(char lift) {
switch (lift) {
// room to optimize!
case 0: //850
if (servoLift >= LIFT0) {
while (servoLift >= LIFT0)
{
servoLift--;
servo1.writeMicroseconds(servoLift);
delayMicroseconds(LIFTSPEED);
}
}
else {
while (servoLift <= LIFT0) {
servoLift++;
servo1.writeMicroseconds(servoLift);
delayMicroseconds(LIFTSPEED);
}
}
break;
case 1: //150
if (servoLift >= LIFT1) {
while (servoLift >= LIFT1) {
servoLift--;
servo1.writeMicroseconds(servoLift);
delayMicroseconds(LIFTSPEED);
}
}
else {
while (servoLift <= LIFT1) {
servoLift++;
servo1.writeMicroseconds(servoLift);
delayMicroseconds(LIFTSPEED);
}
}
break;
case 2:
if (servoLift >= LIFT2) {
while (servoLift >= LIFT2) {
servoLift--;
servo1.writeMicroseconds(servoLift);
delayMicroseconds(LIFTSPEED);
}
}
else {
while (servoLift <= LIFT2) {
servoLift++;
servo1.writeMicroseconds(servoLift);
delayMicroseconds(LIFTSPEED);
}
}
break;
}
}
void bogenUZS(float bx, float by, float radius, int start, int ende, float sqee) {
float inkr = -0.05;
float count = 0;
do {
drawTo(sqee * radius * cos(start + count) + bx,
radius * sin(start + count) + by);
count += inkr;
}
while ((start + count) > ende);
}
void bogenGZS(float bx, float by, float radius, int start, int ende, float sqee) {
float inkr = 0.05;
float count = 0;
do {
drawTo(sqee * radius * cos(start + count) + bx,
radius * sin(start + count) + by);
count += inkr;
}
while ((start + count) <= ende);
}
void drawTo(double pX, double pY) {
double dx, dy, c;
int i;
// dx dy of new point
dx = pX - lastX;
dy = pY - lastY;
//path lenght in mm, times 4 equals 4 steps per mm
c = floor(4 * sqrt(dx * dx + dy * dy));
if (c < 1) c = 1;
for (i = 0; i <= c; i++) {
// draw line point by point
set_XY(lastX + (i * dx / c), lastY + (i * dy / c));
}
lastX = pX;
lastY = pY;
}
double return_angle(double a, double b, double c) {
// cosine rule for angle between c and a
return acos((a * a + c * c - b * b) / (2 * a * c));
}
void set_XY(double Tx, double Ty)
{
delay(1);
double dx, dy, c, a1, a2, Hx, Hy;
// calculate triangle between pen, servoLeft and arm joint
// cartesian dx/dy
dx = Tx - O1X;
dy = Ty - O1Y;
// polar lemgth (c) and angle (a1)
c = sqrt(dx * dx + dy * dy); //
a1 = atan2(dy, dx); //
a2 = return_angle(L1, L2, c);
servo2.writeMicroseconds(floor(((a2 + a1 - M_PI) * SERVOFAKTORLEFT) + SERVOLEFTNULL));
// calculate joinr arm point for triangle of the right servo arm
a2 = return_angle(L2, L1, c);
Hx = Tx + L3 * cos((a1 - a2 + 0.621) + M_PI); //36,5°
Hy = Ty + L3 * sin((a1 - a2 + 0.621) + M_PI);
// calculate triangle between pen joint, servoRight and arm joint
dx = Hx - O2X;
dy = Hy - O2Y;
c = sqrt(dx * dx + dy * dy);
a1 = atan2(dy, dx);
a2 = return_angle(L1, (L2 - L3), c);
servo3.writeMicroseconds(floor(((a1 - a2) * SERVOFAKTORRIGHT) + SERVORIGHTNULL));
}
程序粘贴如上，希望有高人能对代码加以完善。
时钟模块，我用的是DS3231，如果是其他的时钟模块，修改一下.h文件就可以了，读取时间的代码没什么变化。
L1 L2 L3 是按照图纸的尺寸量的。不需要修改。
面板的左下角是坐标0,0，笔擦的位置是 75.2,47 单位是毫米,（因为摆臂的安装位置，可能需要再调节一下）
drawto函数是从当前笔位置，移动到相应的坐标。
程序很简单，调试很麻烦。
基础版本一套20￥，大家一起happy一下，目前在制作高阶版本，预计6.1上市。
老兄真勤力, 遲下我又印個玩下先.你係做呢個 (http://www.thingiverse.com/thing:248009) 版本?
Super169 发表于 2014-5-28 23:20 static/image/common/back.gif
老兄真勤力, 遲下我又印個玩下先.你係做呢個 (http://www.thingiverse.com/thing:248009) 版本?
呵呵，就是这个版本的。不过我怀疑，他发出的程序，和他拍照的不是一个代码，因为下载的代码，写出的字比照片里的大很多。
主体的结构我也改了一些，悬臂和舵机的链接改的很完美。 呵呵 让这个钟写数码字，不知效果会不会好点。 请问套件购买传送门？ 楼主 素描纸上的图片是用什么软件画的 加以那方面的完善呢？
这个很好玩啊
求LZ的淘宝网址啊！ 用的什么舵机？ Tonycxc122 发表于 2014-5-31 17:01 static/image/common/back.gif
用的什么舵机？
就是普通的9克舵机 你好问一下 bogenUZS函数中。start，sqee，ende代表什么啊 那一小撮人 发表于 2014-7-25 20:10 static/image/common/back.gif
你好问一下 bogenUZS函数中。start，sqee，ende代表什么啊
你研究的还真细致，我粗略看了看，好像是画了一个弧线，那些参数好像是角度和位置什么的。 shihaipeng04 发表于 2014-7-25 21:41 static/image/common/back.gif
你研究的还真细致，我粗略看了看，好像是画了一个弧线，那些参数好像是角度和位置什么的。
我这个明白了，UZS表示顺时针画，GZS、逆时针画 楼主知道怎么可以让字写得好看些嘛
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