本帖最后由 康宇哲 于 2017-2-11 21:21 编辑
用了商家提供的time库和ds3231库但编译不通过。我认为time库需要改动一下,本人还不具备修改库的能力,只会调用 - //淘宝『有名称的店铺』更新时间 20141126
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- //↓↓↓↓↓↓↓ 以下参数在调试程序中调节好后复制过来 ↓↓↓↓↓↓↓
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- //1.先调节0、180度的位置。调节到位后,再调节90度位置
- //左右悬臂舵机的 0或180度位置,,数字增加,左侧舵机逆时针调整,右侧舵机顺时针调整
- //【此数值可能需要调节】
- #define SERVOLEFTNULL 2030 //数值减小,顺时针旋转,加大则逆时针旋转
- //【此数值可能需要调节】
- #define SERVORIGHTNULL 1100 //数值减小,顺时针旋转,加大则逆时针旋转
-
- //2.调节到位0、180,再调节下面参数
- //左右悬臂舵机的90度位置,,数字增加,左侧舵机顺时针调整,右侧舵机逆时针调整
- //【此数值可能需要调节】
- #define SERVOFAKTORLEFT 580 //数值加大,顺时针旋转,减小则逆时针旋转
- //【此数值可能需要调节】
- #define SERVOFAKTORRIGHT 610 //数值减小,顺时针旋转,加大则逆时针旋转
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-
- //升举舵机的3个角度
- //【此数值可能需要调节】
- #define LIFT0 1220 //落笔写字 on drawing surface
- #define LIFT1 1320 //写字时抬臂动作 between numbers
- #define LIFT2 1580 //高抬笔架 going towards sweeper
- //【此数值可能需要调节】
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- //
- //以上参数,请运行调试程序 plotclockadj ,调整好位置后,将数据复制过来
- //
-
- //笔擦的坐标位置,如不能对准笔擦可以微调单位毫米
- int rubberx=72,rubbery=42; //【此数值可能需要调节】
-
- //三只舵机的接口号
- #define SERVOPINLIFT 2 //抬臂舵机
- #define SERVOPINLEFT 3 //左臂舵机
- #define SERVOPINRIGHT 4 //右臂舵机
-
- // 速度 数字越小越慢,太快了容易抖 1000~2000
- #define LIFTSPEED 1500
-
- // 悬臂的长度,根据图纸测量,无需改变
- #define L1 35
- #define L2 57.2
- #define L3 14.2
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- // 左右舵机轴心的位置,根据图纸测量,无需改变
- #define O1X 22
- #define O1Y -25
- #define O2X 47
- #define O2Y -25
-
- //需要的库函数
- #include <Servo.h>
- #include <DS3231.h>
- #include <Wire.h>
-
- //时钟模块,如果没有时钟模块,请用另一个程序
- DS3231 Clock;
- bool h12;
- bool PM;
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-
-
- int servoLift = LIFT2;
-
- Servo servo1; //
- Servo servo2; //
- Servo servo3; //
-
- volatile double lastX = rubberx;
- volatile double lastY = rubbery;
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- int last_min = 0;
-
- void setup()
- {
- Wire.begin();
- //第一次运行 请设置时间,设置成功后请删除此行代码,或者如下格式注释掉
- Clock.setMinute(59);//设置分钟
- Clock.setHour(11); //设置小时
- //Clock.setMinute(59);
- //Clock.setHour(11);
- //第一次运行 请设置时间,设置成功后请删除此行代码
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- servo1.attach(SERVOPINLIFT); //初始化抬臂舵机 lifting servo
- servo2.attach(SERVOPINLEFT); //初始化左臂舵机 left servo
- servo3.attach(SERVOPINRIGHT); //初始化右臂舵机 right servo
- lift(1); //抬笔
- drawTo(rubberx, rubbery); //停留在笔擦位置
- delay(1000);
-
- }
-
- void loop()
- {
- int minute,hour;
- minute=Clock.getMinute();
- hour=Clock.getHour(h12, PM);//读取时间
-
- int i = 0;
- //下面代码任选一行,进行不同模式的书写
- if (last_min != minute()) //每分钟书写一次时间
- //if (1) //反复不间断的擦写模式
-
- // if (1) //如需修改请复制上面代码
- {
-
- if (!servo1.attached()) servo1.attach(SERVOPINLIFT);
- if (!servo2.attached()) servo2.attach(SERVOPINLEFT);
- if (!servo3.attached()) servo3.attach(SERVOPINRIGHT);
-
- lift(0);
-
-
- 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(rubberx, rubbery);
- lift(1);
- last_min = minute;
-
- servo1.detach();
- servo2.detach();
- servo3.detach();
- }
-
-
- }
-
- // Writing numeral with bx by being the bottom left originpoint. Scale 1 equals a 20 mm high font.
- // The structure follows this principle: move to first startpoint of the numeral, lift down, draw numeral, lift up
- //这里是写字的函数,如果你觉得字写的丑,可以自行修改字体,结果可能是更丑
- //还可以自行增加其他内容,比如字母甚至是汉字
- 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(rubberx, rubbery);
- drawTo(58, 42);
-
- drawTo(58, 45);
- drawTo(2, 45);
- drawTo(2, 41);
- drawTo(58, 41);
- drawTo(60, 37);
-
- drawTo(2, 37);
- drawTo(2, 33);
- drawTo(60, 33);
- drawTo(60, 29);
-
- drawTo(2, 29);
- drawTo(2, 25);
- drawTo(60, 25);
- drawTo(60, 20);
-
- drawTo(2, 20);
- drawTo(60, rubbery);
-
- drawTo(rubberx + 3 , rubbery);
- 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;
-
- }
- }
-
-
- //抬臂函数,不同的摆臂高度
- 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;
- }
- }
-
- //里面似乎有勾股定理?
- 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);
-
- }
-
- //cos?sin?
- 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));
- }
-
- //用各种三角函数把位置坐标换算成舵机的角度,具体咋算的,请参考
- //Plotclock by joo - Thingiverse
- //http://www.thingiverse.com/thing:248009/
- 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掳
- 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));
-
- }
复制代码
想让它一分钟写一次但编译错误
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