Plotclock小贱钟的调试方法

shihaipeng04

之前的代码因为误删了一段很重要的内容，所以调试起来非常困难，现在前面的推翻，重头来过。

  


警告：在没有调试完毕之前，请不要安装笔、笔擦和笔擦支架，以免摆臂和以上零件纠缠在一起，可能会损坏支架。

调试程序，运行调试程序，舵机会移动两只悬臂分别停留在一只水平另一只垂直的位置上。如果差距非常大，可拆下悬臂调节，如果比较接近了，就修改程序第3~6行的四个参数 SERVOFAKTORLEFT 左悬臂垂直位置，SERVOFAKTORRIGHT 右悬臂垂直位置，SERVOLEFTNULL 左悬臂180度位置，SERVORIGHTNULL 右悬臂0度位置（右侧为0度，逆时针画圆），参数增加摆臂逆时针转动，一般增幅50，才能看到比较明显的变化。


调节参数，直到摆臂停在下图的标准位置上为止。


LIFT0、1、2参数原理相同调试方法略过

《调试摆臂用代码》

1. //左右悬臂舵机的90度位置
   
2. #define SERVOFAKTORLEFT 550
   
3. #define SERVOFAKTORRIGHT 630  //此参数650是理论中间位置，需要看实际情况调节
   
4. 
   
5. //左右悬臂舵机的 0或180度位置
   
6. #define SERVOLEFTNULL 1750
   
7. #define SERVORIGHTNULL 880
   
8. 
   
9. //三只舵机的接口
   
10. #define SERVOPINLIFT  2
    
11. #define SERVOPINLEFT  3
    
12. #define SERVOPINRIGHT 4
    
13. 
    
14. //升举舵机的3个角度
    
15. #define LIFT0 1080 // on drawing surface
    
16. #define LIFT1 925  // between numbers
    
17. #define LIFT2 725  // going towards sweeper
    
18. 
    
19. // 速度
    
20. #define LIFTSPEED 1500
    
21. 
    
22. // 悬臂的长度，根据图纸测量，无需改变
    
23. #define L1 35
    
24. #define L2 57.2
    
25. #define L3 14.2
    
26. 
    
27. 
    
28. // 左右舵机轴心的位置
    
29. #define O1X 23
    
30. #define O1Y -25
    
31. #define O2X 49
    
32. #define O2Y -25
    
33. 
    
34. 
    
35. 
    
36. #include <Time.h> // see [url=http://playground.arduino.cc/Code/time]http://playground.arduino.cc/Code/time[/url]
    
37. #include <Servo.h>
    
38. 
    
39. int servoLift = 1500;
    
40. 
    
41. Servo servo1;  //
    
42. Servo servo2;  //
    
43. Servo servo3;  //
    
44. 
    
45. volatile double lastX = 75;
    
46. volatile double lastY = 47.5;
    
47. 
    
48. int last_min = 0;
    
49. 
    
50. void setup()
    
51. {
    
52.   // Set current time only the first to values, hh,mm are needed
    
53.   setTime(19,38,0,0,0,0);
    
54. 
    
55.   drawTo(38, 23);
    
56.   lift(0);
    
57.   servo1.attach(SERVOPINLIFT);  //  lifting servo
    
58.   servo2.attach(SERVOPINLEFT);  //  left servo
    
59.   servo3.attach(SERVOPINRIGHT);  //  right servo
    
60.   delay(1000);
    
61. 
    
62. }
    
63. 
    
64. void loop()
    
65. {
    
66. 
    
67. 
    
68. 
    
69.   // 移动左右悬臂，让两只悬臂分别停留在水平和垂直的位置上。 通过修改 SERVOFAKTORLEFT ， SERVOFAKTORRIGHT， SERVOLEFTNULL ， SERVORIGHTNULL 四个参数来微调
    
70.   drawTo(-3, 29.2);
    
71.   delay(500);
    
72.   drawTo(74.1, 28);
    
73.   delay(500);
    
74. 
    
75. 
    
76. 
    
77. }
    
78. 
    
79. // Writing numeral with bx by being the bottom left originpoint. Scale 1 equals a 20 mm high font.
    
80. // The structure follows this principle: move to first startpoint of the numeral, lift down, draw numeral, lift up
    
81. void number(float bx, float by, int num, float scale) {
    
82. 
    
83.   switch (num) {
    
84. 
    
85.   case 0:
    
86.     drawTo(bx + 12 * scale, by + 6 * scale);
    
87.     lift(0);
    
88.     bogenGZS(bx + 7 * scale, by + 10 * scale, 10 * scale, -0.8, 6.7, 0.5);
    
89.     lift(1);
    
90.     break;
    
91.   case 1:
    
92. 
    
93.     drawTo(bx + 3 * scale, by + 15 * scale);
    
94.     lift(0);
    
95.     drawTo(bx + 10 * scale, by + 20 * scale);
    
96.     drawTo(bx + 10 * scale, by + 0 * scale);
    
97.     lift(1);
    
98.     break;
    
99.   case 2:
    
100.     drawTo(bx + 2 * scale, by + 12 * scale);
     
101.     lift(0);
     
102.     bogenUZS(bx + 8 * scale, by + 14 * scale, 6 * scale, 3, -0.8, 1);
     
103.     drawTo(bx + 1 * scale, by + 0 * scale);
     
104.     drawTo(bx + 12 * scale, by + 0 * scale);
     
105.     lift(1);
     
106.     break;
     
107.   case 3:
     
108.     drawTo(bx + 2 * scale, by + 17 * scale);
     
109.     lift(0);
     
110.     bogenUZS(bx + 5 * scale, by + 15 * scale, 5 * scale, 3, -2, 1);
     
111.     bogenUZS(bx + 5 * scale, by + 5 * scale, 5 * scale, 1.57, -3, 1);
     
112.     lift(1);
     
113.     break;
     
114.   case 4:
     
115.     drawTo(bx + 10 * scale, by + 0 * scale);
     
116.     lift(0);
     
117.     drawTo(bx + 10 * scale, by + 20 * scale);
     
118.     drawTo(bx + 2 * scale, by + 6 * scale);
     
119.     drawTo(bx + 12 * scale, by + 6 * scale);
     
120.     lift(1);
     
121.     break;
     
122.   case 5:
     
123.     drawTo(bx + 2 * scale, by + 5 * scale);
     
124.     lift(0);
     
125.     bogenGZS(bx + 5 * scale, by + 6 * scale, 6 * scale, -2.5, 2, 1);
     
126.     drawTo(bx + 5 * scale, by + 20 * scale);
     
127.     drawTo(bx + 12 * scale, by + 20 * scale);
     
128.     lift(1);
     
129.     break;
     
130.   case 6:
     
131.     drawTo(bx + 2 * scale, by + 10 * scale);
     
132.     lift(0);
     
133.     bogenUZS(bx + 7 * scale, by + 6 * scale, 6 * scale, 2, -4.4, 1);
     
134.     drawTo(bx + 11 * scale, by + 20 * scale);
     
135.     lift(1);
     
136.     break;
     
137.   case 7:
     
138.     drawTo(bx + 2 * scale, by + 20 * scale);
     
139.     lift(0);
     
140.     drawTo(bx + 12 * scale, by + 20 * scale);
     
141.     drawTo(bx + 2 * scale, by + 0);
     
142.     lift(1);
     
143.     break;
     
144.   case 8:
     
145.     drawTo(bx + 5 * scale, by + 10 * scale);
     
146.     lift(0);
     
147.     bogenUZS(bx + 5 * scale, by + 15 * scale, 5 * scale, 4.7, -1.6, 1);
     
148.     bogenGZS(bx + 5 * scale, by + 5 * scale, 5 * scale, -4.7, 2, 1);
     
149.     lift(1);
     
150.     break;
     
151. 
     
152.   case 9:
     
153.     drawTo(bx + 9 * scale, by + 11 * scale);
     
154.     lift(0);
     
155.     bogenUZS(bx + 7 * scale, by + 15 * scale, 5 * scale, 4, -0.5, 1);
     
156.     drawTo(bx + 5 * scale, by + 0);
     
157.     lift(1);
     
158.     break;
     
159. 
     
160.   case 111:
     
161. 
     
162.     lift(0);
     
163.     drawTo(70, 46);
     
164.     drawTo(65, 43);
     
165. 
     
166.     drawTo(65, 49);
     
167.     drawTo(5, 49);
     
168.     drawTo(5, 45);
     
169.     drawTo(65, 45);
     
170.     drawTo(65, 40);
     
171. 
     
172.     drawTo(5, 40);
     
173.     drawTo(5, 35);
     
174.     drawTo(65, 35);
     
175.     drawTo(65, 30);
     
176. 
     
177.     drawTo(5, 30);
     
178.     drawTo(5, 25);
     
179.     drawTo(65, 25);
     
180.     drawTo(65, 20);
     
181. 
     
182.     drawTo(5, 20);
     
183.     drawTo(60, 44);
     
184. 
     
185.     drawTo(75.2, 47);
     
186.     lift(2);
     
187. 
     
188.     break;
     
189. 
     
190.   case 11:
     
191.     drawTo(bx + 5 * scale, by + 15 * scale);
     
192.     lift(0);
     
193.     bogenGZS(bx + 5 * scale, by + 15 * scale, 0.1 * scale, 1, -1, 1);
     
194.     lift(1);
     
195.     drawTo(bx + 5 * scale, by + 5 * scale);
     
196.     lift(0);
     
197.     bogenGZS(bx + 5 * scale, by + 5 * scale, 0.1 * scale, 1, -1, 1);
     
198.     lift(1);
     
199.     break;
     
200. 
     
201.   }
     
202. }
     
203. 
     
204. 
     
205. 
     
206. void lift(char lift) {
     
207.   switch (lift) {
     
208.     // room to optimize  !
     
209. 
     
210.   case 0: //850
     
211. 
     
212.       if (servoLift >= LIFT0) {
     
213.       while (servoLift >= LIFT0)
     
214.       {
     
215.         servoLift--;
     
216.         servo1.writeMicroseconds(servoLift);                                
     
217.         delayMicroseconds(LIFTSPEED);
     
218.       }
     
219.     }
     
220.     else {
     
221.       while (servoLift <= LIFT0) {
     
222.         servoLift++;
     
223.         servo1.writeMicroseconds(servoLift);
     
224.         delayMicroseconds(LIFTSPEED);
     
225. 
     
226.       }
     
227. 
     
228.     }
     
229. 
     
230.     break;
     
231. 
     
232.   case 1: //150
     
233. 
     
234.     if (servoLift >= LIFT1) {
     
235.       while (servoLift >= LIFT1) {
     
236.         servoLift--;
     
237.         servo1.writeMicroseconds(servoLift);
     
238.         delayMicroseconds(LIFTSPEED);
     
239. 
     
240.       }
     
241.     }
     
242.     else {
     
243.       while (servoLift <= LIFT1) {
     
244.         servoLift++;
     
245.         servo1.writeMicroseconds(servoLift);
     
246.         delayMicroseconds(LIFTSPEED);
     
247.       }
     
248. 
     
249.     }
     
250. 
     
251.     break;
     
252. 
     
253.   case 2:
     
254. 
     
255.     if (servoLift >= LIFT2) {
     
256.       while (servoLift >= LIFT2) {
     
257.         servoLift--;
     
258.         servo1.writeMicroseconds(servoLift);
     
259.         delayMicroseconds(LIFTSPEED);
     
260.       }
     
261.     }
     
262.     else {
     
263.       while (servoLift <= LIFT2) {
     
264.         servoLift++;
     
265.         servo1.writeMicroseconds(servoLift);                                
     
266.         delayMicroseconds(LIFTSPEED);
     
267.       }
     
268.     }
     
269.     break;
     
270.   }
     
271. }
     
272. 
     
273. 
     
274. void bogenUZS(float bx, float by, float radius, int start, int ende, float sqee) {
     
275.   float inkr = -0.05;
     
276.   float count = 0;
     
277. 
     
278.   do {
     
279.     drawTo(sqee * radius * cos(start + count) + bx,
     
280.     radius * sin(start + count) + by);
     
281.     count += inkr;
     
282.   }
     
283.   while ((start + count) > ende);
     
284. 
     
285. }
     
286. 
     
287. void bogenGZS(float bx, float by, float radius, int start, int ende, float sqee) {
     
288.   float inkr = 0.05;
     
289.   float count = 0;
     
290. 
     
291.   do {
     
292.     drawTo(sqee * radius * cos(start + count) + bx,
     
293.     radius * sin(start + count) + by);
     
294.     count += inkr;
     
295.   }
     
296.   while ((start + count) <= ende);
     
297. }
     
298. 
     
299. 
     
300. void drawTo(double pX, double pY) {
     
301.   double dx, dy, c;
     
302.   int i;
     
303. 
     
304.   // dx dy of new point
     
305.   dx = pX - lastX;
     
306.   dy = pY - lastY;
     
307.   //path lenght in mm, times 4 equals 4 steps per mm
     
308.   c = floor(4 * sqrt(dx * dx + dy * dy));
     
309. 
     
310.   if (c < 1) c = 1;
     
311. 
     
312.   for (i = 0; i <= c; i++) {
     
313.     // draw line point by point
     
314.     set_XY(lastX + (i * dx / c), lastY + (i * dy / c));
     
315. 
     
316.   }
     
317. 
     
318.   lastX = pX;
     
319.   lastY = pY;
     
320. }
     
321. 
     
322. double return_angle(double a, double b, double c) {
     
323.   // cosine rule for angle between c and a
     
324.   return acos((a * a + c * c - b * b) / (2 * a * c));
     
325. }
     
326. 
     
327. void set_XY(double Tx, double Ty)
     
328. {
     
329.   delay(1);
     
330.   double dx, dy, c, a1, a2, Hx, Hy;
     
331. 
     
332.   // calculate triangle between pen, servoLeft and arm joint
     
333.   // cartesian dx/dy
     
334.   dx = Tx - O1X;
     
335.   dy = Ty - O1Y;
     
336. 
     
337.   // polar lemgth (c) and angle (a1)
     
338.   c = sqrt(dx * dx + dy * dy); //
     
339.   a1 = atan2(dy, dx); //
     
340.   a2 = return_angle(L1, L2, c);
     
341. 
     
342.     servo2.writeMicroseconds(floor(((a2 + a1 - M_PI) * SERVOFAKTORLEFT) + SERVOLEFTNULL));
     
343. 
     
344.   // calculate joinr arm point for triangle of the right servo arm
     
345.   a2 = return_angle(L2, L1, c);
     
346.   Hx = Tx + L3 * cos((a1 - a2 + 0.621) + M_PI); //36,5掳
     
347.   Hy = Ty + L3 * sin((a1 - a2 + 0.621) + M_PI);
     
348. 
     
349.   // calculate triangle between pen joint, servoRight and arm joint
     
350.   dx = Hx - O2X;
     
351.   dy = Hy - O2Y;
     
352. 
     
353.   c = sqrt(dx * dx + dy * dy);
     
354.   a1 = atan2(dy, dx);
     
355.   a2 = return_angle(L1, (L2 - L3), c);
     
356. 
     
357.    servo3.writeMicroseconds(floor(((a1 - a2) * SERVOFAKTORRIGHT) + SERVORIGHTNULL));
     
358. 
     
359. }

复制代码

如果调试完毕，就可以安装笔擦等附件，开始耍贱了！

标准程序需要时间模块读取时间，如果没有模块，可以修改函数，返回随机数或者从00:00开始计时等办法。

《Plotclock小贱钟程序》

1. //左右悬臂舵机的90度位置
   
2. #define SERVOFAKTORLEFT 550
   
3. #define SERVOFAKTORRIGHT 630
   
4. 
   
5. //左右悬臂舵机的 0或180度位置
   
6. #define SERVOLEFTNULL 1750
   
7. #define SERVORIGHTNULL 880
   
8. 
   
9. //三只舵机的接口
   
10. #define SERVOPINLIFT  2
    
11. #define SERVOPINLEFT  3
    
12. #define SERVOPINRIGHT 4
    
13. 
    
14. //升举舵机的3个角度
    
15. #define LIFT0 1080 // on drawing surface
    
16. #define LIFT1 925  // between numbers
    
17. #define LIFT2 725  // going towards sweeper
    
18. 
    
19. // 速度
    
20. #define LIFTSPEED 1500
    
21. 
    
22. // 悬臂的长度，根据图纸测量，无需改变
    
23. #define L1 35
    
24. #define L2 57.2
    
25. #define L3 14.2
    
26. 
    
27. 
    
28. // 左右舵机轴心的位置
    
29. #define O1X 23
    
30. #define O1Y -25
    
31. #define O2X 49
    
32. #define O2Y -25
    
33. 
    
34. 
    
35. 
    
36. #include <Time.h> // see [url=http://playground.arduino.cc/Code/time]http://playground.arduino.cc/Code/time[/url]
    
37. #include <Servo.h>
    
38. 
    
39. int servoLift = 1500;
    
40. 
    
41. Servo servo1;  //
    
42. Servo servo2;  //
    
43. Servo servo3;  //
    
44. 
    
45. volatile double lastX = 75;
    
46. volatile double lastY = 47.5;
    
47. 
    
48. int last_min = 0;
    
49. 
    
50. void setup()
    
51. {
    
52.   // Set current time only the first to values, hh,mm are needed
    
53.   setTime(19,38,0,0,0,0);
    
54.   lift(2);
    
55.   drawTo(75.2, 47);
    
56. 
    
57.   servo1.attach(SERVOPINLIFT);  //  lifting servo
    
58.   servo2.attach(SERVOPINLEFT);  //  left servo
    
59.   servo3.attach(SERVOPINRIGHT);  //  right servo
    
60.   delay(1000);
    
61. 
    
62. }
    
63. 
    
64. void loop()
    
65. {
    
66. 
    
67. int i = 0;
    
68.   if (last_min != minute())  //标准程序是每分钟书写一次，如果你着急可以改成       if  (1 ||  last_min != minute())  //这样它就会不停的书写。
    
69.   {
    
70. 
    
71.     if (!servo1.attached()) servo1.attach(SERVOPINLIFT);
    
72.     if (!servo2.attached()) servo2.attach(SERVOPINLEFT);
    
73.     if (!servo3.attached()) servo3.attach(SERVOPINRIGHT);
    
74. 
    
75.     lift(0);
    
76. 
    
77.     hour();
    
78.     while ((i+1)*10 <= hour())
    
79.     {
    
80.       i++;
    
81.     }
    
82. 
    
83.     number(3, 3, 111, 1);
    
84.     number(5, 25, i, 0.9);
    
85.     number(19, 25, (hour()-i*10), 0.9);
    
86.     number(28, 25, 11, 0.9);
    
87. 
    
88.     i=0;
    
89.     while ((i+1)*10 <= minute())
    
90.     {
    
91.       i++;
    
92.     }
    
93.     number(34, 25, i, 0.9);
    
94.     number(48, 25, (minute()-i*10), 0.9);
    
95.     lift(2);
    
96.     drawTo(74.2, 47.5);
    
97.     lift(1);
    
98.     last_min = minute();
    
99. 
    
100.     servo1.detach();
     
101.     servo2.detach();
     
102.     servo3.detach();
     
103.   }
     
104. 
     
105. 
     
106. }
     
107. 
     
108. // Writing numeral with bx by being the bottom left originpoint. Scale 1 equals a 20 mm high font.
     
109. // The structure follows this principle: move to first startpoint of the numeral, lift down, draw numeral, lift up
     
110. void number(float bx, float by, int num, float scale) {
     
111. 
     
112.   switch (num) {
     
113. 
     
114.   case 0:
     
115.     drawTo(bx + 12 * scale, by + 6 * scale);
     
116.     lift(0);
     
117.     bogenGZS(bx + 7 * scale, by + 10 * scale, 10 * scale, -0.8, 6.7, 0.5);
     
118.     lift(1);
     
119.     break;
     
120.   case 1:
     
121. 
     
122.     drawTo(bx + 3 * scale, by + 15 * scale);
     
123.     lift(0);
     
124.     drawTo(bx + 10 * scale, by + 20 * scale);
     
125.     drawTo(bx + 10 * scale, by + 0 * scale);
     
126.     lift(1);
     
127.     break;
     
128.   case 2:
     
129.     drawTo(bx + 2 * scale, by + 12 * scale);
     
130.     lift(0);
     
131.     bogenUZS(bx + 8 * scale, by + 14 * scale, 6 * scale, 3, -0.8, 1);
     
132.     drawTo(bx + 1 * scale, by + 0 * scale);
     
133.     drawTo(bx + 12 * scale, by + 0 * scale);
     
134.     lift(1);
     
135.     break;
     
136.   case 3:
     
137.     drawTo(bx + 2 * scale, by + 17 * scale);
     
138.     lift(0);
     
139.     bogenUZS(bx + 5 * scale, by + 15 * scale, 5 * scale, 3, -2, 1);
     
140.     bogenUZS(bx + 5 * scale, by + 5 * scale, 5 * scale, 1.57, -3, 1);
     
141.     lift(1);
     
142.     break;
     
143.   case 4:
     
144.     drawTo(bx + 10 * scale, by + 0 * scale);
     
145.     lift(0);
     
146.     drawTo(bx + 10 * scale, by + 20 * scale);
     
147.     drawTo(bx + 2 * scale, by + 6 * scale);
     
148.     drawTo(bx + 12 * scale, by + 6 * scale);
     
149.     lift(1);
     
150.     break;
     
151.   case 5:
     
152.     drawTo(bx + 2 * scale, by + 5 * scale);
     
153.     lift(0);
     
154.     bogenGZS(bx + 5 * scale, by + 6 * scale, 6 * scale, -2.5, 2, 1);
     
155.     drawTo(bx + 5 * scale, by + 20 * scale);
     
156.     drawTo(bx + 12 * scale, by + 20 * scale);
     
157.     lift(1);
     
158.     break;
     
159.   case 6:
     
160.     drawTo(bx + 2 * scale, by + 10 * scale);
     
161.     lift(0);
     
162.     bogenUZS(bx + 7 * scale, by + 6 * scale, 6 * scale, 2, -4.4, 1);
     
163.     drawTo(bx + 11 * scale, by + 20 * scale);
     
164.     lift(1);
     
165.     break;
     
166.   case 7:
     
167.     drawTo(bx + 2 * scale, by + 20 * scale);
     
168.     lift(0);
     
169.     drawTo(bx + 12 * scale, by + 20 * scale);
     
170.     drawTo(bx + 2 * scale, by + 0);
     
171.     lift(1);
     
172.     break;
     
173.   case 8:
     
174.     drawTo(bx + 5 * scale, by + 10 * scale);
     
175.     lift(0);
     
176.     bogenUZS(bx + 5 * scale, by + 15 * scale, 5 * scale, 4.7, -1.6, 1);
     
177.     bogenGZS(bx + 5 * scale, by + 5 * scale, 5 * scale, -4.7, 2, 1);
     
178.     lift(1);
     
179.     break;
     
180. 
     
181.   case 9:
     
182.     drawTo(bx + 9 * scale, by + 11 * scale);
     
183.     lift(0);
     
184.     bogenUZS(bx + 7 * scale, by + 15 * scale, 5 * scale, 4, -0.5, 1);
     
185.     drawTo(bx + 5 * scale, by + 0);
     
186.     lift(1);
     
187.     break;
     
188. 
     
189.   case 111:
     
190. 
     
191.     lift(0);
     
192.     drawTo(70, 46);
     
193.     drawTo(65, 43);
     
194. 
     
195.     drawTo(65, 49);
     
196.     drawTo(5, 49);
     
197.     drawTo(5, 45);
     
198.     drawTo(65, 45);
     
199.     drawTo(65, 40);
     
200. 
     
201.     drawTo(5, 40);
     
202.     drawTo(5, 35);
     
203.     drawTo(65, 35);
     
204.     drawTo(65, 30);
     
205. 
     
206.     drawTo(5, 30);
     
207.     drawTo(5, 25);
     
208.     drawTo(65, 25);
     
209.     drawTo(65, 20);
     
210. 
     
211.     drawTo(5, 20);
     
212.     drawTo(60, 44);
     
213. 
     
214.     drawTo(75.2, 47);
     
215.     lift(2);
     
216. 
     
217.     break;
     
218. 
     
219.   case 11:
     
220.     drawTo(bx + 5 * scale, by + 15 * scale);
     
221.     lift(0);
     
222.     bogenGZS(bx + 5 * scale, by + 15 * scale, 0.1 * scale, 1, -1, 1);
     
223.     lift(1);
     
224.     drawTo(bx + 5 * scale, by + 5 * scale);
     
225.     lift(0);
     
226.     bogenGZS(bx + 5 * scale, by + 5 * scale, 0.1 * scale, 1, -1, 1);
     
227.     lift(1);
     
228.     break;
     
229. 
     
230.   }
     
231. }
     
232. 
     
233. 
     
234. 
     
235. void lift(char lift) {
     
236.   switch (lift) {
     
237.     // room to optimize  !
     
238. 
     
239.   case 0: //850
     
240. 
     
241.       if (servoLift >= LIFT0) {
     
242.       while (servoLift >= LIFT0)
     
243.       {
     
244.         servoLift--;
     
245.         servo1.writeMicroseconds(servoLift);                                
     
246.         delayMicroseconds(LIFTSPEED);
     
247.       }
     
248.     }
     
249.     else {
     
250.       while (servoLift <= LIFT0) {
     
251.         servoLift++;
     
252.         servo1.writeMicroseconds(servoLift);
     
253.         delayMicroseconds(LIFTSPEED);
     
254. 
     
255.       }
     
256. 
     
257.     }
     
258. 
     
259.     break;
     
260. 
     
261.   case 1: //150
     
262. 
     
263.     if (servoLift >= LIFT1) {
     
264.       while (servoLift >= LIFT1) {
     
265.         servoLift--;
     
266.         servo1.writeMicroseconds(servoLift);
     
267.         delayMicroseconds(LIFTSPEED);
     
268. 
     
269.       }
     
270.     }
     
271.     else {
     
272.       while (servoLift <= LIFT1) {
     
273.         servoLift++;
     
274.         servo1.writeMicroseconds(servoLift);
     
275.         delayMicroseconds(LIFTSPEED);
     
276.       }
     
277. 
     
278.     }
     
279. 
     
280.     break;
     
281. 
     
282.   case 2:
     
283. 
     
284.     if (servoLift >= LIFT2) {
     
285.       while (servoLift >= LIFT2) {
     
286.         servoLift--;
     
287.         servo1.writeMicroseconds(servoLift);
     
288.         delayMicroseconds(LIFTSPEED);
     
289.       }
     
290.     }
     
291.     else {
     
292.       while (servoLift <= LIFT2) {
     
293.         servoLift++;
     
294.         servo1.writeMicroseconds(servoLift);                                
     
295.         delayMicroseconds(LIFTSPEED);
     
296.       }
     
297.     }
     
298.     break;
     
299.   }
     
300. }
     
301. 
     
302. 
     
303. void bogenUZS(float bx, float by, float radius, int start, int ende, float sqee) {
     
304.   float inkr = -0.05;
     
305.   float count = 0;
     
306. 
     
307.   do {
     
308.     drawTo(sqee * radius * cos(start + count) + bx,
     
309.     radius * sin(start + count) + by);
     
310.     count += inkr;
     
311.   }
     
312.   while ((start + count) > ende);
     
313. 
     
314. }
     
315. 
     
316. void bogenGZS(float bx, float by, float radius, int start, int ende, float sqee) {
     
317.   float inkr = 0.05;
     
318.   float count = 0;
     
319. 
     
320.   do {
     
321.     drawTo(sqee * radius * cos(start + count) + bx,
     
322.     radius * sin(start + count) + by);
     
323.     count += inkr;
     
324.   }
     
325.   while ((start + count) <= ende);
     
326. }
     
327. 
     
328. 
     
329. void drawTo(double pX, double pY) {
     
330.   double dx, dy, c;
     
331.   int i;
     
332. 
     
333.   // dx dy of new point
     
334.   dx = pX - lastX;
     
335.   dy = pY - lastY;
     
336.   //path lenght in mm, times 4 equals 4 steps per mm
     
337.   c = floor(4 * sqrt(dx * dx + dy * dy));
     
338. 
     
339.   if (c < 1) c = 1;
     
340. 
     
341.   for (i = 0; i <= c; i++) {
     
342.     // draw line point by point
     
343.     set_XY(lastX + (i * dx / c), lastY + (i * dy / c));
     
344. 
     
345.   }
     
346. 
     
347.   lastX = pX;
     
348.   lastY = pY;
     
349. }
     
350. 
     
351. double return_angle(double a, double b, double c) {
     
352.   // cosine rule for angle between c and a
     
353.   return acos((a * a + c * c - b * b) / (2 * a * c));
     
354. }
     
355. 
     
356. void set_XY(double Tx, double Ty)
     
357. {
     
358.   delay(1);
     
359.   double dx, dy, c, a1, a2, Hx, Hy;
     
360. 
     
361.   // calculate triangle between pen, servoLeft and arm joint
     
362.   // cartesian dx/dy
     
363.   dx = Tx - O1X;
     
364.   dy = Ty - O1Y;
     
365. 
     
366.   // polar lemgth (c) and angle (a1)
     
367.   c = sqrt(dx * dx + dy * dy); //
     
368.   a1 = atan2(dy, dx); //
     
369.   a2 = return_angle(L1, L2, c);
     
370. 
     
371.     servo2.writeMicroseconds(floor(((a2 + a1 - M_PI) * SERVOFAKTORLEFT) + SERVOLEFTNULL));
     
372. 
     
373.   // calculate joinr arm point for triangle of the right servo arm
     
374.   a2 = return_angle(L2, L1, c);
     
375.   Hx = Tx + L3 * cos((a1 - a2 + 0.621) + M_PI); //36,5掳
     
376.   Hy = Ty + L3 * sin((a1 - a2 + 0.621) + M_PI);
     
377. 
     
378.   // calculate triangle between pen joint, servoRight and arm joint
     
379.   dx = Hx - O2X;
     
380.   dy = Hy - O2Y;
     
381. 
     
382.   c = sqrt(dx * dx + dy * dy);
     
383.   a1 = atan2(dy, dx);
     
384.   a2 = return_angle(L1, (L2 - L3), c);
     
385. 
     
386.    servo3.writeMicroseconds(floor(((a1 - a2) * SERVOFAKTORRIGHT) + SERVORIGHTNULL));
     
387. 
     
388. }

复制代码

哇哈哈

请问一下，这个架构能不能完美的画出一个圆？

哇哈哈

我只是问这样的臂的结构和相应的程序能否实现？至于电机么，要是需要可以换更好的

shihaipeng04

哇哈哈 发表于 2014-6-6 13:28
我只是问这样的臂的结构和相应的程序能否实现？至于电机么，要是需要可以换更好的

当然是可以换

哇哈哈

shihaipeng04 发表于 2014-6-8 00:28
当然是可以换

如果我想用这个结构画标准的圆，是否可以做到，是不是要改程序？

shihaipeng04

哇哈哈 发表于 2014-6-9 09:57
如果我想用这个结构画标准的圆，是否可以做到，是不是要改程序？

哈哈，简单啊。用drawto函数就行了。

绘图板中心位置大约是 （35,25）然后就围着点算一下呗。
int r =10;//圆半径
for（int s=0；s<360;s++)
{
x = sin(s)*r+35;
y = cos(s)*r+25;
drawTo(x,y);
}
这可是计算机从娃娃抓起的童子功啊。不会都忘了吧？

哇哈哈

谢谢，那这个结构的运动范围是怎么样的呢？是不是在臂的长度范围内的点都能接触到呢？

shihaipeng04

哇哈哈 发表于 2014-6-9 11:56
谢谢，那这个结构的运动范围是怎么样的呢？是不是在臂的长度范围内的点都能接触到呢？

理论上比面板的要大一些。。但是一些边角的位置摆臂会打架，如果掰过劲了可能会折掉。

哇哈哈

shihaipeng04 发表于 2014-6-9 13:24
理论上比面板的要大一些。。但是一些边角的位置摆臂会打架，如果掰过劲了可能会折掉。

我看到楼主有卖这个套件的，想问一下，此套件的安装好后，其水平度如何？因为我需要将笔换成其他头子，在水平面上画一个标准的圆。还有就是是否可以依照此结构比例放大结构，以画更大的圆。

shihaipeng04

哇哈哈 发表于 2014-6-9 13:48
我看到楼主有卖这个套件的，想问一下，此套件的安装好后，其水平度如何？因为我需要将笔换成其他头子，在 ...

抬臂舵机也是有参数精确调节的。不过这个东西是转轴的精度影响整体的精度。放大缩小分辨率也都一样。类似矢量图形。

而且理论上说，越是放大精度越差

夏哲腾

字没有演示写的那么圆，应该调整哪些参数？

shihaipeng04

夏哲腾 发表于 2014-6-19 13:52
字没有演示写的那么圆，应该调整哪些参数？

Plotclock小贱钟正式完工公开图纸 - Powered by Discuz!
http://www.geek-workshop.com/thread-10097-1-1.html

第2段视频，从10分钟开始看，有如何调教的说明。呵呵

那一小撮人

你好，问一下程序当中bogenUZS，bogenGZS代表什么意思？

innerrain

请问为什么我编译后会报错呢？time也装好了
Build options changed, rebuilding all
In file included from /Users/apple/Documents/Arduino/libraries/Time/DateStrings.cpp:11:0:
/Users/apple/Documents/Arduino/libraries/Time/DateStrings.cpp:41:22: error: variable 'monthNames_P' must be const in order to be put into read-only section by means of '__attribute__((progmem))'
PGM_P monthNames_P[] PROGMEM =
                      ^
/Users/apple/Documents/Arduino/libraries/Time/DateStrings.cpp:58:20: error: variable 'dayNames_P' must be const in order to be put into read-only section by means of '__attribute__((progmem))'
PGM_P dayNames_P[] PROGMEM = { dayStr0,dayStr1,dayStr2,dayStr3,dayStr4,dayStr5,dayStr6,dayStr7};
                    ^
/Users/apple/Documents/Arduino/libraries/Time/DateStrings.cpp:59:24: error: variable 'dayShortNames_P' must be const in order to be put into read-only section by means of '__attribute__((progmem))'
char dayShortNames_P[] PROGMEM = "ErrSunMonTueWedThrFriSat";
                        ^

shihaipeng04

innerrain 发表于 2014-7-29 09:40
请问为什么我编译后会报错呢？time也装好了
Build options changed, rebuilding all
In file included  ...

有点晕。似乎不像是程序的错误呢？ 我也不太清楚是啥意思。 要不你发个帖子问问高人