//四自由度机械臂程序(三个9克舵机,一个步进电机. Arduino程序控制.)
const int stepsPerRevolution=200;
Stepper myStepper(stepsPerRevolution, 8, 10, 9, 11); //步进电机 Pin
myservo1.attach(2); //Pin 2
myservo2.attach(3); //Pin 3
myservo3.attach(4); //Pin 4
s2Forward(45); //主臂向前 45 度
s2Backward(45); //主臂向后 45 度
s3Forward(45); //次臂抬升 45 度
Stepper(200); //步进电机正转 200 步
s2Forward(45); //主臂向前 45 度
s3Backward(45); //次臂下降 45 度
s2Backward(45); //主臂向后 45 度
//s3Forward(45); //次臂抬升 45 度
Stepper(-200); //步进电机反转 200 步
for (pos = 0; pos <= anlge; pos += 1) {
void s1close(int anlge) {
for (pos = anlge; pos >= 0; pos -= 1) {
void s2Forward(int anlge) {
for (pos = 0; pos <= anlge; pos += 1) {
void s2Backward(int anlge) {
for (pos = anlge; pos >= 0; pos -= 1) {
void s3Forward(int anlge) {
for (pos = 0; pos <= anlge; pos += 1) {
void s3Backward(int anlge) {
for (pos = anlge; pos >= 0; pos -= 1) {
void Stepper(int stepsPerRevolution) {
myStepper.step(stepsPerRevolution);