Um schnell mal in der Ansteuerung Fortschritte zu machen habe ich mir gedacht den Servoarm über IR zu bedienen.
Das ist mein Code:
Aber er scheint Fehler zu haben ,da ich ine Aussage wie diese erhalte.Code:/* * **************************************************************************** * RP6 ROBOT SYSTEM - Base * **************************************************************************** Dieses Prorgamm wird gebaut um mienen Servoarm mit Hilfe einer IR-vernbedienung zu bedienen. ************************************************* */ #include "RP6RobotBaseLib.h" uint8_t i, pause, servo_stellzeit, servo_delay; //#define RC_EURO_SKY #define RC_PROMO8 #ifdef RC_PROMO8 // RC Type: Conrad - Promo8 #define RC5_KEY_LEFT 21 #define RC5_KEY_RIGHT 22 #endif void receiveRC5Data(RC5data_t rc5data) { writeString_P("Toggle Bit:"); writeChar(rc5data.toggle_bit + '0'); writeString_P(" | Device Address:"); writeInteger(rc5data.device, DEC); writeString_P(" | Key Code:"); writeInteger(rc5data.key_code, DEC); writeChar('\n'); switch(rc5data.key_code) { case RC5_KEY_LEFT: // Turn left: writeString_P("LEFT\n"); int arm { i=0; servo_stellzeit=16; DDRA |= E_INT1; // E_INT1 als Ausgang DDRC |= 3; // SCL und SDA als Ausgang // 5 - 15 - 25 // Min - Mitte - Max servo(15); // Grundstellung while (1) { servo(17); servo(18); servo(19); servo(20); servo(21); servo(22); servo(23); servo(24); } setLEDs(0b100000); } break; case RC5_KEY_RIGHT: // Turn right: writeString_P("RIGHT\n"); int arm { i=0; servo_stellzeit=16; DDRA |= E_INT1; // E_INT1 als Ausgang DDRC |= 3; // SCL und SDA als Ausgang // 5 - 15 - 25 // Min - Mitte - Max servo(15); // Grundstellung while (1) { servo(14); servo(13); servo(12); servo(11); servo(10); servo(9); servo(8); servo(7); servo(6); } setLEDs(0b000100); } break; } } /*****************************************************************************/ int main(void) { initRobotBase(); setLEDs(0b111111); writeChar('\n'); writeString_P("RP6 controlled by RC5 TV Remote\n"); writeString_P("___________________________\n"); mSleep(500); setLEDs(0b000000); powerON(); // Set the RC5 Receive Handler: IRCOMM_setRC5DataReadyHandler(receiveRC5Data); return 0; }
Code:Compiling: RP6Base_tvarm.c avr-gcc -c -mmcu=atmega32 -I. -gdwarf-2 -Os -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -Wall -Wstrict-prototypes -Wa,-adhlns=RP6Base_tvarm.lst -I../../../RP6Lib/ -I../../../RP6Lib//RP6base -I../../../RP6Lib//RP6common -std=gnu99 -MD -MP -MF .dep/RP6Base_tvarm.o.d RP6Base_tvarm.c -o RP6Base_tvarm.o RP6Base_tvarm.c: In function 'receiveRC5Data': RP6Base_tvarm.c:40: error: expected '=', ',', ';', 'asm' or '__attribute__' before '{' token RP6Base_tvarm.c:46: warning: implicit declaration of function 'servo' RP6Base_tvarm.c:65: error: expected '=', ',', ';', 'asm' or '__attribute__' before 'i' RP6Base_tvarm.c:85: error: break statement not within loop or switch RP6Base_tvarm.c: At top level: RP6Base_tvarm.c:88: error: expected identifier or '(' before '}' token make: *** [RP6Base_tvarm.o] Fehler 1
carlitoco
Hallo carlitoco,
ein Teil der Fehlermeldungen verschwindet, wenn du die Definition "int arm" wegläßt (wird ja gar nicht gebraucht) oder zumindest ein Semikolon anhängst: "int arm;"
Ganz fehlerfrei wird das erst kompiliert, wenn du noch die Funktion "servo" irgendwo definierst.
Was das Programm aber eigentlich so machen soll, kann ich auch dann nicht erkennen.
Gruß Dirk
Ziel soll es sein die Servos über die IR Fernbedienung zu steuern.
Es würde erstmal reichen wenn ich 2 Servos ansteuern könnte, das wäre eine gute Grundlage. Doch scheint das so noch nicht richtig zu sein.
hier nochmal der
neue code:
Gruss und danke für die Hilfe carlitocoCode:/* * **************************************************************************** * RP6 ROBOT SYSTEM - Base * **************************************************************************** Dieses Prorgamm wird gebaut um mienen Servoarm mit Hilfe einer IR-vernbedienung zu bedienen. ************************************************* */ #include "RP6RobotBaseLib.h" uint8_t i, pause, servo_stellzeit, servo_delay; //#define RC_EURO_SKY #define RC_PROMO8 #ifdef RC_PROMO8 // RC Type: Conrad - Promo8 #define RC5_KEY_LEFT 21 #define RC5_KEY_RIGHT 22 #endif void servo(uint8_t w0) {} void receiveRC5Data(RC5data_t rc5data) { writeString_P("Toggle Bit:"); writeChar(rc5data.toggle_bit + '0'); writeString_P(" | Device Address:"); writeInteger(rc5data.device, DEC); writeString_P(" | Key Code:"); writeInteger(rc5data.key_code, DEC); writeChar('\n'); switch(rc5data.key_code) { case RC5_KEY_LEFT: // Turn left: writeString_P("LEFT\n"); { i=0; servo_stellzeit=16; DDRA |= E_INT1; // E_INT1 als Ausgang DDRC |= 3; // SCL und SDA als Ausgang // 5 - 15 - 25 // Min - Mitte - Max servo(15); // Grundstellung while (1) { servo(17); servo(18); servo(19); servo(20); servo(21); servo(22); servo(23); servo(24); } setLEDs(0b100000); } break; case RC5_KEY_RIGHT: // Turn right: writeString_P("RIGHT\n"); { i=0; servo_stellzeit=16; DDRA |= E_INT1; // E_INT1 als Ausgang DDRC |= 3; // SCL und SDA als Ausgang // 5 - 15 - 25 // Min - Mitte - Max servo(15); // Grundstellung while (1) { servo(14); servo(13); servo(12); servo(11); servo(10); servo(9); servo(8); servo(7); servo(6); } setLEDs(0b000100); } break; } } /*****************************************************************************/ int main(void) { initRobotBase(); setLEDs(0b111111); writeChar('\n'); writeString_P("RP6 controlled by RC5 TV Remote\n"); writeString_P("___________________________\n"); mSleep(500); setLEDs(0b000000); powerON(); // Set the RC5 Receive Handler: IRCOMM_setRC5DataReadyHandler(receiveRC5Data); return 0; }
carlitoco
Hier eine kliene Bewegung des Servoarms als Video:
noisia.sytes.net/text/SV_A0074.mp4
carlitoco
Würfel sammler
noisia.sytes.net/text/Cube-collector.avi
grussCode:#include "RP6RobotBaseLib.h" uint8_t i, pause, servo_stellzeit, servo_delay; void servo(uint8_t w0, uint8_t w1, uint8_t w2, uint8_t w3, uint8_t w4) { unsigned int count=0; do{ PORTA |= E_INT1; // E_INT1 (Pin8) sleep(w0); PORTA &= ~E_INT1; PORTC |= 1; // SCL (Pin10) sleep(w1); PORTC &= ~1; PORTC |= 2; // SDA (Pin12) sleep(w2); PORTC &= ~2; PORTB |= 1; sleep(w3); PORTB &= ~1; PORTB |=2; sleep(w4); PORTB &=~2; sleep(servo_delay-(w0+w1+w2+w3+w4)); //sleep(127); } while (count++ < servo_stellzeit); mSleep(20*pause); } int main(void) { initRobotBase(); i=0; servo_stellzeit=20; DDRA |= E_INT1; // E_INT1 als Ausgang DDRC |= 3; // SCL und SDA als Ausgang // 5 - 15 - 25 // Min - Mitte - Max servo(25,15,20,10,10); servo(15,5,20,10,10); // Grundstellung servo(10,5,15,10,10); while (1) { servo(25,24,20,10,10); servo(25,24,10,10,10); servo(25,24,5,10,10); servo(20,24,5,10,10); servo(10,24,5,10,10); servo(10,24,7,10,10); servo(10,24,9,10,10); servo(10,24,10,10,10); servo(10,24,12,10,10); servo(10,24,13,10,10); servo(10,24,15,10,10); servo(10,24,18,10,10); servo(10,24,21,10,10); servo(10,24,23,10,10); servo(10,24,25,10,10); servo(10,8,25,10,10); servo(10,7,22,10,10); servo(10,8,18,10,10); servo(20,8,18,10,10); servo(25,8,16,10,10); /* servo(15,8,20,10,10); //runter&greifer auf servo(16,8,19,10,10); servo(17,8,17,10,10); servo(18,8,15,10,10); servo(17,8,14,10,10); servo(16,8,14,10,10); servo(15,8,14,10,10);//greifer zu servo(14,8,14,10,10); servo(13,8,14,10,10); servo(12,8,14,10,10); //=(greifer,baseturn,beuger1 servo(12,8,14,10,10);//hoch servo(12,8,14,10,10); servo(12,8,16,10,10); //links drehung beginn servo(12,10,19,10,10); servo(12,13,21,10,10); servo(12,15,23,10,10); servo(12,18,21,10,10); servo(12,21,19,10,10); servo(12,22,17,10,10); servo(12,23,16,10,10); servo(12,24,13,10,10); //links drehung ende servo(12,24,12,10,10);//runter greifer auf servo(13,24,10,10,10); servo(19,24,10,10,10); servo(19,24,15,10,10); */ } return 0; }
carlitoco
Hallo
Sehr hübsch. Um die Abläufe etwas flüssiger zu gestalten habe ich bei meinen Greifern solche Konstruktionen verwendet:
Weiterhin viel Spaß mit deinem GreifarmCode:// Als Ersatz für z.B.: servo(25,24,20,10,10); servo(25,24,10,10,10); servo(25,24,5,10,10); servo(20,24,5,10,10); // Startposition servo(25,24,20,10,10); // das Servo sollte noch genug Zeit haben um die neue Position zu erreichen servo_stellzeit=5; for(i=20;i>5; i--) servo(25,24,i,10,10); // oder mit variablen Schrittweiten: for(i=20;i>5; i--) { servo(25,24,i,10,10); if(i>10) i--; } // oder eine zweite Achse gleichzeitig for(i=20;i>5; i--) if(i>10) servo(25,24,i,10,10); else servo(20,24,i,10,10);
mic
Bild hier
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as components in applications intended to support or sustain life!
So sind die Bewegungen auch etwas schöner:
computerkalle.de/rp6.php RP6 Servoarm Video
Code:#include "RP6RobotBaseLib.h" uint8_t i, pause, servo_stellzeit, servo_delay; void servo(uint8_t w0, uint8_t w1, uint8_t w2, uint8_t w3, uint8_t w4) { unsigned int count=0; do{ PORTA |= E_INT1; // E_INT1 (Pin8) sleep(w0); PORTA &= ~E_INT1; PORTC |= 1; // SCL (Pin10) sleep(w1); PORTC &= ~1; PORTC |= 2; // SDA (Pin12) sleep(w2); PORTC &= ~2; PORTB |= 1; sleep(w3); PORTB &= ~1; PORTB |=2; sleep(w4); PORTB &=~2; sleep(servo_delay-(w0+w1+w2+w3+w4)); //sleep(127); } while (count++ < servo_stellzeit); mSleep(2000*pause); } int main(void) { initRobotBase(); i=0; servo_stellzeit=2; DDRA |= E_INT1; // E_INT1 als Ausgang DDRC |= 3; // SCL und SDA als Ausgang // 5 - 15 - 24 // Min - Mitte - Max //servo(24,15,20,10,10); //servo(15,5,20,10,10); // Grundstellung servo(24,24,20,10,10); servo(24,24,20,10,10); servo(24,24,20,10,10); while (1) {//servo(greifer auf/zu,links/rechts,up/down,10,10); servo(24,24,20,10,10); //runter servo(24,24,19,10,10); servo(24,24,18,10,10); servo(24,24,17,10,10); servo(24,24,16,10,10); servo(24,24,15,10,10); servo(24,24,14,10,10); servo(24,24,13,10,10); servo(24,24,12,10,10); servo(24,24,11,10,10); servo(24,24,10,10,10); servo(24,24,9,10,10); servo(24,24,8,10,10); servo(24,24,7,10,10); servo(24,24,6,10,10); servo(24,24,5,10,10);//greifen servo(23,24,5,10,10); servo(22,24,5,10,10); servo(21,24,5,10,10); servo(20,24,5,10,10); servo(19,24,5,10,10); servo(18,24,5,10,10); servo(17,24,5,10,10); servo(16,24,5,10,10); servo(15,24,5,10,10); servo(14,24,5,10,10); servo(13,24,5,10,10); servo(12,24,5,10,10); servo(11,24,5,10,10); servo(10,24,5,10,10); //hoch servo(10,24,6,10,10); servo(10,24,7,10,10); servo(10,24,8,10,10); servo(10,24,9,10,10); servo(10,24,10,10,10); servo(10,24,11,10,10); servo(10,24,12,10,10); servo(10,24,13,10,10); servo(10,24,14,10,10); servo(10,24,15,10,10); servo(10,24,16,10,10); servo(10,24,17,10,10); servo(10,24,18,10,10); servo(10,24,19,10,10); servo(10,24,20,10,10); servo(10,24,21,10,10); servo(10,24,22,10,10); servo(10,24,23,10,10); //Drehung, von recht nach links servo(10,23,24,10,10); servo(10,22,24,10,10); servo(10,21,24,10,10); servo(10,20,24,10,10); servo(10,19,24,10,10); servo(10,18,24,10,10); servo(10,17,24,10,10); servo(10,16,24,10,10); servo(10,15,24,10,10); servo(10,14,24,10,10); servo(10,13,24,10,10); servo(10,12,24,10,10); servo(10,11,24,10,10); servo(10,10,24,10,10); servo(10,9,24,10,10); servo(10,8,23,10,10); //runter servo(10,8,22,10,10); servo(10,8,21,10,10); servo(10,8,20,10,10); servo(10,8,19,10,10); servo(10,8,18,10,10); servo(10,8,17,10,10); servo(10,8,16,10,10); servo(11,8,15,10,10);//greifer auf servo(12,8,15,10,10); servo(13,8,15,10,10); servo(14,8,15,10,10); servo(15,8,15,10,10); servo(16,8,15,10,10); servo(17,8,15,10,10); servo(18,8,15,10,10); //servo(19,8,14,10,10); //hoch servo(18,8,16,10,10); servo(18,8,17,10,10); servo(18,8,18,10,10); servo(19,8,19,10,10); servo(20,8,20,10,10); servo(20,8,21,10,10); servo(20,8,22,10,10); servo(20,8,23,10,10); servo(20,8,24,10,10); servo(20,9,24,10,10); //Drehung, von links nach rechts servo(20,10,24,10,10); servo(20,11,24,10,10); servo(20,12,24,10,10); servo(20,13,24,10,10); servo(20,14,24,10,10); servo(20,15,24,10,10); servo(20,16,24,10,10); servo(20,17,24,10,10); servo(20,18,24,10,10); servo(20,19,24,10,10); servo(20,20,24,10,10); servo(20,21,24,10,10); servo(21,22,24,10,10); servo(22,23,24,10,10); servo(23,24,24,10,10); } return 0; }
carlitoco
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