1.舵机原理简介
控制信号由接收机的通道进入信号调制芯片,获得直流偏置电压。它内部有一个基准电路,产生周期为20ms,宽度为1.5ms的基准信号,将获得的直流偏置电压与电位器的电压比较,获得电压差输出。最后,电压差的正负输出到电机驱动芯片决定电机的正反转。当电机转速一定时,通过级联减速齿轮带动电位器旋转,使得电压差为0,电机停止转动。
舵机的控制一般需要一个20ms左右的时基脉冲,该脉冲的高电平部分一般为0.5ms-2.5ms范围内的角度控制脉冲部分,总间隔为2ms。以180度角度伺服为例,那么对应的控制关系是这样的:
0.5ms--------------0度;
1.0ms------------45度;
1.5ms------------90度;
2.0ms-----------135度;
2.5ms-----------180度;
2.arduino下位机源码
#include<Servo.h> //库文件 Servo servo1; static int v=0; String mycommand=""; void setup() { Serial.begin(9600);//此处为串口设置的波特率 ,可以修改 必须同上位机设置的波特路一致。 servo1.attach(3); // 控制的端口是~3号 servo1.write(90); } void loop() { while(Serial.available()>0) { mycommand+=char(Serial.read()); delay(2); } for(int m=0;m<mycommand.length();m++) // { char ch = mycommand[m]; //读取串口数据 switch(ch) { case ‘0‘...‘9‘: v = v*10 + ch - ‘0‘; //字符转换成十进制 break; case ‘a‘: //如果数据后带a,则表示是一号舵机的数据,比如串口发送85a //if(v >= 5 || v <= 175 ) servo1.write(v); // 让A从66度旋转到9度 (可修改角度) //用于设定舵机旋转角度的语句,可设定的角度范围是0°到180°,“V”得到所输入的值而改变角度,比如85a为85度角 Serial.println(v+"°");//舵机角度改变后 发送改变的角度到上位机。 v = 0; break; } } mycommand=""; }
我选择我的是arduino Uno,舵机的接线方法是红色(VCC)端接控制板的5V处,棕色端接板子的GND,舵机的橙色线为信号线,接板子上的3号口;
3.C#上位机源码及界面
using System; using System.Collections.Generic; using System.ComponentModel; using System.Data; using System.Drawing; using System.Linq; using System.Text; using System.Threading.Tasks; using System.Windows.Forms; namespace 舵机上位机源码 { public partial class Form1 : Form { bool open = false; public delegate void HandleInterfaceUpdataDelegate(string text); private HandleInterfaceUpdataDelegate interfaceUpdataHandle; int a; public Form1() { InitializeComponent(); } private void Form1_Load(object sender, EventArgs e) { comboBox1.Items.AddRange(System.IO.Ports.SerialPort.GetPortNames());//从系统获取已有串口 if (comboBox1.Items.Count > 0) { comboBox1.SelectedIndex = 0;//串口变量初始化 serialPort1.RtsEnable = true;//DataReceived事件委托 serialPort1.ReceivedBytesThreshold = 1;//设置 DataReceived 事件发生前内部输入缓冲区中的字节数 serialPort1.DataReceived += new System.IO.Ports.SerialDataReceivedEventHandler(this.serialPort1_DataReceived); comboBox2.SelectedIndex = 6; } else { MessageBox.Show("未检测到设备\r\n"); } } //监听串口 private void serialPort1_DataReceived(object sender, System.IO.Ports.SerialDataReceivedEventArgs e) { try { string text = string.Empty; byte[] result = new byte[serialPort1.BytesToRead]; serialPort1.Read(result, 0, serialPort1.BytesToRead); text = Encoding.UTF8.GetString(result); } catch { } } //串口刷新按钮 private void button2_Click(object sender, EventArgs e) { comboBox1.Items.Clear(); comboBox1.Items.AddRange(System.IO.Ports.SerialPort.GetPortNames()); if (comboBox1.Items.Count > 0) { comboBox1.SelectedIndex = 0; } else { MessageBox.Show("未检测到串口\r\n"); } } //打开串口 private void btnOpen_Click(object sender, EventArgs e) { if (open == false) { if (serialPort1.IsOpen) { MessageBox.Show("串口已经打开", "提示", MessageBoxButtons.OK, MessageBoxIcon.Information); return; } //串口 if (comboBox1.Text == string.Empty) { MessageBox.Show("请选择串口", "提示", MessageBoxButtons.OK, MessageBoxIcon.Information); return; } //波特率 if (comboBox2.Text == string.Empty) { MessageBox.Show("请选择波特率", "提示", MessageBoxButtons.OK, MessageBoxIcon.Information); return; } serialPort1.BaudRate = int.Parse(comboBox2.Text); try { serialPort1.PortName = comboBox1.SelectedItem.ToString(); serialPort1.Open(); } catch { try { comboBox1.SelectedIndex = comboBox1.SelectedIndex + 1; } catch { comboBox1.SelectedIndex = 0; } serialPort1.Close(); } btnOpen.Text = "关闭"; comboBox1.Enabled = false; comboBox2.Enabled = false; open = true; trackBarSend_Scroll(this, null); btnReserch.Enabled = false; btnsend.Enabled = true; tbxSend.Enabled = true; trackBarSend.Enabled = true; pictureBox1.BackColor = Color.Lime; } else { try { serialPort1.Close(); btnOpen.Text = "打开"; open = false; comboBox1.Enabled = true; comboBox2.Enabled = true; btnReserch.Enabled = true; btnsend.Enabled = false; tbxSend.Enabled = false; trackBarSend.Enabled = false; pictureBox1.BackColor = Color.Silver; } catch { } } } private void trackBarSend_Scroll(object sender, EventArgs e) { if (serialPort1.IsOpen) { a = trackBarSend.Value; string duojiA = trackBarSend.Value.ToString() + "a"; try { serialPort1.WriteLine(duojiA); tbxSend.Text = a.ToString(); ; ; } catch { } } } private void btnsend_Click(object sender, EventArgs e) { try { byte[] SendBuf = new byte[100000]; SendBuf = System.Text.Encoding.Default.GetBytes(tbxSend.Text+"a"); serialPort1.Write(SendBuf, 0, SendBuf.Length); } catch (Exception err) { if (serialPort1.IsOpen) serialPort1.Close();//如果是写数据时出错,此时窗口状态为开,就应关闭串口,防止下次不能使用,串口是不能重复打开和关闭的 MessageBox.Show(err.ToString(), "错误"); } } private void tbxSend_ValueChanged(object sender, EventArgs e) { trackBarSend.Value = (int)tbxSend.Value; } } }
第一次写博文,有不好的地方还请多多包涵。
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原文地址:http://970076933.blog.51cto.com/9767314/1696270