12/6/2016

ロボ実験について考える。

ロボットを手動で目的地まで連れてく。

ボタンを押すとロボットアームが動き、対象物を挟んでいく。

力覚センサで物体を検知し、アーム挟む動作停止。

停止すると同時に、両アーム運転開始。

一定の高さになったら両アーム停止。

↑

ここで、高さを目標値に設定して、フィードバックで実現したい。

⭐︎ 落とさないようにセンサで検知し値が小さくなってきたら、モーター出力させるようにするべきか？

↑

実際ここでフィードバックの方が現実味あったりして！

プログラム(予想)

int hlefta = 2;

int hrighta = 3;

int hleftb = 4;

int hrightb = 5;

int hleftc = 6;

int hrightc = 7;

int lefta = 8;

int righta = 9;

int leftb = 10;

int rightb = 11;

int leftc = 12;

int rightc =13;

void setup() {

Serial.begin(9600);    

pinMode(hlefta, OUTPUT);

pinMode(hrighta, OUTPUT);

pinMode(hleftb, OUTPUT);

pinMode(hrightb, OUTPUT);

pinMode(hleftc, OUTPUT);

pinMode(hrightc,OUTPUT);

pinMode(lefta, OUTPUT);

pinMode(righta, OUTPUT);

pinMode(leftb, OUTPUT);

pinMode(rightb, OUTPUT);

pinMode(leftc, OUTPUT);

pinMode(rightc,OUTPUT);

}

void loop() {

  if(Serial.available()){

  char cmd = Serial.read();

    

switch (cmd){  

case 'w':

analogWrite(righta, 200);

analogWrite(lefta, 0);

analogWrite(rightb, 200);

analogWrite(leftb, 0);

analogWrite(rightc, 200);

analogWrite(leftc, 0);

Serial.print(F("a\n"));

break;

case 's':

analogWrite(righta, 200);

analogWrite(lefta, 0);

analogWrite(rightb,200);

analogWrite(leftb, 0);

analogWrite(rightc, 200);

analogWrite(leftc, 0);

break;

case 'd':

analogWrite(righta, 200);

analogWrite(lefta, 0);

analogWrite(rightb,200);

analogWrite(leftb, 0);

analogWrite(rightc, 200);

analogWrite(leftc, 0);

break;

case 'a':

analogWrite(righta, 200);

analogWrite(lefta, 0);

analogWrite(rightb,200);

analogWrite(leftb, 0);

analogWrite(rightc, 200);

analogWrite(leftc, 0);

break;

case 'z':

analogWrite(righta, 200);

analogWrite(lefta, 0);

analogWrite(rightb,200);

analogWrite(leftb, 0);

analogWrite(rightc, 200);

analogWrite(leftc, 0);

break;

case 'u': //掴んで持ち上げ

analogWrite(hrighta, 200);

analogWrite(hlefta, 0);

if (vol_value <400){

analogWrite(hrighta, 0);

analogWrite(hlefta, 0);

analogWrite(hrightb, 200);

analogWrite(hleftb,0);

analogWrite(hrightc, 200);

analogWrite(hleftc, 0);

delay(2000);

analogWrite(hrightb, 0);

analogWrite(hleftb,0);

analogWrite(hrightc, 0);

analogWrite(hleftc, 0);

}

delay(2000);

break;//これだと持ち上げた後に、analogWrite(hrighta, 200);

analogWrite(hlefta, 0);がまた処理されて動く。

case 'p'://降ろす離す

analogWrite(hrightb,0 );

analogWrite(hleftb,200);

analogWrite(hrightc, 0);

analogWrite(hleftc, 200);

delay(2000);

analogWrite(hrightb,0 );

analogWrite(hleftb,0);

analogWrite(hrightc, 0);

analogWrite(hleftc, 0);

analogWrite(hrighta, 0);

analogWrite(hlefta, 200);

if (vol_value <400){

analogWrite(hrighta, 0);

analogWrite(hlefta, 0);

}

delay(2000);

break;

default://case'o':

analogWrite(righta, 0);

analogWrite(lefta, 0);

analogWrite(rightb, 0);

analogWrite(leftb, 0);

analogWrite(rightc,0);

analogWrite(leftc, 0);

break;

}

   }

Serial.print("righta = ");

Serial.print(digitalRead(righta));

Serial.print("   lefta = ");

Serial.println(digitalRead(lefta));

}