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一、XBee模块的设置方式
二、PC通过XBee无线模块与Arbotix-M控制板通信控制AX-12A舵机
三、附录（相关测试代码）
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#include <ax12.h> #include <BioloidController.h> #include "poses.h" BioloidController bioloid = BioloidController(1000000); const int SERVOCOUNT = 5; int id; int pos; boolean IDCheck; boolean RunCheck; void setup(){ pinMode(0,OUTPUT); //initialize variables id = 1; pos = 0; IDCheck = 1; RunCheck = 0; //open serial port //a Serial.begin(9600); Serial.begin(38400); delay (500); Serial.println("###########################"); Serial.println("Serial Communication Established."); //Check Lipo Battery Voltage //a CheckVoltage(); MoveCenter(); //Scan Servos, return position. //a ScanServo(); //a MoveTest(); MoveHome(); //a MenuOptions(); RunCheck = 1; } void loop(){ // read the sensor: int inByte = Serial.read(); switch (inByte) { case '1': ScanServo(); break; case '2': MoveCenter(); break; case '3': MoveHome(); break; case '4': RelaxServos(); break; case '5': MoveCenter(); MoveTest(); break; case '6': CheckVoltage(); break; case '7': LEDTest(); break; } } void ScanServo(){ id = 1; Serial.println("###########################"); Serial.println("Starting Servo Scanning Test."); Serial.println("###########################"); while (id <= SERVOCOUNT){ pos = ax12GetRegister(id, 36, 2); Serial.print("Servo ID: "); Serial.println(id); Serial.print("Servo Position: "); Serial.println(pos); if (pos <= 0){ Serial.println("###########################"); Serial.print("ERROR! Servo ID: "); Serial.print(id); Serial.println(" not found. Please check connection and verify correct ID is set."); Serial.println("###########################"); IDCheck = 0; } id = (id++)%SERVOCOUNT; delay(1000); } if (IDCheck == 0){ Serial.println("###########################"); Serial.println("ERROR! Servo ID(s) are missing from Scan. Please check connection and verify correct ID is set."); Serial.println("###########################"); } else{ Serial.println("All servo IDs present."); } if (RunCheck == 1){ MenuOptions(); } } void CheckVoltage(){ // wait, then check the voltage (LiPO safety) float voltage = (ax12GetRegister (1, AX_PRESENT_VOLTAGE, 1)) / 10.0; Serial.println("###########################"); Serial.print ("System Voltage: "); Serial.print (voltage); Serial.println (" volts."); if (voltage < 10.0){ Serial.println("Voltage levels below 10v, please charge battery."); while(1); } if (voltage > 10.0){ Serial.println("Voltage levels nominal."); } if (RunCheck == 1){ MenuOptions(); } Serial.println("###########################"); } void MoveCenter(){ delay(100); // recommended pause bioloid.loadPose(Center); // load the pose from FLASH, into the nextPose buffer bioloid.readPose(); // read in current servo positions to the curPose buffer Serial.println("###########################"); Serial.println("Moving servos to centered position"); Serial.println("###########################"); delay(1000); bioloid.interpolateSetup(1000); // setup for interpolation from current->next over 1/2 a second while(bioloid.interpolating > 0){ // do this while we have not reached our new pose bioloid.interpolateStep(); // move servos, if necessary. delay(3); } if (RunCheck == 1){ MenuOptions(); } } void MoveHome(){ delay(100); // recommended pause bioloid.loadPose(Home); // load the pose from FLASH, into the nextPose buffer bioloid.readPose(); // read in current servo positions to the curPose buffer Serial.println("###########################"); Serial.println("Moving servos to Home position"); Serial.println("###########################"); delay(1000); bioloid.interpolateSetup(1000); // setup for interpolation from current->next over 1/2 a second while(bioloid.interpolating > 0){ // do this while we have not reached our new pose bioloid.interpolateStep(); // move servos, if necessary. delay(3); } if (RunCheck == 1){ MenuOptions(); } } void MoveTest(){ Serial.println("###########################"); Serial.println("Initializing Movement Sign Test"); Serial.println("###########################"); delay(500); id = 1; pos = 512; while(id <= SERVOCOUNT){ Serial.print("Moving Servo ID: "); Serial.println(id); while(pos >= 312){ SetPosition(id, pos); pos = pos--; delay(10); } while(pos <= 512){ SetPosition(id, pos); pos = pos++; delay(10); } //iterate to next servo ID id = id++; } if (RunCheck == 1){ MenuOptions(); } } void MenuOptions(){ Serial.println("###########################"); Serial.println("Please enter option 1-5 to run individual tests again."); Serial.println("1) Servo Scanning Test"); Serial.println("2) Move Servos to Center"); Serial.println("3) Move Servos to Home"); Serial.println("4) Relax Servos"); Serial.println("5) Perform Movement Sign Test"); Serial.println("6) Check System Voltage"); Serial.println("7) Perform LED Test"); Serial.println("###########################"); } void RelaxServos(){ id = 1; Serial.println("###########################"); Serial.println("Relaxing Servos."); Serial.println("###########################"); while(id <= SERVOCOUNT){ Relax(id); id = (id++)%SERVOCOUNT; delay(50); } if (RunCheck == 1){ MenuOptions(); } } void LEDTest(){ id = 1; Serial.println("###########################"); Serial.println("Running LED Test"); Serial.println("###########################"); while(id <= SERVOCOUNT){ ax12SetRegister(id, 25, 1); Serial.print("LED ON - Servo ID: "); Serial.println(id); delay(3000); ax12SetRegister(id, 25, 0); Serial.print("LED OFF - Servo ID: "); Serial.println(id); delay(3000); id = id++; } if (RunCheck == 1){ MenuOptions(); } } |
poses.h文件：
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#ifndef POSES #define POSES #include <avr/pgmspace.h> //PROGMEM prog_uint16_t Center[] = {5, 512, 512, 512, 512, 512}; //PROGMEM prog_uint16_t Home[] = {5, 512, 376, 1000, 430, 512}; PROGMEM prog_uint16_t Center[] = {5, 512, 512, 512, 512, 512}; PROGMEM prog_uint16_t Home[] = {5, 0, 0, 0, 0, 0}; #endif |
