【Arduino 动手做】由操纵杆控制的 SCARA 机械臂 简单

#include <Servo.h>  //include the library about servo

Servo servo_base;   //give a name to the servo
Servo servo_arm;
Servo servo_dispenser;


int val = 0;
int val1 = 0;
int n = 0;
int t = 0;
int pos = 0;
int pos1 = 0;
int pos2 = 0;

void setup() {
  servo_base.attach(9);    //set the pin 9 for servo
  servo_arm.attach(10);
  servo_dispenser.attach(11);
  pinMode(A0, INPUT);   //set the pin A0 and A1 to receive data from the joystick
  pinMode(A1, INPUT);
  pinMode(8, INPUT);   //set the pin 8 to receive data from the buttom 
  Serial.begin(9600);  //start the serial monitor
}

void loop() {

  val = int (map(analogRead(A0), 0, 1023, -550, 550) / 512);   //map the value read from A0 ad take the integer
  val1 = int (map(analogRead(A1), 0, 1023, -550, 550) / 512);
  pos2 = map(digitalRead(8), 0, 1, 130, 100);
  pos = n + 1 * val;         //add up the value with the previous
  pos1 = t + 1 * val1;
  pos = constrain(pos, 0, 180);      //limit the value of the variable between 0 and 180
  pos1 = constrain(pos1, 0, 180);
  servo_base.write(pos);         //turn the servo of the angle we want
  servo_arm.write(pos1);
  servo_dispenser.write(pos2);
  n = pos;                      //store the position
  t = pos1;
  delay(10);
  Serial.print("servo-base     ");      // send the value to the bluetooth
  Serial.print(pos);
    Serial.print("servo-arm     ");
  Serial.print(pos1);
    Serial.print("servo-dispenser     ");
  Serial.println(pos2);


}