用Processing控制Arduino(多舵机和步进电机)源程序

作用:

1.上位机选择舵机角度和步进电机步数,通过串口发送给Arduin驱动多个舵机和步进电机.

2.上位机控制软件采用Processing (串口可选).

3.舵机及步进电机电源采用外接.

材料:

1.Arduino UNO

2.三个9g 舵机

3.一个步进电机

4.I2C LCD1602

5.PC(Processing)

连线图:

Arduino代码:

//arduino

1. #include <Wire.h>
   
2. #include <LiquidCrystal_I2C.h> //引用I2C库
   
3. //I2C 引脚接A4, A5
   
4. //设置LCD1602设备地址，这里的地址是0x3F，一般是0x20，或者0x27，具体看模块手册
   
5. LiquidCrystal_I2C lcd(0x27,16,2);  
   
6. #include <Stepper.h>
   
7. #include<Servo.h>
   
8. Servo myservo0;
   
9. Servo myservo1;
   
10. Servo myservo2;
    
11. Servo myservo3;
    
12. char data;
    
13. int servo0=2;
    
14. int servo1=3;
    
15. int servo2=4;
    
16. int servo3=5;
    
17. int pos0;
    
18. int pos1;
    
19. int pos2;
    
20. int pos3;
    
21. int step0;
    
22. int bj;
    
23. int temp=0;
    
24. int mark = 0;
    
25. //底盘步进电机
    
26. const int stepsPerRevolution=200;
    
27. Stepper myStepper(stepsPerRevolution, 8, 10, 9, 11);    //步进电机 Pin
    
28. int step=0;
    
29. 
    
30. void setup() {
    
31. Serial.begin(9600);
    
32.   lcd.init();                  // 初始化LCD
    
33.   lcd.backlight();             //设置LCD背景等亮
    
34.   myservo0.attach(servo0);
    
35.   myservo1.attach(servo1);
    
36.   myservo2.attach(servo2);
    
37.   myservo3.attach(servo3);
    
38.   pos0=0;
    
39.   pos1=0;
    
40.   pos2=0;
    
41.   pos3=0;
    
42.   step0=0;
    
43.   bj=0;
    
44.   myStepper.setSpeed(60);
    
45.   updateServo();
    
46. }
    
47. void loop(){
    
48.   recv_data();
    
49.   show_data();
    
50.   updateServo();
    
51. }
    
52. void recv_data(){   //
    
53.   while(Serial.available()){
    
54.     data=Serial.read();
    
55.     if(data=='%'){
    
56.     pos0=Serial.read();
    
57.     delay(100);
    
58.     pos1=Serial.read();
    
59.     delay(100);
    
60.     pos2=Serial.read();
    
61.     delay(100);
    
62.     pos3=Serial.read();
    
63.     delay(100);
    
64.     step0=Serial.read();
    
65.     delay(100);
    
66.     bj=Serial.read();   
    
67.     delay(100);
    
68.     }
    
69.      mark = 1;
    
70.   }
    
71. }
    
72. void updateServo(){
    
73. if(mark == 1){
    
74. myservo0.write(pos0);
    
75. delay(1000);
    
76. myservo1.write(pos1);
    
77. delay(1000);
    
78. myservo2.write(pos2);
    
79. delay(1000);
    
80. myservo3.write(pos3);
    
81. delay(1000);
    
82. if(bj==1 && !temp==step0){
    
83. Stepper(step0);        //步进电机+转
    
84. delay(500);
    
85. temp=step0;
    
86. }
    
87. if(bj==0  && !temp==step0 ){
    
88. Stepper(-step0);       //步进电机-转
    
89. delay(500);
    
90. temp=step0;
    
91. }
    
92. mark = 0;
    
93. }
    
94. }
    
95. void show_data(){
    
96. lcd.setCursor(0,0);              
    
97. lcd.print("0=");     
    
98. lcd.setCursor(2,0);         
    
99. lcd.print(pos0);     
    
100. lcd.setCursor(5,0);            
     
101. lcd.print("1=");     
     
102. lcd.setCursor(7,0);              
     
103. lcd.print(pos1);     
     
104. lcd.setCursor(10,0);            
     
105. lcd.print("2=");     
     
106. lcd.setCursor(13,0);              
     
107. lcd.print(pos2);   
     
108. lcd.setCursor(0,1);        
     
109. lcd.print("3=");   
     
110. lcd.setCursor(2,1);         
     
111. lcd.print(pos3);     
     
112. lcd.setCursor(5,1);           
     
113. lcd.print("4=");     
     
114. lcd.setCursor(7,1);         
     
115. lcd.print(step0);     
     
116. }
     
117. //步进电机
     
118. void Stepper(int stepsPerRevolution) {
     
119. myStepper.step(stepsPerRevolution);
     
120. delay(500);
     
121. }
     
122. [b][b]Processing 代码:[/b][/b]
     
123. import processing.serial.*;
     
124. PFont font;
     
125. String ComX[] = null;
     
126. String SerialName = "COM1";
     
127. boolean serial;
     
128. int pos0=0;
     
129. int pos1=0;
     
130. int pos2=0;
     
131. int pos3=0;
     
132. int step0=0;
     
133. int value=10;
     
134. int value1=10;
     
135. String mesg1="";
     
136. String mesg2="";
     
137. String mesg3="";
     
138. String mesg4="";
     
139. String mesg5="";
     
140. String mesg="";
     
141. int bj=0;
     
142. void setup(){
     
143. size(800, 600);
     
144. ComX = myPort.list();
     
145. font = createFont("宋体.vlw",48);
     
146. textFont(font);
     
147. frameRate(30);
     
148. smooth();
     
149. printArray(ComX);
     
150. }
     
151. void draw(){
     
152. background(255);
     
153. drawWindows(20,50);
     
154. Serial_Handle(20,50);
     
155. CheckBoxHandle();
     
156. CheckBoxHandle_S();
     
157. }
     
158. void drawWindows(float x, float y){
     
159. 
     
160. drawForm(x,y);
     
161. 
     
162. if(button(x + 350, y + 450,"选串口")!= 0){
     
163. Serial_SetClick();
     
164. }
     
165. if(button(x + 500, y + 450,"发送指令") != 0){
     
166.   if(SerialName==null){
     
167.   }else{
     
168. send_data();
     
169.   }
     
170. }
     
171. if(button(x + 650, y + 450,"退  出") != 0){
     
172. exit();
     
173. }
     
174. }
     
175. 
     
176. //绘制主窗口
     
177. void drawForm(float x, float y){
     
178. strokeWeight(2);
     
179. textSize(18);
     
180. text("Processing-Arduino 四自由度机械臂操控", 200,23);
     
181. fill(0);
     
182. strokeWeight(1);
     
183. textSize(12);
     
184. text("( 探索软件制 @ CopyRight 2019 )", 560,25);
     
185. textSize(18);
     
186. strokeWeight(1);
     
187. fill(0);
     
188. textSize(18);
     
189. line(0,25,1000,36);
     
190. line(0,450,1000,450);
     
191. text("舵机-0",5,65);
     
192. text("舵机-1",5,110);
     
193. text("舵机-2",5,155);
     
194. text("舵机-3",5,200);
     
195. line(0,280,1000,280);
     
196. text("步电-0",5,320);
     
197. text("POS0=",350,65);
     
198. text(int(pos0),420,65);
     
199. text("POS1=",350,110);
     
200. text(int(pos1),420,110);
     
201. text("POS2=",350,155);
     
202. text(int(pos2),420,155);
     
203. text("POS3=",350,200);
     
204. text(int(pos3),420,200);
     
205. text("Step0=",350,320);
     
206. text(int(step0),420,320);
     
207. mesg="POS0="+pos0+","+"POS1="+pos1+","+"POS2="+pos2+","+"POS3="+pos3+","+"step0="+step0+","+"bj="+bj;
     
208. fill(237,28,36);
     
209. text(mesg1,280,65);
     
210. text(mesg2,280,110);
     
211. text(mesg3,280,155);
     
212. text(mesg4,280,200);
     
213. text(mesg5,280,320);
     
214. textSize(16);
     
215. strokeWeight(2);
     
216. fill(0);
     
217. text("向Arduino发送数据:",50,580);
     
218. text(mesg,200,580);
     
219. text("角度增量选择=", 20, 260);
     
220. text(value, 125, 260);
     
221. text("度", 145, 260);
     
222. text("步数增量选择=", 20, 370);
     
223. text(value1, 125, 370);
     
224. text("步", 150, 370);
     
225. text("当前串口=", 20, 420);
     
226. text(SerialName + "    9600bps", 100,420);
     
227. 
     
228. if(button(60, 45,"向前") != 0){
     
229. mesg1="向前进";
     
230. pos0=pos0+value;
     
231. pos0=constrain(pos0,0,180);
     
232. }
     
233. if(button(165, 45,"向后") != 0){
     
234. mesg1="向后进";
     
235. pos0=pos0-value;
     
236. pos0=constrain(pos0,0,180);
     
237. }
     
238. if(button(545, 45,"归零") != 0){
     
239. mesg1="归零";
     
240. pos0=0;
     
241. pos0=constrain(pos0,0,180);
     
242. }
     
243. if(button(60, 90,"向前") != 0){
     
244. mesg2="向前进";
     
245. pos1=pos1+value;
     
246. pos1=constrain(pos1,0,180);
     
247. }
     
248. if(button(165, 90,"向后") != 0){
     
249. mesg2="向后进";
     
250. pos1=pos1-value;
     
251. pos1=constrain(pos1,0,180);
     
252. }
     
253. if(button(545, 90,"归零") != 0){
     
254. mesg2="归零";
     
255. pos1=0;
     
256. pos1=constrain(pos1,0,180);
     
257. }
     
258. if(button(60, 135,"向前") != 0){
     
259. mesg3="向前进";
     
260. pos2=pos2+value;
     
261. pos2=constrain(pos2,0,180);
     
262. }
     
263. if(button(165, 135,"向后") != 0){
     
264. mesg3="向后进";
     
265. pos2=pos2-value;
     
266. pos2=constrain(pos2,0,180);
     
267. }
     
268. if(button(545, 135,"归零") != 0){
     
269. mesg3="归零";
     
270. pos2=0;
     
271. pos2=constrain(pos2,0,180);
     
272. }
     
273. if(button(60, 180,"向前") != 0){
     
274. mesg4="向前进";
     
275. pos3=pos3+value;
     
276. pos3=constrain(pos3,0,180);
     
277. //send_data();
     
278. }
     
279. if(button(165, 180,"向后") != 0){
     
280. mesg4="向后进";
     
281. pos3=pos3-value;
     
282. pos3=constrain(pos3,0,180);
     
283. }
     
284. if(button(545, 180,"归零") != 0){
     
285. mesg4="归零";
     
286. pos3=0;
     
287. pos3=constrain(pos3,0,180);
     
288. }
     
289. 
     
290. if(button(60, 300,"向前") != 0){
     
291. mesg5="向前进";
     
292. step0=step0+value1;
     
293. step0=constrain(step0,0,360);
     
294. bj=1;
     
295. }
     
296. if(button(165, 300,"向后") != 0){
     
297. mesg5="向后进";
     
298. step0=step0-value1;
     
299. step0=constrain(step0,0,360);
     
300. bj=0;
     
301. }
     
302. if(button(545, 300,"归零") != 0){
     
303. mesg5="归零";
     
304. step0=0;
     
305. step0=constrain(step0,0,360);
     
306. bj=0;
     
307. }
     
308. }
     
309. byte button(float x , float y , String str){
     
310. byte ret = 0;
     
311. //fill(0,255,0);
     
312. fill(0,0,0);
     
313. strokeWeight(2);
     
314. //stroke(255,255,0);
     
315. if((mouseX > x) && (mouseY > y) && (mouseX < (x + 100) ) &&(mouseY < (y + 30))){
     
316. fill(128,255,255);
     
317. if (mousePressedFlag && (mouseButton == LEFT)) {
     
318. mousePressedFlag = false;
     
319. fill(0,128,128);
     
320. ret = 1;
     
321. }
     
322. }
     
323. rect(x,y, 100, 30);
     
324. fill(255,255,255);
     
325. textSize(16);
     
326. text(str, x + 24, y + 22);
     
327. return ret;
     
328. }
     
329. 
     
330. //舵机角度选择
     
331. boolean X_checkBox = true;
     
332. boolean Y_checkBox = false;
     
333. boolean Z_checkBox = false;
     
334. boolean A_checkBox = false;
     
335. boolean B_checkBox = false;
     
336. boolean C_checkBox = false;
     
337. boolean D_checkBox = false;
     
338. boolean E_checkBox = false;
     
339. 
     
340. void CheckBoxHandle(){
     
341. if(CheckBox(240,245,X_checkBox, "10")== 1){
     
342. X_checkBox = (X_checkBox == false) ? true: false;
     
343. value=10;
     
344. }
     
345. if(CheckBox(300,245,Y_checkBox, "20") == 1){
     
346. Y_checkBox = (Y_checkBox == false) ? true: false;
     
347. value=20;
     
348. }
     
349. if(CheckBox(360,245, Z_checkBox, "30") == 1){
     
350. Z_checkBox = (Z_checkBox == false) ? true: false;
     
351. value=30;
     
352. }
     
353. if(CheckBox(420,245, A_checkBox, "40") == 1){
     
354. A_checkBox = (A_checkBox == false) ? true: false;
     
355. value=40;
     
356. }
     
357. if(CheckBox(480,245, B_checkBox, "50") == 1){
     
358. B_checkBox = (B_checkBox == false) ? true: false;
     
359. value=50;
     
360. }
     
361. if(CheckBox(540,245, C_checkBox, "60") == 1){
     
362. C_checkBox = (C_checkBox == false) ? true: false;
     
363. value=60;
     
364. }
     
365. if(CheckBox(600,245, D_checkBox, "70") == 1){
     
366. D_checkBox = (D_checkBox == false) ? true: false;
     
367. value=70;
     
368. }
     
369. if(CheckBox(660,245, E_checkBox, "80") == 1){
     
370. E_checkBox = (E_checkBox == false) ? true: false;
     
371. value=80;
     
372. }
     
373. }
     
374. boolean checkBox_GetXFlag(){
     
375. return X_checkBox;
     
376. }
     
377. boolean checkBox_GetYFlag(){
     
378. return Y_checkBox;
     
379. }
     
380. boolean checkBox_GetZFlag(){
     
381. return Z_checkBox;
     
382. }
     
383. boolean checkBox_GetAFlag(){
     
384. return A_checkBox;
     
385. }
     
386. boolean checkBox_GetBFlag(){
     
387. return B_checkBox;
     
388. }
     
389. boolean checkBox_GetCFlag(){
     
390. return C_checkBox;
     
391. }
     
392. boolean checkBox_GetDFlag(){
     
393. return D_checkBox;
     
394. }
     
395. boolean checkBox_GetEFlag(){
     
396. return E_checkBox;
     
397. }
     
398. 
     
399. 
     
400. byte CheckBox(float x, float y, boolean sL, String str){
     
401. noFill();
     
402. //stroke(255,255,0);
     
403. if(sL){
     
404. fill(0,255,0);
     
405. }
     
406. rect(x, y, 20, 20);
     
407. textSize(16);
     
408. fill(0);
     
409. strokeWeight(2);
     
410. text(str, x + 30, y + 20);
     
411. if((mouseX > x) && (mouseY > y) && (mouseX < (x + 20) ) &&(mouseY < (y + 20))){
     
412. if (mousePressedFlag && (mouseButton == LEFT)) {
     
413. mousePressedFlag = false;
     
414. return 1;
     
415. }
     
416. }
     
417. return 0;
     
418. }
     
419. //步进电机步数选择
     
420. boolean S1_checkBox = true;
     
421. boolean S2_checkBox = false;
     
422. boolean S3_checkBox = false;
     
423. boolean S4_checkBox = false;
     
424. boolean S5_checkBox = false;
     
425. boolean S6_checkBox = false;
     
426. boolean S7_checkBox = false;
     
427. boolean S8_checkBox = false;
     
428. void CheckBoxHandle_S(){
     
429. if(CheckBox_S(240,350,S1_checkBox, "10")== 1){
     
430. S1_checkBox = (S1_checkBox == false) ? true: false;
     
431. value1=10;
     
432. }
     
433. if(CheckBox_S(300,350,S2_checkBox, "20") == 1){
     
434. S2_checkBox = (S2_checkBox == false) ? true: false;
     
435. value1=20;
     
436. }
     
437. if(CheckBox_S(360,350, S3_checkBox, "30") == 1){
     
438. S3_checkBox = (S3_checkBox == false) ? true: false;
     
439. value1=30;
     
440. }
     
441. if(CheckBox_S(420,350, S4_checkBox, "40") == 1){
     
442. S4_checkBox = (S4_checkBox == false) ? true: false;
     
443. value1=40;
     
444. }
     
445. if(CheckBox_S(480,350, S5_checkBox, "50") == 1){
     
446. S5_checkBox = (S5_checkBox == false) ? true: false;
     
447. value1=50;
     
448. }
     
449. if(CheckBox_S(540,350, S6_checkBox, "60") == 1){
     
450. S6_checkBox = (S6_checkBox == false) ? true: false;
     
451. value1=60;
     
452. }
     
453. if(CheckBox_S(600,350, S7_checkBox, "70") == 1){
     
454. S7_checkBox = (S7_checkBox == false) ? true: false;
     
455. value1=70;
     
456. }
     
457. if(CheckBox_S(660,350, S8_checkBox, "80") == 1){
     
458. S8_checkBox = (S8_checkBox == false) ? true: false;
     
459. value1=80;
     
460. }
     
461. }
     
462. boolean checkBox_GetS1Flag(){
     
463. return S1_checkBox;
     
464. }
     
465. boolean checkBox_GetS2Flag(){
     
466. return S2_checkBox;
     
467. }
     
468. boolean checkBox_GetS3Flag(){
     
469. return S3_checkBox;
     
470. }
     
471. boolean checkBox_GetS4Flag(){
     
472. return S4_checkBox;
     
473. }
     
474. boolean checkBox_GetS5Flag(){
     
475. return S5_checkBox;
     
476. }
     
477. boolean checkBox_GetS6Flag(){
     
478. return S6_checkBox;
     
479. }
     
480. boolean checkBox_GetS7Flag(){
     
481. return S7_checkBox;
     
482. }
     
483. boolean checkBox_GetS8Flag(){
     
484. return S8_checkBox;
     
485. }
     
486. byte CheckBox_S(float x, float y, boolean sL, String str){
     
487. noFill();
     
488. //stroke(255,255,0);
     
489. if(sL){
     
490. fill(0,255,0);
     
491. }
     
492. rect(x, y, 20, 20);
     
493. textSize(16);
     
494. fill(0);
     
495. strokeWeight(2);
     
496. text(str, x + 30, y + 20);
     
497. if((mouseX > x) && (mouseY > y) && (mouseX < (x + 20) ) &&(mouseY < (y + 20))){
     
498. if (mousePressedFlag && (mouseButton == LEFT)) {
     
499. mousePressedFlag = false;
     
500. return 1;
     
501. }
     
502. }
     
503. return 0;
     
504. }
     
505. int name = 0;
     
506. String strName = String.valueOf(name);
     
507. byte click = 0;
     
508. byte comNum = 0;
     
509. byte Serial_StopFlag = 0;
     
510. boolean Serial_OpenFlag = false;
     
511. boolean Serial_DatareadFlag = false;
     
512. byte[] Serial_buffer = new byte[6];
     
513. Serial myPort;
     
514. String strSerial = "com1";
     
515. boolean Serial_GetdataFlag = false;
     
516. String[] strComBuff = new String[4];
     
517. 
     
518. 
     
519. void Serial_Handle(float x, float y){
     
520. if(click != 0){
     
521. comNum = 0;
     
522. Serial_DrawComX(20, 50);
     
523. }
     
524. else{
     
525. textSize(12);
     
526. //fill(255);
     
527. fill(0);
     
528. }
     
529. Serial_GetdataFromCom();
     
530. }
     
531. 
     
532. void Serial_DrawComX(float x, float y){
     
533. int i = 0;
     
534. int len = ComX.length;
     
535. textSize(12);
     
536. while(i < len){
     
537. if(comNum != 0){//选择了端口
     
538. break;
     
539. }
     
540. Serial_DrawCom(x + 350, y + 480 + i * 30, ComX[i]);
     
541. i++;
     
542. }
     
543. }
     
544. void Serial_DrawCom(float x, float y, String str){
     
545. fill(255);
     
546. //noStroke();
     
547. rect(x, y, 101, 30);
     
548. if(mouseX > x && mouseY > y && mouseX < x + 100 && mouseY < y + 30){
     
549. fill(175,183,203);
     
550. rect(x,y, 101, 30);
     
551. if (mousePressed && (mouseButton == LEFT)) { //按键按下
     
552. if(str.equals("COM1") == true){
     
553. comNum = 1;
     
554. }
     
555. else if(str.equals("COM2") == true){
     
556. comNum = 1;
     
557. }
     
558. else if(str.equals("COM3") == true){
     
559. comNum = 1;
     
560. }
     
561. else if(str.equals("COM4") == true){
     
562. comNum = 1;
     
563. }
     
564. else if(str.equals("COM5") == true){
     
565. comNum = 1;
     
566. }
     
567. else if(str.equals("COM6") == true){
     
568. comNum = 1;
     
569. }
     
570. else if(str.equals("COM7") == true){
     
571. comNum = 1;
     
572. }
     
573. else if(str.equals("COM8") == true){
     
574. comNum = 1;
     
575. }
     
576. else if(str.equals("COM9") == true){
     
577. comNum = 1;
     
578. }
     
579. if(str.equals(SerialName) != true){
     
580. SerialName = str;
     
581. if(comNum != 0){
     
582. click = 0;
     
583. if(Serial_StopFlag != 0){
     
584. myPort.stop();//停止上一个串口
     
585. }
     
586. myPort =new Serial(this,SerialName,9600 );
     
587. myPort.bufferUntil(10);
     
588. Serial_StopFlag = 1;
     
589. Serial_OpenFlag = true;
     
590. }
     
591. }
     
592. click = 0;
     
593. }
     
594. }
     
595. fill(0,0,255);
     
596. text(str,x + 10, y + 25);
     
597. }
     
598. 
     
599. void Serial_SetClick(){
     
600. click = 1;
     
601. }
     
602. void Serial_GetdataFromCom(){
     
603. if(Serial_OpenFlag != true){
     
604. strComBuff[0] = " ";
     
605. strComBuff[1] = " ";
     
606. strComBuff[2] = " ";
     
607. return;
     
608. }
     
609. if(myPort.available() > 0){
     
610. Serial_GetdataFlag = true;
     
611. strSerial = myPort.readString();
     
612. strComBuff = strSerial.split(",");
     
613. }
     
614. }
     
615. 
     
616. float Serial_String2float(String str){
     
617. float a = 0;
     
618. a = float(str)*150;
     
619. return a;
     
620. }
     
621. 
     
622. boolean Serial_GetdataFlag(){
     
623. return Serial_GetdataFlag;
     
624. }
     
625. 
     
626. boolean Serial_GetComOpenFlag(){
     
627. return Serial_OpenFlag;
     
628. }
     
629. 
     
630. void serialEvent(Serial p) {
     
631. Serial_GetdataFlag = true;
     
632. strSerial = p.readString();
     
633. strComBuff = strSerial.split(",");
     
634. }
     
635. 
     
636. //send data to Arduino
     
637. void send_data(){
     
638. print("pos0=");
     
639. print(pos0);
     
640. print(',');
     
641. print("pos1=");
     
642. print(pos1);
     
643. print(',');
     
644. print("pos2=");
     
645. print(pos2);
     
646. print(',');
     
647. print("pos3=");
     
648. print(pos3);
     
649. print(',');
     
650. print("step0=");
     
651. print(step0);
     
652. print(',');
     
653. print("bj=");
     
654. println(bj);
     
655. myPort.write('%');
     
656. myPort.write(int(pos0));
     
657. myPort.write(int(pos1));
     
658. myPort.write(int(pos2));
     
659. myPort.write(int(pos3));
     
660. myPort.write(int(step0));
     
661. myPort.write(int(bj));
     
662. serial=false;
     
663. }
     
664. 
     
665. boolean mousePressedFlag = false;
     
666. void mousePressed() {
     
667. mousePressedFlag = true;
     
668. }
     
669. boolean SaveFlag = false;

复制代码