创意之星模块化机器人实验程序.doc

“创意之星”模块化机器人程序代码 学生姓名： 学院： 学号： 第一次实验：MultiFLEX控制卡编程实验蜂鸣器实验#include #define BEEP_ON PORTG |= _BV(PG3)#define BEEP_OFF PORTG &= _BV(PG3)int main(void)inti,j;PORTG = 0;DDRG = 0xff;while(1)for(i=0;i0xFF;i+)for(j=0;j0xFF;j+);BEEP_ON;for(i=0;i0xFF;i+)for(j=0;j8);temp8=(io_in&0x80);if(temp8=0)io_out=0x01;while(io_out)write_gpio(uint16)io_out);delay(5);/延时520MS=0.1sio_out=1;write_gpio(uint16)io_out);delay(5);else write_gpio(0xFF00);第二次实验：多自由度串联式机械手#includePublic.h#include Usertask.hvoiduser_task(void)uint8array_rc23=0;/舵机控制数组长度为24，可控制12路舵机，舵机运动函数要求array_rc偶数为舵机目标角度值，array_rc奇数为舵机运动速度值array_rc0=90;/舵机1，中位为0度（对应数值90），目标角度+20度。取值范围0-180，超过此范围程序会丢弃此数据array_rc1=170;/舵机1，速度为170。取值范围0-255，超过范围程序会丢弃此数据array_rc2=90;/舵机2目标角度设置array_rc3=170;/舵机2转动速度设置array_rc4=90+90;/舵机3array_rc5=170;rc_moto_control(array_rc);/将舵机运动信息交给舵机运动函数，实现舵机运动delay(50);/延时50*20MS= 1S,给舵机提供反应时间，此反应时间应大于舵机实际运动所需时间array_rc0=90-90;array_rc1=170;array_rc2=90-90;array_rc3=170;array_rc4=90+90;array_rc5=170;rc_moto_control(array_rc);delay(50);array_rc0=90;array_rc1=170;array_rc2=90;array_rc3=170;array_rc4=90;array_rc5=170;rc_moto_control(array_rc);delay(50);array_rc0=90-90;array_rc1=170;array_rc2=90-90;array_rc3=170;array_rc4=90;array_rc5=170;rc_moto_control(array_rc);delay(50);第三次实验：简易四足机器人#includePublic.h#include Usertask.hvoiduser_task(void)uint8array_rc23=0;/舵机控制数组长度为24，可控制12路舵机，舵机运动函数要求array_rc偶数为舵机目标角度值，array_rc奇数为舵机运动速度值array_rc0=90+45;/舵机1，中位为0度（对应数值90），目标角度+20度。取值范围0-180，超过此范围程序会丢弃此数据array_rc1=255;/舵机1，速度为170。取值范围0-255，超过范围程序会丢弃此数据array_rc2=90-45;/舵机2目标角度设置array_rc3=255;/舵机2转动速度设置array_rc4=90-45;/舵机3array_rc5=255;array_rc6=90+45;/舵机4array_rc7=255;rc_moto_control(array_rc);/将舵机运动信息交给舵机运动函数，实现舵机运动delay(50);/延时50*20MS= 1S,给舵机提供反应时间，此反应时间应大于舵机实际运动所需时间array_rc0=90;array_rc1=255;array_rc2=90;array_rc3=255;array_rc4=90;array_rc5=255;array_rc6=90;array_rc7=255;rc_moto_control(array_rc);delay(50);第四次实验：轮式机器人运动控制实验走正方形：#includePublic.h#include Usertask.hvoiduser_task(void)uint8array_dc7=0;/电机控制数组长度为8，可控制4路舵机，电机运动函数要求array_dc偶数为电机转动速度，array_rc奇数为电机转动时间array_dc0 = 0;/电机1,正转最大速度（0为正转最大转速，0xFE=254为反转最大转速，0x80=128代表电机停止）。范围为0-254，超过此范围程序会丢弃此数据array_dc1 = 10;/电机1，转动时间300.1=3秒。范围为0-255，超过此范围程序会丢弃此数据array_dc2 = 0;/电机2，反转最大速度array_dc3 = 10;array_dc4 = 0;/电机3，正转最大速度array_dc5 = 10;array_dc6 = 0;/电机4，反转最大速度array_dc7 = 10;dc_moto_control(array_dc);/调用直流电机运动控制函数dc_moto_control()，参数为电机控制数组名delay(150);/给电机反应时间15020MS=3s，此反应时间应不小于电机实际运动时间array_dc0 = 0;array_dc1 = 60;array_dc2 = 0xFE;array_dc3 = 60;array_dc4 = 0xFE;array_dc5 = 60;array_dc6 = 0;array_dc7 = 60;dc_moto_control(array_dc);delay(150);走“8”字形：#includePublic.h#include Usertask.hvoiduser_task(void)uint8array_dc7=0;/电机控制数组长度为8，可控制4路舵机，电机运动函数要求array_dc偶数为电机转动速度，array_rc奇数为电机转动时间uint8i;for (i=0;i 3;i+)array_dc0 = 0;array_dc1 = 60;array_dc2 = 0xFE;array_dc3 = 60;array_dc4 = 0xFE;array_dc5 = 60;array_dc6 = 0;array_dc7 = 60;dc_moto_control(array_dc);delay(150);array_dc0 = 0;array_dc1 = 10;array_dc2 = 0;array_dc3 = 10;array_dc4 = 0; array_dc5 = 10;array_dc6 = 0;array_dc7 = 10;dc_moto_control(array_dc);delay(150);/给电机反应时间15020MS=3s，此反应时间应不小于电机实际运动时间array_dc0 = 0;array_dc1 = 60;array_dc2 = 0xFE;array_dc3 = 60;array_dc4 = 0xFE;array_dc5 = 60;array_dc6 = 0;array_dc7 = 60;dc_moto_control(array_dc);delay(150);array_dc0 = 0xFE;array_dc1 = 10;array_dc2 = 0xFE;array_dc3 = 10;array_dc4 = 0xFE; array_dc5 = 10;array_dc6 = 0xFE;array_dc7 = 10;dc_moto_control(array_dc);delay(150);for (i=0;i 3;i+)array_dc0 = 0;array_dc1 = 60;array_dc2 = 0xFE;array_dc3 = 60;array_dc4 = 0xFE;array_dc5 = 60;array_dc6 = 0;array_dc7 = 60;dc_moto_control(array_dc);delay(150);array_dc0 = 0xFE;array_dc1 = 10;array_dc2 = 0xFE;array_dc3 = 10;array_dc4 = 0xFE;array_dc5 = 10;array_dc6 = 0xFE;array_dc7 = 10;dc_moto_control(array_dc);delay(150); array_dc0 = 0;array_dc1 = 60;array_dc2 = 0xFE;array_dc3 = 60;array_dc4 = 0xFE;array_dc5 = 60;array_dc6 = 0;array_dc7 = 60;dc_moto_control(array_dc);delay(150);array_dc0 = 0;array_dc1 = 10;array_dc2 = 0;array_dc3 = 10;array_dc4 = 0; array_dc5 = 10;array_dc6 = 0;array_dc7 = 10;dc_moto_control(array_dc);delay(150);第五次实验：机器人传感系统实验实验程序1：#includePublic.h#include Usertask.hvoiduser_task(void)uint8AD0_in; uint8rc_array23=0;uint16 temp;uint8i;for(i=0; i1) i=0;实验程序3：#includePublic.h#include Usertask.hvoiduser_task(void)uint8AD0_in,AD1_in,AD2_in,AD3_in; uint8rc_array23=0;while(1)ADC_Read(0,&AD0_in);ADC_Read(1,&AD1_in);ADC_Read(2,&AD2_in);ADC_Read(3,&AD3_in);rc_array0=(uint8)(uint16)AD0_in*180)/255; rc_array1=100;rc_array2=(uint8)(uint16)AD1_in*180)/255; rc_array3=100;rc_array4=(uint8)(uint16)AD2_in*180)/255; rc_array5=100;rc_array6=(uint8)(uint16)AD3_in*180)/255; rc_array7=100;rc_moto_control(rc_array);delay(25); 第六次实验：自主避障机器人实验#includepublic.h#include Usertask.hvoiduser_task(void)uint8array_dc7=0;/电机控制数组，格式参考实验指导书uint8array_rc23=0;/舵机控制数组，格式参考实验指导书uint16temp16;gpio_mode_set(0);/设置16位IO模式全为输入temp16 = read_gpio();/读取16位IO信息至temp16if(temp16 & 0x0003)=3)/IO0、1均为高电平时（红外传感器检测到没有障碍时为输出高）电机转动5秒array_dc0 = 0;/电机1,正转最大速度（0为正转最大转速，0xFE=254为反转最大转速，0x80=128代表电机停止）。范围为0-254，超过此范围程序会丢弃此数据array_dc1 = 50;/电机1，500.1秒转动时间。范围为0-255，超过此范围程序会丢弃此数据array_dc2 = 0xFE;/电机2array_dc3 = 50;array_dc4 = 0;/电机3array_dc5 = 50;array_dc6 = 0xFE;/电机4array_dc7 = 50;dc_moto_control(array_dc);else if(temp16&0x0003)=2)|(temp16&0x0003)=0)/IO0为低电平（右红外传感器检测到障碍）或者IO0、IO1均为低电平（两个传感器都检测到障碍）电机左转,蜂鸣器发声beep_set(5);/蜂鸣器发声0.5秒/以最高速度后退array_dc0 = 0xFE;array_dc1 = 5;/0.5秒array_dc2 = 0;array_dc3 = 5;array_dc4 = 0xFE;array_dc5 = 5;array_dc6 = 0;array_dc7 = 5;dc_moto_control(array_dc);delay(30);/给电机反应时间3020MS=0.6s，此反应时间应大于电机实际运动时间/机器人转向array_rc0=90-20;/舵机1，中位为0度（对应数值90），目标角度+20度。取值范围0-180，超过此范围程序会丢弃此数据array_rc1=170;/舵机1，速度为170。取值范围0-255，超过此范围程序会丢弃此数据array_rc2=90+20;/舵机2目标角度设置array_rc3=170;/舵机2转动速度设置array_rc4=90+20;/舵机3array_rc5=170;array_rc6=90-20;/舵机4array_rc7=170;rc_moto_control(array_rc); delay(50);/延时50*20MS= 1S,给舵机提供反应时间，此反应时间应大于舵机实际运动所需时间array_dc0 = 254;/电机速度为+55array_dc1 = 10;array_dc2 = 254;array_dc3 = 10;array_dc4 = 254;array_dc5 = 10;array_dc6 = 254;array_dc7 = 10;dc_moto_control(array_dc);delay(50);/延时50*20MS= 1S/机器人恢复直线运动array_rc0=90;array_rc1=170;array_rc2=90;array_rc3=170;array_rc4=90;array_rc5=170;array_rc6=90;array_rc7=170;rc_moto_control(array_rc);delay(50);/延时50*20MS= 1S,给舵机提供反应时间，此反应时间应大于舵机实际运动所需时间else/GPIO0低电平（右侧红外传感器检测到障碍）电机左转,蜂鸣器发声beep_set(5);/蜂鸣器发声0.5秒array_dc0 = 0xFE;/后退0.5秒array_dc1 = 5;array_dc2 = 0;array_dc3 = 5;array_dc4 = 0xFE;array_dc5 = 5;array_dc6 = 0;array_dc7 = 5;dc_moto_control(array_dc);delay(30);/给电机反应时间3020MS=0.6sarray_rc0=90-20;/舵机1，中位为0度（对应数值90），目标角度+20度。取值范围0-180，超过此范围程序会丢弃此数据array_rc1=170;/舵机1，速度为170。取值范围0-255，超过此范围程序会丢弃此数据array_rc2=90+20;/舵机2目标角度设置array_rc3=170;/舵机2转动速度设置array_rc4=90+20;/舵机3array_rc5=170;array_rc6=90-20;/舵机4array_rc7=170;rc_moto_control(array_rc); delay(50);/延时50*20MS= 1S,给舵机提供反应时间，此反应时间应大于舵机实际运动所需时间array_dc0 = 0;/电机速度为+55array_dc1 = 10;array_dc2 = 0;array_dc3 = 10;array_dc4 = 0;array_dc5 = 10;array_dc6 = 0;array_dc7 = 11;dc_moto_control(array_dc);delay(50);/延时50*20MS= 1Sarray_rc0=90;array_rc1=170;array_rc2=90;array_rc3=170;array_rc4=90;array_rc5=170;array_rc6=90;array_rc7=170;rc_moto_control(array_rc);/机器人转向delay(50);/延时50*20MS= 1S,给舵机提供反应时间，此反应时间应大于舵机实际运动所需时间第七次实验：追光的机器爬虫#includepublic.h#include Usertask.huint8move_on_flag=0; void move_on1(void) uint8 rc_array1024=0xAD,0x67,0x5A,0x67,0x11,0xDC,0x5C,0xD9,0xAD,0x67,0x67,0x67,0x0A,0x67,0x60,0x67,0xAD,0x67,0x50,0x67,0x11,0x67,0x66,0x67,0xAD,0x67,0x5D,0x67,0x0A,0x67,0x6A,0x67,0x5A ,0x80,0xAD ,0x67 ,0x4B ,0x67 ,0x11 ,0x67 ,0x6B ,0x67 ,0x8F ,0xDC ,0x71 ,0xD9 ,0x0A ,0x67 ,0x6F ,0x67 ,0xAD ,0x67 ,0x46 ,0x67 ,0x11 ,0x67 ,0x70 ,0x67 ,0xAD ,0xDC ,0x85 ,0xD9 ,0x0A ,0x67 ,0x74 ,0x67 ,0x8F ,0xDC ,0x5A ,0xD9 ,0x11 ,0x67 ,0x75 ,0x67 ,0xAD ,0x67 ,0x80 ,0x67 ,0x0A ,0x67 ,0x79 ,0x67,0xAD ,0xDC ,0x6E ,0xD9 ,0x11 ,0x67 ,0x7A ,0x67 ,0xAD ,0x67 ,0x7B ,0x67 ,0x0A ,0x67 ,0x7E ,0x67,0xAD ,0x67 ,0x69 ,0x67 ,0x11 ,0x67 ,0x7F ,0x67 ,0xAD ,0x67 ,0x76 ,0x67 ,0x28 ,0xDC ,0x6A ,0xD9,0xAD ,0x67 ,0x64 ,0x67 ,0x11 ,0x67 ,0x84 ,0x67 ,0xAD ,0x67 ,0x71 ,0x67 ,0x0A ,0xDC ,0x56 ,0xD9,0xAD ,0x67 ,0x5F ,0x67 ,0x2F ,0xDC ,0x70 ,0xD9 ,0xAD ,0x67 ,0x6C ,0x67 ,0x0A ,0x67 ,0x5B ,0x67,0xAD ,0x67 ,0x5A ,0x67 ,0x11 ,0xDC ,0x5C ,0xD9 ,0xAD ,0x67 ,0x67 ,0x67 ,0x0A ,0x67 ,0x60 ,0x67;uint8i;for(i=0;i10;i+)rc_moto_control(rc_arrayi);delay(6);void move_on2(void) uint8 rc_array1024=0xAD ,0x67 ,0x5A ,0x67 ,0x11 ,0xDC ,0x5C ,0xD9 ,0xAD ,0x67 ,0x67 ,0x67 ,0x0A ,0x67 ,0x60 ,0x67,0xAD ,0x67 ,0x50 ,0x67 ,0x11 ,0x67 ,0x66 ,0x67 ,0xAD ,0x67 ,0x5D ,0x67 ,0x0A ,0x67 ,0x6A ,0x67,0xAD ,0x67 ,0x4B ,0x67 ,0x11 ,0x67 ,0x6B ,0x67 ,0xAD ,0x67 ,0x58 ,0x67 ,0x28 ,0xDC ,0x56 ,0xD9,0xAD ,0x67 ,0x46 ,0x67 ,0x11 ,0x67 ,0x70 ,0x67 ,0xAD ,0x67 ,0x53 ,0x67 ,0x0A ,0xDC ,0x42 ,0xD9,0xAD ,0x67 ,0x41 ,0x67 ,0x2F ,0xDC ,0x5C ,0xD9 ,0xAD ,0x67 ,0x4E ,0x67 ,0x0A ,0x67 ,0x47 ,0x67,0xAD ,0x67 ,0x3C ,0x67 ,0x11 ,0xDC ,0x48 ,0xD9 ,0xAD ,0x67 ,0x49 ,0x67 ,0x0A ,0x67 ,0x4C ,0x67,0xAD ,0x67 ,0x37 ,0x67 ,0x11 ,0x67 ,0x4D ,0x67 ,0x8F ,0xDC ,0x5D ,0xD9 ,0x0A ,0x67 ,0x51 ,0x67,0xAD ,0x67 ,0x32 ,0x67 ,0x11 ,0x67 ,0x52 ,0x67 ,0xAD ,0xDC ,0x71 ,0xD9 ,0x0A ,0x67 ,0x56 ,0x67,0x8F ,0xDC ,0x46 ,0xD9 ,0x11 ,0x67 ,0x57 ,0x67 ,0xAD ,0x67 ,0x6C ,0x67 ,0x0A ,0x67 ,0x5B ,0x67,0xAD ,0xDC ,0x5A ,0xD9 ,0x11 ,0x67 ,0x5C ,0x67 ,0xAD ,0x67 ,0x67 ,0x67 ,0x0A ,0x67 ,0x60 ,0x67;uint8i;for(i=0;i1) move_on_flag=0; voidturn_left(void) uint8 rc_array1024=0xAD ,0xDC ,0x5A ,0xD9 ,0x11 ,0x67 ,0x5C ,0x67 ,0xAD ,0x67 ,0x67 ,0x67 ,0x0A ,0x67 ,0x60 ,0x67,0xAD ,0x67 ,0x64 ,0x67 ,0x11 ,0x67 ,0x66 ,0x67 ,0xAD ,0x67 ,0x71 ,0x67 ,0x0A ,0x67 ,0x6A ,0x67,0xAD ,0x67 ,0x69 ,0x67 ,0x11 ,0x67 ,0x6B ,0x67 ,0xAD ,0x67 ,0x76 ,0x67 ,0x28 ,0xDC ,0x56 ,0xD9,0xAD ,0x67 ,0x6E ,0x67 ,0x11 ,0x67 ,0x70 ,0x67 ,0xAD ,0x67 ,0x7B ,0x67 ,0x0A ,0xDC ,0x42 ,0xD9,0xAD ,0x67 ,0x73 ,0x67 ,0x2F ,0xDC ,0x5C ,0xD9 ,0xAD ,0x67 ,0x80 ,0x67 ,0x0A ,0x67 ,0x47 ,0x67,0xAD ,0x67 ,0x78 ,0x67 ,0x11 ,0xDC ,0x48 ,0xD9 ,0xAD ,0x67 ,0x85 ,0x67 ,0x0A ,0x67 ,0x4C ,0x67,0xAD ,0x67 ,0x7D ,0x67 ,0x11 ,0x67 ,0x4D ,0x67 ,0x8F ,0xDC ,0x71 ,0xD9 ,0x0A ,0x67 ,0x51 ,0x67,0xAD ,0x67 ,0x82 ,0x67 ,0x11 ,0x67 ,0x52 ,0x67 ,0xAD ,0xDC ,0x5D ,0xD9 ,0x0A ,0x67 ,0x56 ,0x67,0x8F ,0xDC ,0x6E ,0xD9 ,0x11 ,0x67 ,0x57 ,0x67 ,0xAD ,0x67 ,0x62 ,0x67 ,0x0A ,0x67 ,0x5B ,0x67,0xAD ,0xDC ,0x5A ,0xD9 ,0x11 ,0x67 ,0x5C ,0x67 ,0xAD ,0x67 ,0x67 ,0x67 ,0x0A ,0x67 ,0x60 ,0x67;delay(10);uint8i;for(i=0;i10;i+)rc_moto_control(rc_arrayi);delay(6);voidturn_right(void) uint8 rc_array1024=0xAD ,0x67 ,0x5A ,0x67 ,0x11 ,0xDC ,0x5C ,0xD9 ,0xAD ,0x67 ,0x67 ,0x67 ,0x0A ,0x67 ,0x60 ,0x67,0xAD ,0x67 ,0x50 ,0x67 ,0x11 ,0x67 ,0x52 ,0x67 ,0xAD ,0x67 ,0x5D ,0x67 ,0x0A ,0x67 ,0x56 ,0x67,0xAD ,0x67 ,0x4B ,0x67 ,0x11 ,0x67 ,0x4D ,0x67 ,0x8F ,0xDC ,0x71 ,0xD9 ,0x0A ,0x67 ,0x51 ,0x67,0xAD ,0x67 ,0x46 ,0x67 ,0x11 ,0x67 ,0x48 ,0x67 ,0xAD ,0xDC ,0x85 ,0xD9 ,0x0A ,0x67 ,0x4C ,0x67,0x8F ,0xDC ,0x5A ,0xD9 ,0x11 ,0x67 ,0x43 ,0x67 ,0xAD ,0x67 ,0x80 ,0x67 ,0x0A ,0x67 ,0x47 ,0x67,0xAD ,0xDC ,0x6E ,0xD9 ,0x11 ,0x67 ,0x3E ,0x67 ,0xAD ,0x67 ,0x7B ,0x67 ,0x0A ,0x67 ,0x42 ,0x67,0xAD ,0x67 ,0x69 ,0x67 ,0x11 ,0x67 ,0x39 ,0x67 ,0xAD ,0x67 ,0x76 ,0x67 ,0x28 ,0xDC ,0x56 ,0xD9,0xAD ,0x67 ,0x64 ,0x67 ,0x11 ,0x67 ,0x34 ,0x67 ,0xAD ,0x67 ,0x71 ,0x67 ,0x0A ,0xDC ,0x6A ,0xD9,0xAD ,0x67 ,0x5F ,0x67 ,0x2F ,0xDC ,0x48 ,0xD9 ,0xAD ,0x67 ,0x6C ,0x67 ,0x0A ,0x67 ,0x65 ,0x67,0xAD ,0x67 ,0x5A ,0x67 ,0x11 ,0xDC ,0x5C ,0xD9 ,0xAD ,0x67 ,0x67 ,0x67 ,0x0A ,0x67 ,0x60 ,0x67;delay(10);uint8i;for(i=0;ilight_gate) if(light_sensor_rightlight_gate)int8_temp=(int8)(light_sensor_left - light_sensor_right);if(int8_temp)if(int8_tempsub_gate)turn_left();elsemove_on();elseint8_temp=0-int8_temp;if(int8_tempsub_gate)turn_right();elsemove_on();elseturn_left();elseturn_right();第八次实验：设计自己的机器人#includePublic.h#include Usertask.hvoiduser_task(void)uint8AD0_in; uint8rc_array23=0;uint16 temp;uint8i;for(i=0; i24; i=i+2)rc_arrayi=90;rc_arrayi+1=128;while(1)ADC_Read(0,&AD0_in); temp=(uint16)AD0_in*180)/255; rc_array0=(uint8)temp; rc_array1=80;rc_moto_control(rc_array);delay(25);