晒一晒自己DIY的桌面码垛机

1、晒一晒自己 DIY 的桌面码垛机下面是程序#include <PS2X_lib.h> /for v1.6#include <Servo.h>PS2X ps2x; / create PS2 Controller ClassServo myservo;/ 创建伺服器对象Servo myservo1;Servo myservo2;Servo myservo3;int serover =3; / 定义舵机信号线接口int serover1=4;/ 小臂int serover2=5;/ 大臂int serover3=6;int pos;int pos1;int pos2;int

2、pos3;float x;/ 定义数学方程变量float y;float posa;float A;float B;float C;float D;float pi=acos(-1.0);int error = 0;byte type = 0;byte vibrate = 0;byte a = 0;void setup()Serial.begin(115200);myservo.attach(serover);myservo1.attach(serover1);myservo2.attach(serover2);myservo3.attach(serover3);pos=72;x=150;y=

3、0;pos3=90;servo_write();error = ps2x.config_gamepad(13,11,12,10,false, false); /setup pins and settings: GamePad(clock, command, attention, data, Pressures?, Rumble?) check for errorif(error = 0)Serial.println(); else if(error = 1)Serial.println();else if(error = 2)Serial.println();Serial.println();

4、/Serial.print(ps2x.Analog(1), HEX);type = ps2x.readType();switch(type) case 0:Serial.println(0);break;case 1:Serial.println(1);break;case 2:Serial.println(2);break;void loop()if(error = 1) /skip loop if no controller foundreturn; if(type = 2) /Guitar Hero Controller ps2x.read_gamepad(); /read contro

5、ller return;else /DualShock Controller ps2x.read_gamepad(false, vibrate);if(ps2x.Analog(PSS_LY)<127)y=y-2;/L-UPservo_write();if(ps2x.Analog(PSS_LY)>128)y=y+2;/L-DOWNservo_write();if(ps2x.Analog(PSS_LX)<127)x=x-2;/L-LEFTservo_write();if(ps2x.Analog(PSS_LX)>128)x=x+2;/L-RIGHTservo_write();

6、if(ps2x.Analog(PSS_LY)=127) &&(ps2x.Analog(PSS_LX)=128)/b_stop(); if(ps2x.Analog(PSS_RY)<127)pos+;/R-UPservo_write();if(ps2x.Analog(PSS_RY)>128)pos-;/R-DOWNservo_write();if(ps2x.Analog(PSS_RX)<127)pos3+;/R-LEFT servo_write();if(ps2x.Analog(PSS_RX)>128)pos3-;/R-RIGHTservo_write();

7、void servo_write()/ 写入舵机角度A=sqrt(x*x+y*y);/ 数学方程B=atan(y/x);C=acos(A/300);D=acos(1.0-A*A/45000);D=D/pi*180;posa=B+C;pos1=posa/pi*180;pos2=180-pos1-D;myservo.write(pos);myservo1.write(pos1);myservo2.write(pos2);myservo3.write(pos3);Serial.print(pos=);/ 显示 pos 的值Serial.println(pos);Serial.print(pos1=);/ 显示 pos1 的值Serial.println(pos1);Ser