机械臂控制代码精编.docx

文档介绍：Document number：WTT-LKK-GBB-08921-EIGG-22986
机械臂控制代码精编
##include <>
#include <>
#include <>
#include ""
# Document number：WTT-LKK-GBB-08921-EIGG-22986
机械臂控制代码精编
##include <>
#include <>
#include <>
#include ""
#include ""
Servo servo1;
// create servo object to control a servo
Servo servo2;
Servo servo3;
Servo servo4; // a maximum of eight servo objects can be created
Servo servo5;
Servo servo6;
WiiChuck wii = WiiChuck();
int pos1,pos2,pos3,pos4,pos5,pos6,x,y,z,c; // variable to store the servo position
void setup()
{
// attaches the servo on pin 9 to the servo object
(8);
(9);
(10);
(11);
(12);
(13);
pos1 = 60;
pos2 = 50;
pos3 = 100;
pos4 =100;
pos5 = 90;
pos6 = 90;
(pos1);
(pos2);
(pos3);
(pos4);
(pos5);
(pos6);
();
}
void loop()
{
if(true == () )
{
//读取手柄值
x=();
y=();
c=();
z=();
}
if(x==255&& y>120 && y<140&& c == 0 && z==1)//一号舵机
{ pos1 = pos1+10;
(pos1);
delay (40);
if(pos1>160)
{
pos1=160;
(pos1);
}


}
else if(x==255 && y>120 && y<140 && z==0 && c==1 )
{ pos1 = pos1-10;
(pos1);
delay(40);
if(pos1<20)
{
pos1=20;
(pos1);
}
}
else if(x>220&& y==0&& c == 0 && z==1) //2号舵机
{

pos2 = pos2+10;
(pos2);
delay (40);
if(pos2>160)
{
pos2=160;
(pos2);
}

}
else if(x>220 && y==0&& z==0 && c==1 )
{

pos2 = pos2-10;
(pos2);
delay(40);
if(pos2<90)
{
pos2=90;
(pos2);
}
}
else if(x>110&& x<140&& y==0&& c == 0 && z==1) //3号舵机
{

pos3 = pos3+10;
(pos3);
delay (40);
if(pos3>160)
{
pos3=160;
(pos3);
}

}
else if(x>110&& x<140&& y==0&& z==0 && c==1 )
{

pos3 = pos3-10;
(pos3);
delay(40);
if(pos3<20)
{
pos3=20;
(pos3);
}
}
else if(x==0&& y==0&& c == 0 && z==1) //4号舵机
{

pos4 = pos4+10;
(pos4);
delay (40);

if(pos4>160)
{
pos4=160;
(pos4);
}


}
else if(x==0 && y==0&& z==0 && c==1 )
{

pos4