用Firmata和游戏控制+控制伺服系统

Question

晚安，我的Arduino有一个运行在上面的Firmata示例程序，StandardFirmata，我在使用Firmata和一个名为Game的库中编写了一个处理程序。我的程序将PS4操纵杆的值​​转换为Firmata作为命令传递给Arduino的数字，但是由于某种原因，左、右伺服电机的数字不超过90，甚至有时在执行动作时停止。我想到的第一件事是引擎在强迫，或者程序发送了错误的值，所以我为伺服系统做了一个简单的Arduino程序，他们可以在90以下执行值​​，我还在屏幕上进行了处理打印--他传递的值​​和值​​正在正确地运行。无论如何，我会留下代码和接线图，我在下面。我希望有人能帮我解开这个谜团。

import processing.serial.*;

/**
Controlling Servos with Firmata and Game Control Plus
Be able to control servos using any compatible joystick
by Davi Colares
*/

//Import necessay libraries
import cc.arduino.*;
Arduino arduino;
import org.gamecontrolplus.gui.*;
import org.gamecontrolplus.*;
import net.java.games.input.*;

//Define some useful things for GCP
ControlIO control;
ControlDevice stick;

//Define joystick, servos variables and initial values
float c_base, c_left, c_right, c_claw;
int base = 8, 
    left = 10,
    right = 9,
    claw = 11,
    initial_base = 90,
    initial_left = 90,
    initial_right = 90,
    initial_claw = 90;

public void setup()
{
  //Define Arduino Port, in my case 2
  arduino = new Arduino(this, Arduino.list()[2], 57600);

  //Define pin servos
  arduino.pinMode(base, Arduino.SERVO);
  arduino.pinMode(left, Arduino.SERVO);
  arduino.pinMode(right, Arduino.SERVO);
  arduino.pinMode(claw, Arduino.SERVO);

  //Sets servos to initial position
  arduino.servoWrite(base, initial_base);
  arduino.servoWrite(left, initial_left);
  arduino.servoWrite(right, initial_right);
  arduino.servoWrite(claw, initial_claw);

  //Open a config screen for the control, based in Gcpconfig, example code
  surface.setTitle("PS4 com MeArm");
  control = ControlIO.getInstance(this);
  stick = control.filter(GCP.STICK).getMatchedDevice("joystick");
  if (stick == null){
    println("Nenhum dispositivo configurado");
    System.exit(-1);
  }
}

public void getUserInput(){
  c_base = map(stick.getSlider("X").getValue(), -1, 1, 0, width);
  c_left = map(stick.getSlider("Y").getValue(), -1, 1, 0, height);
  c_right = map(stick.getSlider("Z").getValue(), -1, 1, 0, width);
  c_claw = map(stick.getSlider("W").getValue(), -1, 1, 0, height);

  //The base servo is 50, so I multiply by 1.8 to match 90 degree of servo
  c_base = c_base *1.8;
  c_left = c_left *1.8;
  c_right = c_right *1.8;
  c_claw = c_claw *1.8;
}

public void draw(){
  //print in processing serial and servos
  println(int(c_base), int(c_left), int(c_right), int(c_claw));
  getUserInput();
  arduino.servoWrite(base, int(c_base));
  arduino.servoWrite(left, int(c_left));
  arduino.servoWrite(right, int(c_right));
  arduino.servoWrite(claw, int(c_claw));
  delay(5);
}

使用Gcpconfig配置控制器，与PS4兼容

control ps4
X   base    3   SLIDER  Eixo X  0   1.0 0.05
Y   left    3   SLIDER  Eixo Y  0   1.0 0.05
W   right   3   SLIDER  Rotação Y   0   1.0 0.05
Z   claw    3   SLIDER  Rotação X   0   1.0 0.05

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Answer 1

答案可能是：

Timer1：

Timer1是一个16位计时器。

在Arduino世界中，伺服库在Arduino Uno上使用timer1

引脚9和10:由timer1控制

由于firmata是一个复杂的程序，依赖计时器和插槽，这可能是您所附加的原因。

....
  left = 10,
  right = 9,
  ....

确切地说是那些别针。

为什么一个简单的测试程序是有效的？因为你在那里不使用插槽/套接字。

我查看了firmata，他们调用servo.h库=>，因此为您的servos选择两个不同的引脚

关于计时器的更多细节：https://www.robotshop.com/community/forum/t/arduino-101-timers-and-interrupts/13072

ServoFirmata：https://github.com/firmata/arduino/tree/master/examples/ServoFirmata

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