├── README.md ├── README_zh.md ├── arduino_lib ├── examples │ ├── base │ │ ├── gpio_step_test │ │ │ └── gpio_step_test.ino │ │ ├── gpio_test │ │ │ └── gpio_test.ino │ │ ├── ps2_test │ │ │ ├── PS2X_lib.cpp │ │ │ ├── PS2X_lib.h │ │ │ └── ps2_test.ino │ │ └── pwm_test │ │ │ └── pwm_test.ino │ ├── comprehensive │ │ ├── bluetooth_wifi_control │ │ │ ├── BluetoothHandle.h │ │ │ ├── Protocol.h │ │ │ ├── ProtocolParser.cpp │ │ │ ├── ProtocolParser.h │ │ │ ├── bluetooth_wifi_control.ino │ │ │ ├── debug.cpp │ │ │ └── debug.h │ │ ├── ps2_control_4wd │ │ │ ├── PS2X_lib.cpp │ │ │ ├── PS2X_lib.h │ │ │ └── ps2_control_4wd.ino │ │ ├── ps2_control_4wd_with_robotic_arm │ │ │ ├── PS2X_lib.cpp │ │ │ ├── PS2X_lib.h │ │ │ └── ps2_control_4wd_with_robotic_arm.ino │ │ └── ps2_control_mecanum_wheel_car │ │ │ ├── PS2X_lib.cpp │ │ │ ├── PS2X_lib.h │ │ │ └── ps2_control_mecanum_wheel_car.ino │ └── motor_test │ │ ├── dc │ │ └── dc.ino │ │ ├── encoder │ │ └── encoder.ino │ │ ├── encoder_pid │ │ └── encoder_pid.ino │ │ ├── servo │ │ └── servo.ino │ │ └── stepper │ │ └── stepper.ino ├── keywords.txt ├── library.properties └── src │ ├── Emakefun_MS_PWMServoDriver.cpp │ ├── Emakefun_MS_PWMServoDriver.h │ ├── Emakefun_MotorDriver.cpp │ ├── Emakefun_MotorDriver.h │ ├── MsTimer2.cpp │ ├── MsTimer2.h │ ├── PID_v1.cpp │ ├── PID_v1.h │ └── PinChangeInt.h ├── doc ├── MotorDriverBoard_V5.2.pdf ├── PCA9685.pdf └── picture │ ├── EN │ ├── MotorDriverBoard_show0.jpg │ ├── MotorDriverBoard_show1.png │ ├── back.png │ ├── dc_dc_servo.png │ ├── dc_power_supply.png │ ├── extra_power_supply.png │ ├── hardwareIntroduction.jpg │ ├── mblock │ │ ├── dc_init.png │ │ ├── init.png │ │ ├── init_encoder.png │ │ ├── run_dc.png │ │ ├── run_encoder.png │ │ ├── run_servo.png │ │ ├── run_stepper.png │ │ ├── servo_init.png │ │ ├── set_freq.png │ │ ├── set_mode.png │ │ ├── set_pwm.png │ │ ├── stepper_init.png │ │ ├── stop_dc.png │ │ ├── stop_encoder.png │ │ └── stop_stepper.png │ ├── md_stepper.png │ ├── pid_encoder.jpg │ ├── power_supply.png │ ├── servo.png │ ├── terminal_power_servo.png │ └── terminal_power_supply.png │ └── ZH │ ├── MotorDriverBoard_show0.jpg │ ├── MotorDriverBoard_show1.png │ ├── Ps2.png │ ├── dc.png │ ├── dc_power_supply.png │ ├── dc_test.png │ ├── encoder.png │ ├── encoder_test.png │ ├── examples.png │ ├── gpio_test.png │ ├── hardwareIntroduction.png │ ├── mblock │ ├── dc_init.png │ ├── download.png │ ├── init.png │ ├── init_encoder.png │ ├── mb_install_success.png │ ├── run_dc.png │ ├── run_encoder.png │ ├── run_servo.png │ ├── run_stepper.png │ ├── servo_init.png │ ├── set_freq.png │ ├── set_mode.png │ ├── set_pwm.png │ ├── stepper_init.png │ ├── stop_dc.png │ ├── stop_encoder.png │ └── stop_stepper.png │ ├── mind+ │ ├── dc_init.png │ ├── extention-pkg.png │ ├── init.png │ ├── init_encoder.png │ ├── mindplus-ps2.png │ ├── pwm.png │ ├── readDegrees.png │ ├── run_dc.png │ ├── run_encoder.png │ ├── run_servo.png │ ├── run_stepper.png │ ├── servo_init.png │ ├── set_freq.png │ ├── set_mode.png │ ├── stepper.png │ ├── stop_dc.png │ ├── stop_encoder.png │ ├── stop_stepper.png │ ├── user-lib-step01.png │ ├── user-lib-step02.png │ ├── user-lib-step03.png │ ├── user-lib-step04.png │ └── user-lib-step05.png │ ├── mixly │ ├── dc_init.png │ ├── download.png │ ├── init_encoder.png │ ├── install_success.png │ ├── local_install.png │ ├── mixly_guanli.png │ ├── mixly_init.png │ ├── mixly_kuanzhuang.png │ ├── mixly_success.png │ ├── run_dc.png │ ├── run_encoder.png │ ├── run_servo.png │ ├── run_stepper.png │ ├── select_xml.png │ ├── servo_init.png │ ├── set_freq.png │ ├── set_mode.png │ ├── set_pwm.png │ ├── stepper_init.png │ ├── stop_dc.png │ ├── stop_encoder.png │ └── stop_stepper.png │ ├── pid.png │ ├── pid_i.png │ ├── pid_p.png │ ├── ps2_test.png │ ├── pwm_test.png │ ├── servo.png │ ├── servo_test.png │ ├── stepper.png │ ├── stepper_test.png │ ├── terminal_power_servo.png │ └── terminal_power_supply.png ├── example ├── mblock5 │ ├── dc_test.mblock │ ├── encoder_test.mblock │ ├── gpio_test.mblock │ ├── ps2_test.mblock │ ├── pwm_test.mblock │ ├── servo_test.mblock │ └── stepper_test.mblock ├── mind+ │ ├── DCMotorExample.mp │ ├── EncoderMotorExample.mp │ ├── PS2ControlCar.mp │ ├── PS2TestExample.mp │ ├── ServoMotorExample.mp │ └── StepperMotorExample.mp └── mixly │ ├── PS2ControlCar.zip │ ├── dc_test.zip │ ├── encoder_test.zip │ ├── gpio_test.zip │ ├── ps2_test.zip │ ├── pwm_test.zip │ ├── servo_test.zip │ └── stepper_test.zip ├── mblock5 └── ext_motordriverboard.mext ├── mind+ └── ext-MotorDriverBoard │ ├── arduinoC │ ├── _images │ │ ├── featured.png │ │ └── icon.svg │ ├── _locales │ │ └── zh-cn.json │ ├── _menus │ │ ├── arduino.json │ │ └── mega2560.json │ └── main.ts │ └── config.json └── mixly ├── MotorDriverBoard.xml ├── block └── MotorDriverBoard.js ├── generator └── MotorDriverBoard.js ├── language └── MotorDriverBoard │ ├── en.js │ ├── zh-hans.js │ └── zh-hant.js └── media └── Motordriverboard └── em_md_qr.png /arduino_lib/examples/base/gpio_step_test/gpio_step_test.ino: -------------------------------------------------------------------------------- 1 | #include "Emakefun_MotorDriver.h" 2 | 3 | #define IN1 5 //A+ 4 | #define IN2 7 //A- 5 | #define IN3 4 //B+ 6 | #define IN4 2 //B- 7 | #define TIME 1000 8 | Emakefun_MotorDriver gpio = Emakefun_MotorDriver(0x60); 9 | 10 | Emakefun_MotorDriver gpio = Emakefun_MotorDriver(0x60); 11 | 12 | void setup() { 13 | Serial.begin(9600); 14 | Serial.println("GPIO test!"); 15 | gpio.begin(1600); 16 | } 17 | 18 | void onesteps() 19 | { 20 | gpio.setPin(IN1, HIGH); 21 | // gpio.setPin(IN2, LOW); 22 | // gpio.setPin(IN3, LOW); 23 | gpio.setPin(IN4, LOW); 24 | delayMicroseconds(TIME); 25 | 26 | gpio.setPin(IN1, LOW); 27 | // gpio.setPin(IN2, LOW); 28 | gpio.setPin(IN3, HIGH); 29 | // gpio.setPin(IN4, LOW); 30 | delayMicroseconds(TIME); 31 | 32 | gpio.setPin(IN3, LOW); 33 | gpio.setPin(IN2, HIGH); 34 | // gpio.setPin(IN1, LOW); 35 | // gpio.setPin(IN4, LOW); 36 | delayMicroseconds(TIME); 37 | 38 | gpio.setPin(IN2, LOW); 39 | // gpio.setPin(IN1, LOW); 40 | // gpio.setPin(IN3, LOW); 41 | gpio.setPin(IN4, HIGH); 42 | delayMicroseconds(TIME); 43 | } 44 | 45 | void StepStop() 46 | { 47 | gpio.setPin(IN1, LOW); 48 | gpio.setPin(IN2, LOW); 49 | gpio.setPin(IN3, LOW); 50 | gpio.setPin(IN4, LOW); 51 | } 52 | 53 | void loop() { 54 | // put your main code here, to run repeatedly: 55 | for (int i = 0; i < 200; i++) { 56 | onesteps(); 57 | } 58 | StepStop(); 59 | delay(2000); 60 | } 61 | -------------------------------------------------------------------------------- /arduino_lib/examples/base/gpio_test/gpio_test.ino: -------------------------------------------------------------------------------- 1 | #include "Emakefun_MotorDriver.h" 2 | Emakefun_MotorDriver gpio = Emakefun_MotorDriver(0x60); 3 | 4 | void setup() { 5 | Serial.begin(9600); 6 | Serial.println("GPIO test!"); 7 | gpio.begin(1000); 8 | } 9 | 10 | void loop() { 11 | gpio.setPin(S1, HIGH); 12 | delay(1000); 13 | gpio.setPin(S1, LOW); 14 | delay(1000); 15 | } 16 | -------------------------------------------------------------------------------- /arduino_lib/examples/base/ps2_test/PS2X_lib.h: -------------------------------------------------------------------------------- 1 | /****************************************************************** 2 | * Super amazing PS2 controller Arduino Library v1.8 3 | * details and example sketch: 4 | * http://www.billporter.info/?p=240 5 | * 6 | * Original code by Shutter on Arduino Forums 7 | * 8 | * Revamped, made into lib by and supporting continued development: 9 | * Bill Porter 10 | * www.billporter.info 11 | * 12 | * Contributers: 13 | * Eric Wetzel (thewetzel@gmail.com) 14 | * Kurt Eckhardt 15 | * 16 | * Lib version history 17 | * 0.1 made into library, added analog stick support. 18 | * 0.2 fixed config_gamepad miss-spelling 19 | * added new functions: 20 | * NewButtonState(); 21 | * NewButtonState(unsigned int); 22 | * ButtonPressed(unsigned int); 23 | * ButtonReleased(unsigned int); 24 | * removed 'PS' from begining of ever function 25 | * 1.0 found and fixed bug that wasn't configuring controller 26 | * added ability to define pins 27 | * added time checking to reconfigure controller if not polled enough 28 | * Analog sticks and pressures all through 'ps2x.Analog()' function 29 | * added: 30 | * enableRumble(); 31 | * enablePressures(); 32 | * 1.1 33 | * added some debug stuff for end user. Reports if no controller found 34 | * added auto-increasing sentence delay to see if it helps compatibility. 35 | * 1.2 36 | * found bad math by Shutter for original clock. Was running at 50kHz, not the required 500kHz. 37 | * fixed some of the debug reporting. 38 | * 1.3 39 | * Changed clock back to 50kHz. CuriousInventor says it's suppose to be 500kHz, but doesn't seem to work for everybody. 40 | * 1.4 41 | * Removed redundant functions. 42 | * Fixed mode check to include two other possible modes the controller could be in. 43 | * Added debug code enabled by compiler directives. See below to enable debug mode. 44 | * Added button definitions for shapes as well as colors. 45 | * 1.41 46 | * Some simple bug fixes 47 | * Added Keywords.txt file 48 | * 1.5 49 | * Added proper Guitar Hero compatibility 50 | * Fixed issue with DEBUG mode, had to send serial at once instead of in bits 51 | * 1.6 52 | * Changed config_gamepad() call to include rumble and pressures options 53 | * This was to fix controllers that will only go into config mode once 54 | * Old methods should still work for backwards compatibility 55 | * 1.7 56 | * Integrated Kurt's fixes for the interrupts messing with servo signals 57 | * Reorganized directory so examples show up in Arduino IDE menu 58 | * 1.8 59 | * Added Arduino 1.0 compatibility. 60 | * 1.9 61 | * Kurt - Added detection and recovery from dropping from analog mode, plus 62 | * integreated Chipkit (pic32mx...) support 63 | * 64 | * 65 | * 66 | *This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or(at your option) any later version. 67 | This program is distributed in the hope that it will be useful, 68 | but WITHOUT ANY WARRANTY; without even the implied warranty of 69 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 70 | GNU General Public License for more details. 71 | 72 | * 73 | ******************************************************************/ 74 | 75 | // $$$$$$$$$$$$ DEBUG ENABLE SECTION $$$$$$$$$$$$$$$$ 76 | // to debug ps2 controller, uncomment these two lines to print out debug to uart 77 | #define PS2X_DEBUG 78 | //#define PS2X_COM_DEBUG 79 | 80 | #ifndef PS2X_lib_h 81 | #define PS2X_lib_h 82 | 83 | #if ARDUINO > 22 84 | #include "Arduino.h" 85 | #else 86 | #include "WProgram.h" 87 | #endif 88 | 89 | #include 90 | #include 91 | #include 92 | #ifdef __AVR__ 93 | // AVR 94 | #include 95 | #define CTRL_CLK 4 96 | #define CTRL_BYTE_DELAY 3 97 | #else 98 | // Pic32... 99 | #include 100 | #define CTRL_CLK 5 101 | #define CTRL_CLK_HIGH 5 102 | #define CTRL_BYTE_DELAY 4 103 | #endif 104 | 105 | //These are our button constants 106 | #define PSB_SELECT 0x0001 107 | #define PSB_L3 0x0002 108 | #define PSB_R3 0x0004 109 | #define PSB_START 0x0008 110 | #define PSB_PAD_UP 0x0010 111 | #define PSB_PAD_RIGHT 0x0020 112 | #define PSB_PAD_DOWN 0x0040 113 | #define PSB_PAD_LEFT 0x0080 114 | #define PSB_L2 0x0100 115 | #define PSB_R2 0x0200 116 | #define PSB_L1 0x0400 117 | #define PSB_R1 0x0800 118 | #define PSB_GREEN 0x1000 119 | #define PSB_RED 0x2000 120 | #define PSB_BLUE 0x4000 121 | #define PSB_PINK 0x8000 122 | #define PSB_TRIANGLE 0x1000 123 | #define PSB_CIRCLE 0x2000 124 | #define PSB_CROSS 0x4000 125 | #define PSB_SQUARE 0x8000 126 | 127 | //Guitar button constants 128 | #define UP_STRUM 0x0010 129 | #define DOWN_STRUM 0x0040 130 | #define STAR_POWER 0x0100 131 | #define GREEN_FRET 0x0200 132 | #define YELLOW_FRET 0x1000 133 | #define RED_FRET 0x2000 134 | #define BLUE_FRET 0x4000 135 | #define ORANGE_FRET 0x8000 136 | #define WHAMMY_BAR 8 137 | 138 | //These are stick values 139 | #define PSS_RX 5 140 | #define PSS_RY 6 141 | #define PSS_LX 7 142 | #define PSS_LY 8 143 | 144 | //These are analog buttons 145 | #define PSAB_PAD_RIGHT 9 146 | #define PSAB_PAD_UP 11 147 | #define PSAB_PAD_DOWN 12 148 | #define PSAB_PAD_LEFT 10 149 | #define PSAB_L2 19 150 | #define PSAB_R2 20 151 | #define PSAB_L1 17 152 | #define PSAB_R1 18 153 | #define PSAB_GREEN 13 154 | #define PSAB_RED 14 155 | #define PSAB_BLUE 15 156 | #define PSAB_PINK 16 157 | #define PSAB_TRIANGLE 13 158 | #define PSAB_CIRCLE 14 159 | #define PSAB_CROSS 15 160 | #define PSAB_SQUARE 16 161 | 162 | #define SET(x,y) (x|=(1< 6 | #include 7 | 8 | #define BUFFER_SIZE 32 9 | 10 | typedef enum 11 | { 12 | E_BLUETOOTH_CONTROL = 0, 13 | E_INFRARED_REMOTE_CONTROL, 14 | E_INFRARED_TRACKING_MODE, 15 | E_INFRARED_AVOIDANCE_MODE, 16 | E_ULTRASONIC_AVOIDANCE, 17 | E_PS2_REMOTE_CONTROL, 18 | E_NRF24L01_CONTROL, 19 | E_ULTRASONIC_INFRARED_AVOIDANCE, 20 | E_PIANO_MODE, 21 | E_RGB_MODE, 22 | E_LED_MAXTRIX_MODE, 23 | E_CMD_LINE_MODE, 24 | E_LIGHT_SEEKING_MODE, 25 | E_ULTRASONIC_FOLLOW_MODE, 26 | E_SMARTCAR_CONTROL_MAX, 27 | } E_SMARTCAR_CONTROL_MODE; 28 | 29 | typedef enum 30 | { 31 | E_FORWARD = 0, 32 | E_BACK, 33 | E_LEFT, 34 | E_RIGHT, 35 | E_RIGHT_ROTATE, 36 | E_LEFT_ROTATE, 37 | E_STOP, 38 | E_RUNNING, 39 | E_SPEED_UP, 40 | E_SPEED_DOWN, 41 | E_LOW_POWER, 42 | } E_SMARTCAR_STATUS; 43 | 44 | class ProtocolParser 45 | { 46 | public: 47 | ProtocolParser(byte header = PROTOCOL_START_CODE, byte end = PROTOCOL_END_CODE); 48 | ~ProtocolParser(); 49 | bool RecevData(byte *data, size_t len); 50 | bool RecevData(void); 51 | bool ParserPackage(byte *data = NULL); 52 | E_TYPE GetRobotType(void); 53 | uint8_t GetRobotAddr(void); 54 | E_CONTOROL_FUNC GetRobotControlFun(void); 55 | int GetRobotSpeed(void); 56 | int GetRobotDegree(void); 57 | int GetServoDegree(void); 58 | int GetServoDegreeNum(void); 59 | uint16_t GetBluetoothButton(); 60 | bool GetBluetoothButton(uint16_t Button); 61 | // E_BUZZER_TYPE GetBuzzerMode(void); 62 | uint16_t GetBuzzerNote(void); 63 | uint8_t GetBuzzerSound(void); 64 | // ST_MUSIC_TYPE GetBuzzerMusic(void); 65 | long GetRgbValue(void); 66 | byte GetRgbEffect(void); 67 | byte GetRgbMode(void); 68 | byte* GetCmdLine(void); 69 | bool SendPackage(ST_PROTOCOL *send_dat, int len); 70 | E_SMARTCAR_CONTROL_MODE GetControlMode(void); 71 | uint8_t GetProtocolDataLength(void); 72 | 73 | private: 74 | byte buffer[BUFFER_SIZE]; 75 | byte m_StartCode, m_EndCode; 76 | ST_PROTOCOL *recv; 77 | uint8_t protocol_data_len; 78 | bool m_recv_flag, m_send_success; // recevive flag 79 | byte *m_pHeader; // protocol header 80 | uint8_t m_PackageLength; // recevie package length 81 | uint16_t m_CheckSum; 82 | uint8_t m_RecvDataIndex; // get recevie data index 83 | char GetHeader(size_t index); 84 | uint8_t GetPackageLength(void); 85 | uint16_t GetCheckSum(void); // get package check sum 86 | }; 87 | 88 | #endif // _PROTOCOLPARSER_H_ 89 | -------------------------------------------------------------------------------- /arduino_lib/examples/comprehensive/bluetooth_wifi_control/bluetooth_wifi_control.ino: -------------------------------------------------------------------------------- 1 | #include "Emakefun_MotorDriver.h" 2 | #include "ProtocolParser.h" 3 | #include "BluetoothHandle.h" 4 | 5 | #define M1 1 6 | #define M2 2 7 | #define M3 3 8 | #define M4 4 9 | 10 | ProtocolParser *mProtocol = new ProtocolParser(); 11 | Emakefun_MotorDriver mMotor = Emakefun_MotorDriver(0x60); 12 | Emakefun_DCMotor *LeftFoward, *RightFoward, *LeftBackward, *RightBackward; 13 | 14 | int Speed; 15 | 16 | void moto_init(int leftward, int rightfoward, int leftbackward, int rightbackward) 17 | { 18 | 19 | LeftFoward = mMotor.getMotor(leftward); 20 | RightFoward = mMotor.getMotor(rightfoward); 21 | LeftBackward = mMotor.getMotor(leftbackward); 22 | RightBackward = mMotor.getMotor(rightbackward); 23 | delay(200); 24 | mMotor.begin(50); 25 | } 26 | 27 | void SetSpeed(int8_t s) 28 | { 29 | if (s > 100) { 30 | Speed = 100; 31 | return; 32 | } else if (s < 0) { 33 | Speed = 0; 34 | return; 35 | } 36 | Speed = s; 37 | } 38 | 39 | int GetSpeed(void) 40 | { 41 | return Speed; 42 | } 43 | 44 | void SpeedUp(int8_t Duration) 45 | { 46 | SetSpeed(Speed + Duration); 47 | } 48 | 49 | void SpeedDown(int8_t Duration ) 50 | { 51 | SetSpeed(Speed - Duration); 52 | } 53 | 54 | void DriveSpeed(int s) 55 | { 56 | if (s >= 0 && s <= 100) { 57 | LeftFoward->setSpeed((s / 10) * 25.5); 58 | RightFoward->setSpeed((s / 10) * 25.5); 59 | LeftBackward->setSpeed((s / 10) * 25.5); 60 | RightBackward->setSpeed((s / 10) * 25.5); 61 | } 62 | } 63 | 64 | void GoForward(void) 65 | { 66 | DriveSpeed(Speed); 67 | LeftFoward->run(FORWARD); 68 | RightFoward->run(FORWARD); 69 | LeftBackward->run(FORWARD); 70 | RightBackward->run(FORWARD); 71 | } 72 | 73 | void GoBack(void) 74 | { 75 | DriveSpeed(Speed); 76 | LeftFoward->run(BACKWARD); 77 | RightFoward->run(BACKWARD); 78 | LeftBackward->run(BACKWARD); 79 | RightBackward->run(BACKWARD); 80 | } 81 | void KeepStop(void) 82 | { 83 | DriveSpeed(0); 84 | LeftFoward->run(BRAKE); 85 | RightFoward->run(BRAKE); 86 | LeftBackward->run(BRAKE); 87 | RightBackward->run(BRAKE); 88 | } 89 | 90 | void TurnLeft(void) 91 | { 92 | int s; 93 | s = (Speed / 10) * 25.5; 94 | LeftFoward->setSpeed(s/2); 95 | LeftBackward->setSpeed(s/2); 96 | RightFoward->setSpeed(s); 97 | RightBackward->setSpeed(s); 98 | LeftFoward->run(FORWARD); 99 | RightFoward->run(FORWARD); 100 | LeftBackward->run(FORWARD); 101 | RightBackward->run(FORWARD); 102 | } 103 | 104 | void TurnRight(void) 105 | { 106 | int s; 107 | s = (Speed / 10) * 25.5; 108 | LeftFoward->setSpeed(s); 109 | LeftBackward->setSpeed(s); 110 | RightFoward->setSpeed(s/2); 111 | RightBackward->setSpeed(s/2); 112 | LeftFoward->run(FORWARD); 113 | RightFoward->run(FORWARD); 114 | LeftBackward->run(FORWARD); 115 | RightBackward->run(FORWARD); 116 | } 117 | 118 | void TurnLeftRotate(void) 119 | { 120 | DriveSpeed(Speed); 121 | LeftFoward->run(BACKWARD); 122 | LeftBackward->run(BACKWARD); 123 | RightFoward->run(FORWARD); 124 | RightBackward->run(FORWARD); 125 | } 126 | 127 | void TurnRightRotate(void) 128 | { 129 | DriveSpeed(Speed); 130 | LeftFoward->run(FORWARD); 131 | LeftBackward->run(FORWARD); 132 | RightFoward->run(BACKWARD); 133 | RightBackward->run(BACKWARD); 134 | } 135 | 136 | void Drive(int degree) 137 | { 138 | byte value = (Speed / 10) * 25.5; //app contol hbot_speed is 0 ~ 100 ,pwm is 0~255 139 | float f; 140 | if (degree >= 0 && degree <= 90) { 141 | f = (float)(degree) / 90; 142 | LeftFoward->setSpeed(value); 143 | RightFoward->setSpeed((float)(value * f)); 144 | LeftBackward->setSpeed(value); 145 | RightBackward->setSpeed((float)(value * f)); 146 | LeftFoward->run(FORWARD); 147 | RightFoward->run(FORWARD); 148 | LeftBackward->run(FORWARD); 149 | RightBackward->run(FORWARD); 150 | } else if (degree > 90 && degree <= 180) { 151 | f = (float)(180 - degree) / 90; 152 | LeftFoward->setSpeed((float)(value * f)); 153 | RightFoward->setSpeed(value); 154 | LeftBackward->setSpeed((float)(value * f)); 155 | RightBackward->setSpeed(value); 156 | LeftFoward->run(FORWARD); 157 | RightFoward->run(FORWARD); 158 | LeftBackward->run(FORWARD); 159 | RightBackward->run(FORWARD); 160 | } else if (degree > 180 && degree <= 270) { 161 | f = (float)(degree - 180) / 90; 162 | LeftFoward->setSpeed((float)(value * f)); 163 | RightFoward->setSpeed(value); 164 | LeftBackward->setSpeed((float)(value * f)); 165 | RightBackward->setSpeed(value); 166 | LeftFoward->run(BACKWARD); 167 | RightFoward->run(BACKWARD); 168 | LeftBackward->run(BACKWARD); 169 | RightBackward->run(BACKWARD); 170 | } else if (degree > 270 && degree <= 360) { 171 | f = (float)(360 - degree) / 90; 172 | LeftFoward->setSpeed(value); 173 | RightFoward->setSpeed((float)(value * f)); 174 | LeftBackward->setSpeed(value); 175 | RightBackward->setSpeed((float)(value * f)); 176 | LeftFoward->run(BACKWARD); 177 | RightFoward->run(BACKWARD); 178 | LeftBackward->run(BACKWARD); 179 | RightBackward->run(BACKWARD); 180 | } 181 | else { 182 | KeepStop(); 183 | return; 184 | } 185 | } 186 | 187 | void HandleBluetoothRemote(bool recv_flag) 188 | { 189 | if (recv_flag) { 190 | switch (mProtocol->GetRobotControlFun()) { 191 | case E_BUTTON: 192 | switch (mProtocol->GetBluetoothButton()) 193 | { 194 | case BT_PAD_UP: 195 | GoForward(); 196 | break; 197 | case BT_PAD_DOWN: 198 | GoBack(); 199 | break; 200 | case BT_PAD_LEFT: 201 | Drive(160); 202 | break; 203 | case BT_PAD_RIGHT: 204 | Drive(20); 205 | break; 206 | case BT_PINK: 207 | TurnLeft(); 208 | break; 209 | case BT_RED: 210 | TurnRight(); 211 | break; 212 | case BT_GREEN: 213 | SpeedUp(10); 214 | break; 215 | case BT_BLUE: 216 | SpeedDown(10); 217 | break; 218 | case BT_L1: 219 | SpeedUp(10); 220 | break; 221 | case BT_R1: 222 | SpeedDown(10); 223 | break; 224 | } 225 | break; 226 | case E_ROBOT_CONTROL_DIRECTION: 227 | Drive(mProtocol->GetRobotDegree()); 228 | break; 229 | case E_ROBOT_CONTROL_SPEED: 230 | SetSpeed(mProtocol->GetRobotSpeed()); 231 | break ; 232 | default: 233 | break; 234 | } 235 | } 236 | } 237 | 238 | void setup() 239 | { 240 | Serial.begin(9600); 241 | moto_init(M2, M1, M4, M3); 242 | SetSpeed(100); 243 | } 244 | 245 | void loop() 246 | { 247 | static byte mode; 248 | static bool recv_flag; 249 | mProtocol->RecevData(); 250 | 251 | if (recv_flag = mProtocol->ParserPackage()) { 252 | if (mProtocol->GetRobotControlFun() == E_CONTROL_MODE) { 253 | Serial.print("GetControlMode: "); 254 | Serial.println(mProtocol->GetControlMode()); 255 | return; 256 | } 257 | } 258 | switch (mProtocol->GetControlMode()) { 259 | case E_BLUETOOTH_CONTROL: 260 | HandleBluetoothRemote(recv_flag); 261 | break; 262 | default: 263 | break; 264 | } 265 | } 266 | -------------------------------------------------------------------------------- /arduino_lib/examples/comprehensive/bluetooth_wifi_control/debug.cpp: -------------------------------------------------------------------------------- 1 | #include "Arduino.h" 2 | 3 | #include"stdio.h" 4 | #include"stdlib.h" 5 | 6 | void arduino_printf(char *fmt ,...) 7 | { 8 | va_list v_arg; 9 | char string[128]; 10 | va_start(v_arg,fmt); 11 | vsprintf(string,fmt,v_arg); 12 | Serial.print(string); 13 | } 14 | -------------------------------------------------------------------------------- /arduino_lib/examples/comprehensive/bluetooth_wifi_control/debug.h: -------------------------------------------------------------------------------- 1 | #ifndef _DEBUG_H_ 2 | #define _DEUBG_H_ 3 | 4 | #ifndef DEBUG_LEVEL 5 | #define DEBUG_LEVEL 0xFF 6 | #endif 7 | 8 | void arduino_printf(char *fmt ,...); 9 | 10 | #define DEBUG_LEVEL_INFO 0x0001 11 | #define DEBUG_LEVEL_WRN 0x0002 12 | #define DEBUG_LEVEL_ERR 0x0003 13 | #define DEBUG_LEVEL_RED 0x0004 14 | #define DEBUG_LEVEL_ALL 0x0000 15 | 16 | #define DEBUG_LOG(level, fmt, ...) \ 17 | do{\ 18 | if(level >= DEBUG_LEVEL ){\ 19 | arduino_printf(fmt, ##__VA_ARGS__);}\ 20 | }while(0) 21 | 22 | #define DEBUG_ERR(fmt, ...) \ 23 | do{\ 24 | arduino_printf("[Error][%s:%s:%d]",__FILE__,__FUNCTION__,__LINE__);\ 25 | arduino_printf(fmt, ##__VA_ARGS__);\ 26 | }while(0) 27 | 28 | #define DEBUG_RED(flag, fmt, ...) \ 29 | do{\ 30 | if(DEBUG_LEVEL & DEBUG_LEVEL_RED){\ 31 | arduino_printf("[[30\33m");\ 32 | arduino_printf(fmt,##__VA_ARGS__);}\ 33 | arduino_printf("\033[0m");\ 34 | }while(0) 35 | 36 | #endif /* _DEBUG_ */ 37 | -------------------------------------------------------------------------------- /arduino_lib/examples/comprehensive/ps2_control_4wd/PS2X_lib.h: -------------------------------------------------------------------------------- 1 | /****************************************************************** 2 | * Super amazing PS2 controller Arduino Library v1.8 3 | * details and example sketch: 4 | * http://www.billporter.info/?p=240 5 | * 6 | * Original code by Shutter on Arduino Forums 7 | * 8 | * Revamped, made into lib by and supporting continued development: 9 | * Bill Porter 10 | * www.billporter.info 11 | * 12 | * Contributers: 13 | * Eric Wetzel (thewetzel@gmail.com) 14 | * Kurt Eckhardt 15 | * 16 | * Lib version history 17 | * 0.1 made into library, added analog stick support. 18 | * 0.2 fixed config_gamepad miss-spelling 19 | * added new functions: 20 | * NewButtonState(); 21 | * NewButtonState(unsigned int); 22 | * ButtonPressed(unsigned int); 23 | * ButtonReleased(unsigned int); 24 | * removed 'PS' from begining of ever function 25 | * 1.0 found and fixed bug that wasn't configuring controller 26 | * added ability to define pins 27 | * added time checking to reconfigure controller if not polled enough 28 | * Analog sticks and pressures all through 'ps2x.Analog()' function 29 | * added: 30 | * enableRumble(); 31 | * enablePressures(); 32 | * 1.1 33 | * added some debug stuff for end user. Reports if no controller found 34 | * added auto-increasing sentence delay to see if it helps compatibility. 35 | * 1.2 36 | * found bad math by Shutter for original clock. Was running at 50kHz, not the required 500kHz. 37 | * fixed some of the debug reporting. 38 | * 1.3 39 | * Changed clock back to 50kHz. CuriousInventor says it's suppose to be 500kHz, but doesn't seem to work for everybody. 40 | * 1.4 41 | * Removed redundant functions. 42 | * Fixed mode check to include two other possible modes the controller could be in. 43 | * Added debug code enabled by compiler directives. See below to enable debug mode. 44 | * Added button definitions for shapes as well as colors. 45 | * 1.41 46 | * Some simple bug fixes 47 | * Added Keywords.txt file 48 | * 1.5 49 | * Added proper Guitar Hero compatibility 50 | * Fixed issue with DEBUG mode, had to send serial at once instead of in bits 51 | * 1.6 52 | * Changed config_gamepad() call to include rumble and pressures options 53 | * This was to fix controllers that will only go into config mode once 54 | * Old methods should still work for backwards compatibility 55 | * 1.7 56 | * Integrated Kurt's fixes for the interrupts messing with servo signals 57 | * Reorganized directory so examples show up in Arduino IDE menu 58 | * 1.8 59 | * Added Arduino 1.0 compatibility. 60 | * 1.9 61 | * Kurt - Added detection and recovery from dropping from analog mode, plus 62 | * integreated Chipkit (pic32mx...) support 63 | * 64 | * 65 | * 66 | *This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or(at your option) any later version. 67 | This program is distributed in the hope that it will be useful, 68 | but WITHOUT ANY WARRANTY; without even the implied warranty of 69 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 70 | GNU General Public License for more details. 71 | 72 | * 73 | ******************************************************************/ 74 | 75 | // $$$$$$$$$$$$ DEBUG ENABLE SECTION $$$$$$$$$$$$$$$$ 76 | // to debug ps2 controller, uncomment these two lines to print out debug to uart 77 | //#define PS2X_DEBUG 78 | //#define PS2X_COM_DEBUG 79 | 80 | #ifndef PS2X_lib_h 81 | #define PS2X_lib_h 82 | 83 | #if ARDUINO > 22 84 | #include "Arduino.h" 85 | #else 86 | #include "WProgram.h" 87 | #endif 88 | 89 | #include 90 | #include 91 | #include 92 | #ifdef __AVR__ 93 | // AVR 94 | #include 95 | #define CTRL_CLK 4 96 | #define CTRL_BYTE_DELAY 3 97 | #else 98 | // Pic32... 99 | #include 100 | #define CTRL_CLK 5 101 | #define CTRL_CLK_HIGH 5 102 | #define CTRL_BYTE_DELAY 4 103 | #endif 104 | 105 | //These are our button constants 106 | #define PSB_SELECT 0x0001 107 | #define PSB_L3 0x0002 108 | #define PSB_R3 0x0004 109 | #define PSB_START 0x0008 110 | #define PSB_PAD_UP 0x0010 111 | #define PSB_PAD_RIGHT 0x0020 112 | #define PSB_PAD_DOWN 0x0040 113 | #define PSB_PAD_LEFT 0x0080 114 | #define PSB_L2 0x0100 115 | #define PSB_R2 0x0200 116 | #define PSB_L1 0x0400 117 | #define PSB_R1 0x0800 118 | #define PSB_GREEN 0x1000 119 | #define PSB_RED 0x2000 120 | #define PSB_BLUE 0x4000 121 | #define PSB_PINK 0x8000 122 | #define PSB_TRIANGLE 0x1000 123 | #define PSB_CIRCLE 0x2000 124 | #define PSB_CROSS 0x4000 125 | #define PSB_SQUARE 0x8000 126 | 127 | //Guitar button constants 128 | #define UP_STRUM 0x0010 129 | #define DOWN_STRUM 0x0040 130 | #define STAR_POWER 0x0100 131 | #define GREEN_FRET 0x0200 132 | #define YELLOW_FRET 0x1000 133 | #define RED_FRET 0x2000 134 | #define BLUE_FRET 0x4000 135 | #define ORANGE_FRET 0x8000 136 | #define WHAMMY_BAR 8 137 | 138 | //These are stick values 139 | #define PSS_RX 5 140 | #define PSS_RY 6 141 | #define PSS_LX 7 142 | #define PSS_LY 8 143 | 144 | //These are analog buttons 145 | #define PSAB_PAD_RIGHT 9 146 | #define PSAB_PAD_UP 11 147 | #define PSAB_PAD_DOWN 12 148 | #define PSAB_PAD_LEFT 10 149 | #define PSAB_L2 19 150 | #define PSAB_R2 20 151 | #define PSAB_L1 17 152 | #define PSAB_R1 18 153 | #define PSAB_GREEN 13 154 | #define PSAB_RED 14 155 | #define PSAB_BLUE 15 156 | #define PSAB_PINK 16 157 | #define PSAB_TRIANGLE 13 158 | #define PSAB_CIRCLE 14 159 | #define PSAB_CROSS 15 160 | #define PSAB_SQUARE 16 161 | 162 | #define SET(x,y) (x|=(1< 20) 25 | { 26 | ps2x.reconfig_gamepad(); 27 | count = 0; 28 | } 29 | ps2x.read_gamepad(); 30 | } 31 | 32 | void MotorInit(int leftward, int rightfoward, int leftbackward, int rightbackward) 33 | { 34 | LeftFoward = mMotor.getMotor(leftward); 35 | RightFoward = mMotor.getMotor(rightfoward); 36 | LeftBackward = mMotor.getMotor(leftbackward); 37 | RightBackward = mMotor.getMotor(rightbackward); 38 | delay(200); 39 | mMotor.begin(50); 40 | } 41 | 42 | void SetSpeed(int8_t s) 43 | { 44 | if (s > 100) { 45 | Speed = 100; 46 | return; 47 | } else if (s < 0) { 48 | Speed = 0; 49 | return; 50 | } 51 | Speed = s; 52 | } 53 | 54 | int GetSpeed(void) 55 | { 56 | return Speed; 57 | } 58 | 59 | void SpeedUp(int8_t Duration) 60 | { 61 | SetSpeed(Speed + Duration); 62 | } 63 | 64 | void SpeedDown(int8_t Duration ) 65 | { 66 | SetSpeed(Speed - Duration); 67 | } 68 | 69 | void DriveSpeed(int s) 70 | { 71 | if (s >= 0 && s <= 100) { 72 | LeftFoward->setSpeed((s / 10) * 25.5); 73 | RightFoward->setSpeed((s / 10) * 25.5); 74 | LeftBackward->setSpeed((s / 10) * 25.5); 75 | RightBackward->setSpeed((s / 10) * 25.5); 76 | } 77 | } 78 | 79 | void GoForward(void) 80 | { 81 | DriveSpeed(Speed); 82 | LeftFoward->run(FORWARD); 83 | RightFoward->run(FORWARD); 84 | LeftBackward->run(BACKWARD); 85 | RightBackward->run(BACKWARD); 86 | } 87 | 88 | void GoBack(void) 89 | { 90 | DriveSpeed(Speed); 91 | LeftFoward->run(BACKWARD); 92 | RightFoward->run(BACKWARD); 93 | LeftBackward->run(FORWARD); 94 | RightBackward->run(FORWARD); 95 | } 96 | void KeepStop(void) 97 | { 98 | DriveSpeed(0); 99 | LeftFoward->run(BRAKE); 100 | RightFoward->run(BRAKE); 101 | LeftBackward->run(BRAKE); 102 | RightBackward->run(BRAKE); 103 | } 104 | 105 | void TurnLeft(void) 106 | { 107 | int s; 108 | s = (Speed / 10) * 25.5; 109 | LeftFoward->setSpeed(s/2); 110 | LeftBackward->setSpeed(s/2); 111 | RightFoward->setSpeed(s); 112 | RightBackward->setSpeed(s); 113 | LeftFoward->run(FORWARD); 114 | RightFoward->run(FORWARD); 115 | LeftBackward->run(FORWARD); 116 | RightBackward->run(FORWARD); 117 | } 118 | 119 | void TurnRight(void) 120 | { 121 | int s; 122 | s = (Speed / 10) * 25.5; 123 | LeftFoward->setSpeed(s); 124 | LeftBackward->setSpeed(s); 125 | RightFoward->setSpeed(s/2); 126 | RightBackward->setSpeed(s/2); 127 | LeftFoward->run(FORWARD); 128 | RightFoward->run(FORWARD); 129 | LeftBackward->run(FORWARD); 130 | RightBackward->run(FORWARD); 131 | } 132 | 133 | void TurnLeftRotate(void) 134 | { 135 | DriveSpeed(Speed); 136 | LeftFoward->run(BACKWARD); 137 | LeftBackward->run(BACKWARD); 138 | RightFoward->run(FORWARD); 139 | RightBackward->run(FORWARD); 140 | } 141 | 142 | void TurnRightRotate(void) 143 | { 144 | DriveSpeed(Speed); 145 | LeftFoward->run(FORWARD); 146 | LeftBackward->run(FORWARD); 147 | RightFoward->run(BACKWARD); 148 | RightBackward->run(BACKWARD); 149 | } 150 | 151 | void setup() 152 | { 153 | Serial.begin(9600); 154 | MotorInit(M2, M1, M4, M3); 155 | //setup pins and settings: GamePad(clock, command, attention, data, Pressures?, Rumble?) check for error 156 | ps2x.config_gamepad(PS2_CLK, PS2_CMD, PS2_SEL, PS2_DAT, pressures, rumble); 157 | pinMode(A0, OUTPUT); 158 | tone(A0,131); 159 | delay(200); 160 | noTone(A0); 161 | // MsTimer2::set(50, Ps2Scan); 162 | // MsTimer2::start(); 163 | } 164 | 165 | void loop() 166 | { 167 | ps2x.read_gamepad(false, 0); 168 | if (ps2x.ButtonDataByte()) { 169 | if (ps2x.Button(PSB_TRIANGLE)) { 170 | Serial.print("PS2X PSB_TRIANGLE:"); 171 | SpeedUp(5); 172 | Serial.println(GetSpeed()); 173 | return; 174 | } 175 | if (ps2x.Button(PSB_CROSS)) { 176 | Serial.print("PS2X PSB_CROSS:"); 177 | SpeedDown(5); 178 | Serial.println(GetSpeed()); 179 | return; 180 | } 181 | if (ps2x.Button(PSB_PAD_UP)) { 182 | Serial.println("PS2X PSB_PAD_UP:"); 183 | GoForward(); 184 | } 185 | if (ps2x.Button(PSB_PAD_DOWN)) { 186 | Serial.println("PS2X PSB_PAD_DOWN:"); 187 | GoBack(); 188 | } 189 | if (ps2x.Button(PSB_PAD_LEFT)) { 190 | Serial.println("PS2X PSB_PAD_LEFT:"); 191 | TurnLeft(); 192 | } 193 | if (ps2x.Button(PSB_PAD_RIGHT)) { 194 | Serial.println("PS2X PSB_PAD_RIGHT:"); 195 | TurnRight(); 196 | } 197 | if (ps2x.Button(PSB_SQUARE)) { 198 | Serial.println("PS2X PSB_SQUARE:"); 199 | TurnLeftRotate(); 200 | } 201 | if (ps2x.Button(PSB_CIRCLE)) { 202 | Serial.println("PS2X PSB_CIRCLE:"); 203 | TurnRightRotate(); 204 | } 205 | } else { 206 | KeepStop(); 207 | } 208 | } 209 | -------------------------------------------------------------------------------- /arduino_lib/examples/comprehensive/ps2_control_4wd_with_robotic_arm/PS2X_lib.h: -------------------------------------------------------------------------------- 1 | /****************************************************************** 2 | * Super amazing PS2 controller Arduino Library v1.8 3 | * details and example sketch: 4 | * http://www.billporter.info/?p=240 5 | * 6 | * Original code by Shutter on Arduino Forums 7 | * 8 | * Revamped, made into lib by and supporting continued development: 9 | * Bill Porter 10 | * www.billporter.info 11 | * 12 | * Contributers: 13 | * Eric Wetzel (thewetzel@gmail.com) 14 | * Kurt Eckhardt 15 | * 16 | * Lib version history 17 | * 0.1 made into library, added analog stick support. 18 | * 0.2 fixed config_gamepad miss-spelling 19 | * added new functions: 20 | * NewButtonState(); 21 | * NewButtonState(unsigned int); 22 | * ButtonPressed(unsigned int); 23 | * ButtonReleased(unsigned int); 24 | * removed 'PS' from begining of ever function 25 | * 1.0 found and fixed bug that wasn't configuring controller 26 | * added ability to define pins 27 | * added time checking to reconfigure controller if not polled enough 28 | * Analog sticks and pressures all through 'ps2x.Analog()' function 29 | * added: 30 | * enableRumble(); 31 | * enablePressures(); 32 | * 1.1 33 | * added some debug stuff for end user. Reports if no controller found 34 | * added auto-increasing sentence delay to see if it helps compatibility. 35 | * 1.2 36 | * found bad math by Shutter for original clock. Was running at 50kHz, not the required 500kHz. 37 | * fixed some of the debug reporting. 38 | * 1.3 39 | * Changed clock back to 50kHz. CuriousInventor says it's suppose to be 500kHz, but doesn't seem to work for everybody. 40 | * 1.4 41 | * Removed redundant functions. 42 | * Fixed mode check to include two other possible modes the controller could be in. 43 | * Added debug code enabled by compiler directives. See below to enable debug mode. 44 | * Added button definitions for shapes as well as colors. 45 | * 1.41 46 | * Some simple bug fixes 47 | * Added Keywords.txt file 48 | * 1.5 49 | * Added proper Guitar Hero compatibility 50 | * Fixed issue with DEBUG mode, had to send serial at once instead of in bits 51 | * 1.6 52 | * Changed config_gamepad() call to include rumble and pressures options 53 | * This was to fix controllers that will only go into config mode once 54 | * Old methods should still work for backwards compatibility 55 | * 1.7 56 | * Integrated Kurt's fixes for the interrupts messing with servo signals 57 | * Reorganized directory so examples show up in Arduino IDE menu 58 | * 1.8 59 | * Added Arduino 1.0 compatibility. 60 | * 1.9 61 | * Kurt - Added detection and recovery from dropping from analog mode, plus 62 | * integreated Chipkit (pic32mx...) support 63 | * 64 | * 65 | * 66 | *This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or(at your option) any later version. 67 | This program is distributed in the hope that it will be useful, 68 | but WITHOUT ANY WARRANTY; without even the implied warranty of 69 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 70 | GNU General Public License for more details. 71 | 72 | * 73 | ******************************************************************/ 74 | 75 | // $$$$$$$$$$$$ DEBUG ENABLE SECTION $$$$$$$$$$$$$$$$ 76 | // to debug ps2 controller, uncomment these two lines to print out debug to uart 77 | //#define PS2X_DEBUG 78 | //#define PS2X_COM_DEBUG 79 | 80 | #ifndef PS2X_lib_h 81 | #define PS2X_lib_h 82 | 83 | #if ARDUINO > 22 84 | #include "Arduino.h" 85 | #else 86 | #include "WProgram.h" 87 | #endif 88 | 89 | #include 90 | #include 91 | #include 92 | #ifdef __AVR__ 93 | // AVR 94 | #include 95 | #define CTRL_CLK 4 96 | #define CTRL_BYTE_DELAY 3 97 | #else 98 | // Pic32... 99 | #include 100 | #define CTRL_CLK 5 101 | #define CTRL_CLK_HIGH 5 102 | #define CTRL_BYTE_DELAY 4 103 | #endif 104 | 105 | //These are our button constants 106 | #define PSB_SELECT 0x0001 107 | #define PSB_L3 0x0002 108 | #define PSB_R3 0x0004 109 | #define PSB_START 0x0008 110 | #define PSB_PAD_UP 0x0010 111 | #define PSB_PAD_RIGHT 0x0020 112 | #define PSB_PAD_DOWN 0x0040 113 | #define PSB_PAD_LEFT 0x0080 114 | #define PSB_L2 0x0100 115 | #define PSB_R2 0x0200 116 | #define PSB_L1 0x0400 117 | #define PSB_R1 0x0800 118 | #define PSB_GREEN 0x1000 119 | #define PSB_RED 0x2000 120 | #define PSB_BLUE 0x4000 121 | #define PSB_PINK 0x8000 122 | #define PSB_TRIANGLE 0x1000 123 | #define PSB_CIRCLE 0x2000 124 | #define PSB_CROSS 0x4000 125 | #define PSB_SQUARE 0x8000 126 | 127 | //Guitar button constants 128 | #define UP_STRUM 0x0010 129 | #define DOWN_STRUM 0x0040 130 | #define STAR_POWER 0x0100 131 | #define GREEN_FRET 0x0200 132 | #define YELLOW_FRET 0x1000 133 | #define RED_FRET 0x2000 134 | #define BLUE_FRET 0x4000 135 | #define ORANGE_FRET 0x8000 136 | #define WHAMMY_BAR 8 137 | 138 | //These are stick values 139 | #define PSS_RX 5 140 | #define PSS_RY 6 141 | #define PSS_LX 7 142 | #define PSS_LY 8 143 | 144 | //These are analog buttons 145 | #define PSAB_PAD_RIGHT 9 146 | #define PSAB_PAD_UP 11 147 | #define PSAB_PAD_DOWN 12 148 | #define PSAB_PAD_LEFT 10 149 | #define PSAB_L2 19 150 | #define PSAB_R2 20 151 | #define PSAB_L1 17 152 | #define PSAB_R1 18 153 | #define PSAB_GREEN 13 154 | #define PSAB_RED 14 155 | #define PSAB_BLUE 15 156 | #define PSAB_PINK 16 157 | #define PSAB_TRIANGLE 13 158 | #define PSAB_CIRCLE 14 159 | #define PSAB_CROSS 15 160 | #define PSAB_SQUARE 16 161 | 162 | #define SET(x,y) (x|=(1< 100) { 46 | Speed = 100; 47 | return; 48 | } else if (s < 0) { 49 | Speed = 0; 50 | return; 51 | } 52 | Speed = s; 53 | } 54 | 55 | int GetSpeed(void) 56 | { 57 | return Speed; 58 | } 59 | 60 | void SpeedUp(int8_t Duration) 61 | { 62 | SetSpeed(Speed + Duration); 63 | } 64 | 65 | void SpeedDown(int8_t Duration ) 66 | { 67 | SetSpeed(Speed - Duration); 68 | } 69 | 70 | void DriveSpeed(int s) 71 | { 72 | if (s >= 0 && s <= 100) { 73 | LeftFoward->setSpeed((s / 10) * 25.5); 74 | RightFoward->setSpeed((s / 10) * 25.5); 75 | LeftBackward->setSpeed((s / 10) * 25.5); 76 | RightBackward->setSpeed((s / 10) * 25.5); 77 | } 78 | } 79 | 80 | void GoForward(void) 81 | { 82 | DriveSpeed(Speed); 83 | LeftFoward->run(FORWARD); 84 | RightFoward->run(FORWARD); 85 | LeftBackward->run(FORWARD); 86 | RightBackward->run(FORWARD); 87 | } 88 | 89 | void GoBack(void) 90 | { 91 | DriveSpeed(Speed); 92 | LeftFoward->run(BACKWARD); 93 | RightFoward->run(BACKWARD); 94 | LeftBackward->run(BACKWARD); 95 | RightBackward->run(BACKWARD); 96 | } 97 | void KeepStop(void) 98 | { 99 | DriveSpeed(0); 100 | LeftFoward->run(BRAKE); 101 | RightFoward->run(BRAKE); 102 | LeftBackward->run(BRAKE); 103 | RightBackward->run(BRAKE); 104 | } 105 | 106 | void TurnLeft(void) 107 | { 108 | int s; 109 | s = (Speed / 10) * 25.5; 110 | LeftFoward->setSpeed(s/2); 111 | LeftBackward->setSpeed(s/2); 112 | RightFoward->setSpeed(s); 113 | RightBackward->setSpeed(s); 114 | LeftFoward->run(FORWARD); 115 | RightFoward->run(FORWARD); 116 | LeftBackward->run(FORWARD); 117 | RightBackward->run(FORWARD); 118 | } 119 | 120 | void TurnRight(void) 121 | { 122 | int s; 123 | s = (Speed / 10) * 25.5; 124 | LeftFoward->setSpeed(s); 125 | LeftBackward->setSpeed(s); 126 | RightFoward->setSpeed(s/2); 127 | RightBackward->setSpeed(s/2); 128 | LeftFoward->run(FORWARD); 129 | RightFoward->run(FORWARD); 130 | LeftBackward->run(FORWARD); 131 | RightBackward->run(FORWARD); 132 | } 133 | 134 | void TurnLeftRotate(void) 135 | { 136 | DriveSpeed(Speed); 137 | LeftFoward->run(BACKWARD); 138 | LeftBackward->run(BACKWARD); 139 | RightFoward->run(FORWARD); 140 | RightBackward->run(FORWARD); 141 | } 142 | 143 | void TurnRightRotate(void) 144 | { 145 | DriveSpeed(Speed); 146 | LeftFoward->run(FORWARD); 147 | LeftBackward->run(FORWARD); 148 | RightFoward->run(BACKWARD); 149 | RightBackward->run(BACKWARD); 150 | } 151 | 152 | void InitServo(void) 153 | { 154 | mServo1 = mMotorDriver.getServo(1); 155 | mServo2 = mMotorDriver.getServo(2); 156 | mServo3 = mMotorDriver.getServo(3); 157 | mServo4 = mMotorDriver.getServo(4); 158 | mServo5 = mMotorDriver.getServo(5); 159 | mServo6 = mMotorDriver.getServo(6); 160 | } 161 | 162 | void SetServoBaseDegree(uint8_t base) 163 | { 164 | ServoBaseDegree = base; 165 | } 166 | 167 | void SetServoDegree(byte pin , byte Angle) 168 | { 169 | int Degree = Angle; 170 | int servo_degree; 171 | ServoPin = pin; 172 | if (Degree > 360) { 173 | return; 174 | } 175 | if (Degree == 90 || Degree == 270) { 176 | servo_degree = ServoBaseDegree; 177 | } else if (Degree >= 0 && Degree <= 180) { 178 | servo_degree = ServoBaseDegree - 90 + Degree; // 180-degree-diff 179 | } 180 | if (ServoPin == 1) 181 | mServo1->writeServo(servo_degree); 182 | else if (ServoPin == 2) 183 | mServo2->writeServo(Angle); 184 | else if (ServoPin == 3) 185 | mServo3->writeServo(Angle); 186 | else if (ServoPin == 4) 187 | mServo4->writeServo(Angle); 188 | else if (ServoPin == 5) 189 | mServo5->writeServo(Angle); 190 | else if (ServoPin == 6) 191 | mServo6->writeServo(Angle); 192 | } 193 | 194 | uint16_t LeftHart(void) 195 | { 196 | LY = float((ps2x.Analog(PSS_LY)) - 127) / 127; 197 | LX = float((ps2x.Analog(PSS_LX)) - 127) / 127; 198 | if ((-0.1 <= LX) && (LX <= 0.1) && (-0.1 <= LY) && (LY <= 0.1)) { 199 | return 0xFFF; 200 | } else { 201 | if ((LX > 0) && (LY > 0)) { 202 | LeftAngle = 360 - (atan(LY / LX) * 58); 203 | } else if ((LX < 0) && (LY > 0)) { 204 | LeftAngle = 180 + (abs(atan(LY / LX) * 58)); 205 | } else if ((LX < 0) && (LY < 0)) { 206 | LeftAngle = 180 - (abs(atan(LY / LX) * 58)) ; 207 | } else if ((LX > 0) && (LY < 0)) { 208 | LeftAngle = abs(atan(LY / LX) * 58); 209 | } 210 | return LeftAngle; 211 | } 212 | } 213 | uint16_t RightHart(void) 214 | { 215 | RY = float((ps2x.Analog(PSS_RY)) - 127) / 127; 216 | RX = float((ps2x.Analog(PSS_RX)) - 127) / 127; 217 | if ((-0.1 <= RX) && (RX <= 0.1) && (-0.1 <= RY) && (RY <= 0.1)) { 218 | return 0xFFF; 219 | } else { 220 | if ((RX > 0) && (RY > 0)) { 221 | RightAngle = 360 - (atan(RY / RX) * 58); 222 | } else if ((RX < 0) && (RY > 0)) { 223 | RightAngle = 180 + (abs(atan(RY / RX) * 58)); 224 | } else if ((RX < 0) && (RY < 0)) { 225 | RightAngle = 180 - (abs(atan(RY / RX) * 58)) ; 226 | } else if ((RX > 0) && (RY < 0)) { 227 | RightAngle = abs(atan(RY / RX) * 58); 228 | } 229 | return RightAngle; 230 | } 231 | } 232 | 233 | void setup() 234 | { 235 | Serial.begin(9600); 236 | mMotorDriver.begin(50); 237 | InitServo(); 238 | moto_init(M2, M1, M4, M3); 239 | ps2x.config_gamepad(PS2_CLK, PS2_CMD, PS2_SEL, PS2_DAT, pressures, rumble); 240 | SetServoBaseDegree(90); 241 | SetServoDegree(1, 90); 242 | } 243 | 244 | void HandlePS2(void) 245 | { 246 | int Ps2xRightAngle, Ps2xLeftAngle; 247 | //ps2x.read_gamepad(false, 0); 248 | if (ps2x.ButtonDataByte()) { 249 | if (ps2x.Button(PSB_TRIANGLE)) { 250 | Serial.print("PS2X PSB_TRIANGLE:"); 251 | SpeedUp(5); 252 | Serial.println(GetSpeed()); 253 | return; 254 | } 255 | if (ps2x.Button(PSB_CROSS)) { 256 | Serial.print("PS2X PSB_CROSS:"); 257 | SpeedDown(5); 258 | Serial.println(GetSpeed()); 259 | return; 260 | } 261 | if (ps2x.Button(PSB_PAD_UP)) { 262 | Serial.println("PS2X PSB_PAD_UP:"); 263 | GoForward(); 264 | } 265 | if (ps2x.Button(PSB_PAD_DOWN)) { 266 | Serial.println("PS2X PSB_PAD_DOWN:"); 267 | GoBack(); 268 | } 269 | if (ps2x.Button(PSB_PAD_LEFT)) { 270 | Serial.println("PS2X PSB_PAD_LEFT:"); 271 | TurnLeft(); 272 | } 273 | if (ps2x.Button(PSB_PAD_RIGHT)) { 274 | Serial.println("PS2X PSB_PAD_RIGHT:"); 275 | TurnRight(); 276 | } 277 | if (ps2x.Button(PSB_SQUARE)) { 278 | Serial.println("PS2X PSB_SQUARE:"); 279 | TurnLeftRotate(); 280 | } 281 | if (ps2x.Button(PSB_CIRCLE)) { 282 | Serial.println("PS2X PSB_CIRCLE:"); 283 | TurnRightRotate(); 284 | } 285 | if (ps2x.Button(PSB_L1)) { 286 | if (UpServo < 140) 287 | UpServo += 4; 288 | } 289 | if (ps2x.Button(PSB_R1)) { 290 | if (UpServo > 47) 291 | UpServo -= 4; 292 | } 293 | } else { 294 | KeepStop(); 295 | Ps2xRightAngle = RightHart(); 296 | Ps2xLeftAngle = LeftHart(); 297 | if ((Ps2xRightAngle != 0xFFF) || (Ps2xLeftAngle != 0xFFF)) { 298 | if ((90 < Ps2xLeftAngle) && (Ps2xLeftAngle <= 270)) 299 | { 300 | if (DownServo < 180) { 301 | DownServo += 2; 302 | } 303 | } else if ((270 < Ps2xLeftAngle) && (Ps2xLeftAngle <= 360) || (0 <= Ps2xLeftAngle) && (Ps2xLeftAngle <= 90)) { 304 | if (DownServo != 0) { 305 | DownServo -= 2; 306 | } 307 | } 308 | if ((45 <= Ps2xRightAngle) && (Ps2xRightAngle < 135)) { 309 | if ((RightServo < 175)) { 310 | RightServo += 2; 311 | } 312 | } else if ((225 <= Ps2xRightAngle) && (Ps2xRightAngle < 315)) { 313 | if (((RightServo != 0) && (100 < LeftServo)) && (RightServo > 70)) { 314 | RightServo -= 2; 315 | } 316 | } else if ((135 <= Ps2xRightAngle) && (Ps2xRightAngle < 225)) { 317 | if (LeftServo < 160) { 318 | LeftServo += 2; 319 | } 320 | } else if ((315 <= Ps2xRightAngle) && (Ps2xRightAngle <= 360) || (0 <= Ps2xRightAngle) && (Ps2xRightAngle < 45)) { 321 | if (LeftServo >= 92) { 322 | LeftServo -= 2; 323 | } 324 | } 325 | SetServoDegree(1, DownServo); 326 | SetServoDegree(2, LeftServo); 327 | SetServoDegree(3, RightServo); 328 | } 329 | } 330 | SetServoDegree(4, UpServo); 331 | delay(50); 332 | } 333 | 334 | void loop() 335 | { 336 | HandlePS2(); 337 | } 338 | -------------------------------------------------------------------------------- /arduino_lib/examples/comprehensive/ps2_control_mecanum_wheel_car/PS2X_lib.h: -------------------------------------------------------------------------------- 1 | /****************************************************************** 2 | * Super amazing PS2 controller Arduino Library v1.8 3 | * details and example sketch: 4 | * http://www.billporter.info/?p=240 5 | * 6 | * Original code by Shutter on Arduino Forums 7 | * 8 | * Revamped, made into lib by and supporting continued development: 9 | * Bill Porter 10 | * www.billporter.info 11 | * 12 | * Contributers: 13 | * Eric Wetzel (thewetzel@gmail.com) 14 | * Kurt Eckhardt 15 | * 16 | * Lib version history 17 | * 0.1 made into library, added analog stick support. 18 | * 0.2 fixed config_gamepad miss-spelling 19 | * added new functions: 20 | * NewButtonState(); 21 | * NewButtonState(unsigned int); 22 | * ButtonPressed(unsigned int); 23 | * ButtonReleased(unsigned int); 24 | * removed 'PS' from begining of ever function 25 | * 1.0 found and fixed bug that wasn't configuring controller 26 | * added ability to define pins 27 | * added time checking to reconfigure controller if not polled enough 28 | * Analog sticks and pressures all through 'ps2x.Analog()' function 29 | * added: 30 | * enableRumble(); 31 | * enablePressures(); 32 | * 1.1 33 | * added some debug stuff for end user. Reports if no controller found 34 | * added auto-increasing sentence delay to see if it helps compatibility. 35 | * 1.2 36 | * found bad math by Shutter for original clock. Was running at 50kHz, not the required 500kHz. 37 | * fixed some of the debug reporting. 38 | * 1.3 39 | * Changed clock back to 50kHz. CuriousInventor says it's suppose to be 500kHz, but doesn't seem to work for everybody. 40 | * 1.4 41 | * Removed redundant functions. 42 | * Fixed mode check to include two other possible modes the controller could be in. 43 | * Added debug code enabled by compiler directives. See below to enable debug mode. 44 | * Added button definitions for shapes as well as colors. 45 | * 1.41 46 | * Some simple bug fixes 47 | * Added Keywords.txt file 48 | * 1.5 49 | * Added proper Guitar Hero compatibility 50 | * Fixed issue with DEBUG mode, had to send serial at once instead of in bits 51 | * 1.6 52 | * Changed config_gamepad() call to include rumble and pressures options 53 | * This was to fix controllers that will only go into config mode once 54 | * Old methods should still work for backwards compatibility 55 | * 1.7 56 | * Integrated Kurt's fixes for the interrupts messing with servo signals 57 | * Reorganized directory so examples show up in Arduino IDE menu 58 | * 1.8 59 | * Added Arduino 1.0 compatibility. 60 | * 1.9 61 | * Kurt - Added detection and recovery from dropping from analog mode, plus 62 | * integreated Chipkit (pic32mx...) support 63 | * 64 | * 65 | * 66 | *This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or(at your option) any later version. 67 | This program is distributed in the hope that it will be useful, 68 | but WITHOUT ANY WARRANTY; without even the implied warranty of 69 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 70 | GNU General Public License for more details. 71 | 72 | * 73 | ******************************************************************/ 74 | 75 | // $$$$$$$$$$$$ DEBUG ENABLE SECTION $$$$$$$$$$$$$$$$ 76 | // to debug ps2 controller, uncomment these two lines to print out debug to uart 77 | //#define PS2X_DEBUG 78 | //#define PS2X_COM_DEBUG 79 | 80 | #ifndef PS2X_lib_h 81 | #define PS2X_lib_h 82 | 83 | #if ARDUINO > 22 84 | #include "Arduino.h" 85 | #else 86 | #include "WProgram.h" 87 | #endif 88 | 89 | #include 90 | #include 91 | #include 92 | #ifdef __AVR__ 93 | // AVR 94 | #include 95 | #define CTRL_CLK 4 96 | #define CTRL_BYTE_DELAY 3 97 | #else 98 | // Pic32... 99 | #include 100 | #define CTRL_CLK 5 101 | #define CTRL_CLK_HIGH 5 102 | #define CTRL_BYTE_DELAY 4 103 | #endif 104 | 105 | //These are our button constants 106 | #define PSB_SELECT 0x0001 107 | #define PSB_L3 0x0002 108 | #define PSB_R3 0x0004 109 | #define PSB_START 0x0008 110 | #define PSB_PAD_UP 0x0010 111 | #define PSB_PAD_RIGHT 0x0020 112 | #define PSB_PAD_DOWN 0x0040 113 | #define PSB_PAD_LEFT 0x0080 114 | #define PSB_L2 0x0100 115 | #define PSB_R2 0x0200 116 | #define PSB_L1 0x0400 117 | #define PSB_R1 0x0800 118 | #define PSB_GREEN 0x1000 119 | #define PSB_RED 0x2000 120 | #define PSB_BLUE 0x4000 121 | #define PSB_PINK 0x8000 122 | #define PSB_TRIANGLE 0x1000 123 | #define PSB_CIRCLE 0x2000 124 | #define PSB_CROSS 0x4000 125 | #define PSB_SQUARE 0x8000 126 | 127 | //Guitar button constants 128 | #define UP_STRUM 0x0010 129 | #define DOWN_STRUM 0x0040 130 | #define STAR_POWER 0x0100 131 | #define GREEN_FRET 0x0200 132 | #define YELLOW_FRET 0x1000 133 | #define RED_FRET 0x2000 134 | #define BLUE_FRET 0x4000 135 | #define ORANGE_FRET 0x8000 136 | #define WHAMMY_BAR 8 137 | 138 | //These are stick values 139 | #define PSS_RX 5 140 | #define PSS_RY 6 141 | #define PSS_LX 7 142 | #define PSS_LY 8 143 | 144 | //These are analog buttons 145 | #define PSAB_PAD_RIGHT 9 146 | #define PSAB_PAD_UP 11 147 | #define PSAB_PAD_DOWN 12 148 | #define PSAB_PAD_LEFT 10 149 | #define PSAB_L2 19 150 | #define PSAB_R2 20 151 | #define PSAB_L1 17 152 | #define PSAB_R1 18 153 | #define PSAB_GREEN 13 154 | #define PSAB_RED 14 155 | #define PSAB_BLUE 15 156 | #define PSAB_PINK 16 157 | #define PSAB_TRIANGLE 13 158 | #define PSAB_CIRCLE 14 159 | #define PSAB_CROSS 15 160 | #define PSAB_SQUARE 16 161 | 162 | #define SET(x,y) (x|=(1<setSpeed(speed_val); 44 | DCMotor_1->run(FORWARD); 45 | DCMotor_2->setSpeed(speed_val); 46 | DCMotor_2->run(FORWARD); 47 | DCMotor_3->setSpeed(speed_val); 48 | DCMotor_3->run(FORWARD); 49 | DCMotor_4->setSpeed(speed_val); 50 | DCMotor_4->run(FORWARD); 51 | } 52 | if(ps2x.Button(PSB_PAD_LEFT)){ 53 | Serial.print("LEFT held this hard: "); 54 | Serial.println(ps2x.Analog(PSAB_PAD_LEFT), DEC); 55 | //左平移 56 | DCMotor_1->setSpeed(speed_val); 57 | DCMotor_1->run(BACKWARD); 58 | DCMotor_2->setSpeed(speed_val); 59 | DCMotor_2->run(FORWARD); 60 | DCMotor_3->setSpeed(speed_val); 61 | DCMotor_3->run(FORWARD); 62 | DCMotor_4->setSpeed(speed_val); 63 | DCMotor_4->run(BACKWARD); 64 | } 65 | if(ps2x.Button(PSB_PAD_RIGHT)){ 66 | Serial.print("Right held this hard: "); 67 | Serial.println(ps2x.Analog(PSAB_PAD_RIGHT), DEC); 68 | //右平移 69 | DCMotor_1->setSpeed(speed_val); 70 | DCMotor_1->run(FORWARD); 71 | DCMotor_2->setSpeed(speed_val); 72 | DCMotor_2->run(BACKWARD); 73 | DCMotor_3->setSpeed(speed_val); 74 | DCMotor_3->run(BACKWARD); 75 | DCMotor_4->setSpeed(speed_val); 76 | DCMotor_4->run(FORWARD); 77 | } 78 | if(ps2x.Button(PSB_PAD_DOWN)){ 79 | Serial.print("DOWN held this hard: "); 80 | Serial.println(ps2x.Analog(PSAB_PAD_DOWN), DEC); 81 | //后退 82 | DCMotor_1->setSpeed(speed_val); 83 | DCMotor_1->run(BACKWARD); 84 | DCMotor_2->setSpeed(speed_val); 85 | DCMotor_2->run(BACKWARD); 86 | DCMotor_3->setSpeed(speed_val); 87 | DCMotor_3->run(BACKWARD); 88 | DCMotor_4->setSpeed(speed_val); 89 | DCMotor_4->run(BACKWARD); 90 | } 91 | }else { 92 | DCMotor_1->run(BRAKE); 93 | DCMotor_2->run(BRAKE); 94 | DCMotor_3->run(BRAKE); 95 | DCMotor_4->run(BRAKE); 96 | } 97 | if(ps2x.ButtonPressed(PSB_CIRCLE)){ 98 | Serial.println("Circle just pressed"); 99 | //原地旋转 100 | //逆时针 101 | DCMotor_1->setSpeed(speed_val); 102 | DCMotor_1->run(FORWARD); 103 | DCMotor_2->setSpeed(speed_val); 104 | DCMotor_2->run(BACKWARD); 105 | DCMotor_3->setSpeed(speed_val); 106 | DCMotor_3->run(FORWARD); 107 | DCMotor_4->setSpeed(speed_val); 108 | DCMotor_4->run(BACKWARD); 109 | //顺时针 110 | // DCMotor_1->setSpeed(speed_val); 111 | // DCMotor_1->run(BACKWARD); 112 | // DCMotor_2->setSpeed(speed_val); 113 | // DCMotor_2->run(FORWARD); 114 | // DCMotor_3->setSpeed(speed_val); 115 | // DCMotor_3->run(BACKWARD); 116 | // DCMotor_4->setSpeed(speed_val); 117 | // DCMotor_4->run(FORWARD); 118 | } 119 | if(ps2x.ButtonPressed(PSB_CROSS)){ 120 | Serial.println("X just changed"); 121 | // 刹车 122 | DCMotor_1->run(BRAKE); 123 | DCMotor_2->run(BRAKE); 124 | DCMotor_3->run(BRAKE); 125 | DCMotor_4->run(BRAKE); 126 | } 127 | if(ps2x.ButtonPressed(PSB_SQUARE)){ 128 | Serial.println("Square just released"); 129 | DCMotor_1->setSpeed(speed_val); 130 | DCMotor_1->run(BACKWARD); 131 | DCMotor_2->setSpeed(speed_val); 132 | DCMotor_2->run(FORWARD); 133 | DCMotor_3->setSpeed(speed_val); 134 | DCMotor_3->run(BACKWARD); 135 | DCMotor_4->setSpeed(speed_val); 136 | DCMotor_4->run(FORWARD); 137 | } 138 | if(ps2x.ButtonPressed(PSB_TRIANGLE)){ 139 | Serial.println("Triangle pressed"); 140 | //右前方45° 141 | DCMotor_1->setSpeed(speed_val); 142 | DCMotor_1->run(FORWARD); 143 | DCMotor_2->run(BRAKE); 144 | DCMotor_3->run(BRAKE); 145 | DCMotor_4->setSpeed(speed_val); 146 | DCMotor_4->run(FORWARD); 147 | //左后方45° 148 | // DCMotor_1->setSpeed(speed_val); 149 | // DCMotor_1->run(BACKWARD); 150 | // DCMotor_2->run(BRAKE); 151 | // DCMotor_3->run(BRAKE); 152 | // DCMotor_4->setSpeed(speed_val); 153 | // DCMotor_4->run(BACKWARD); 154 | //左前方45° 155 | // DCMotor_2->setSpeed(speed_val); 156 | // DCMotor_2->run(FORWARD); 157 | // DCMotor_1->run(BRAKE); 158 | // DCMotor_4->run(BRAKE); 159 | // DCMotor_3->setSpeed(speed_val); 160 | // DCMotor_3->run(FORWARD); 161 | //右后方45° 162 | // DCMotor_2->setSpeed(speed_val); 163 | // DCMotor_2->run(BACKWARD); 164 | // DCMotor_1->run(BRAKE); 165 | // DCMotor_4->run(BRAKE); 166 | // DCMotor_3->setSpeed(speed_val); 167 | // DCMotor_3->run(BACKWARD); 168 | } 169 | } -------------------------------------------------------------------------------- /arduino_lib/examples/motor_test/dc/dc.ino: -------------------------------------------------------------------------------- 1 | #include "Emakefun_MotorDriver.h" 2 | 3 | Emakefun_MotorDriver mMotor = Emakefun_MotorDriver(0x60); 4 | Emakefun_DCMotor *DCMotor_1 = mMotor.getMotor(M1); 5 | Emakefun_DCMotor *DCMotor_2 = mMotor.getMotor(M2); 6 | Emakefun_DCMotor *DCMotor_3 = mMotor.getMotor(M3); 7 | Emakefun_DCMotor *DCMotor_4 = mMotor.getMotor(M4); 8 | 9 | void setup() 10 | { 11 | Serial.begin(9600); 12 | mMotor.begin(50); 13 | } 14 | 15 | void loop() 16 | { 17 | // 前进 18 | DCMotor_1->setSpeed(200); 19 | DCMotor_1->run(FORWARD); 20 | DCMotor_2->setSpeed(200); 21 | DCMotor_2->run(FORWARD); 22 | DCMotor_3->setSpeed(200); 23 | DCMotor_3->run(FORWARD); 24 | DCMotor_4->setSpeed(200); 25 | DCMotor_4->run(FORWARD); 26 | delay(4000); 27 | // 后退 28 | DCMotor_1->setSpeed(100); 29 | DCMotor_1->run(BACKWARD); 30 | DCMotor_2->setSpeed(100); 31 | DCMotor_2->run(BACKWARD); 32 | DCMotor_3->setSpeed(100); 33 | DCMotor_3->run(BACKWARD); 34 | DCMotor_4->setSpeed(100); 35 | DCMotor_4->run(BACKWARD); 36 | delay(4000); 37 | // 刹车 38 | DCMotor_1->run(BRAKE); 39 | DCMotor_2->run(BRAKE); 40 | DCMotor_3->run(BRAKE); 41 | DCMotor_4->run(BRAKE); 42 | delay(4000); 43 | } 44 | -------------------------------------------------------------------------------- /arduino_lib/examples/motor_test/encoder/encoder.ino: -------------------------------------------------------------------------------- 1 | #include "Emakefun_MotorDriver.h" 2 | 3 | #define ONE_CIRCLE_PULSE 1080 //90*12=1080 4 | 5 | Emakefun_MotorDriver mMotorDriver = Emakefun_MotorDriver(); 6 | Emakefun_EncoderMotor *EncodeMotor_1 = mMotorDriver.getEncoderMotor(E1); 7 | Emakefun_EncoderMotor *EncodeMotor_2 = mMotorDriver.getEncoderMotor(E2); 8 | Emakefun_EncoderMotor *EncodeMotor_3 = mMotorDriver.getEncoderMotor(E3); 9 | Emakefun_EncoderMotor *EncodeMotor_4 = mMotorDriver.getEncoderMotor(E4); 10 | 11 | void encoder1(void) 12 | { 13 | if (digitalRead(EncodeMotor_1->ENCODER2pin) == LOW) { 14 | EncodeMotor_1->EncoderPulse++; 15 | } else { 16 | EncodeMotor_1->EncoderPulse--; 17 | } 18 | } 19 | 20 | void encoder2(void) 21 | { 22 | if (digitalRead(EncodeMotor_2->ENCODER2pin) == LOW) { 23 | EncodeMotor_2->EncoderPulse++; 24 | } else { 25 | EncodeMotor_2->EncoderPulse--; 26 | } 27 | } 28 | 29 | void encoder3(void) 30 | { 31 | if (digitalRead(EncodeMotor_3->ENCODER2pin) == LOW) { 32 | EncodeMotor_3->EncoderPulse++; 33 | } else { 34 | EncodeMotor_3->EncoderPulse--; 35 | } 36 | } 37 | 38 | void encoder4(void) 39 | { 40 | if (digitalRead(EncodeMotor_4->ENCODER2pin) == LOW) { 41 | EncodeMotor_4->EncoderPulse++; 42 | } else { 43 | EncodeMotor_4->EncoderPulse--; 44 | } 45 | } 46 | 47 | void setup() 48 | { 49 | Serial.begin(9600); 50 | mMotorDriver.begin(); 51 | delay(100); 52 | Serial.println("start"); 53 | EncodeMotor_1->init(encoder1); 54 | EncodeMotor_2->init(encoder2); 55 | EncodeMotor_3->init(encoder3); 56 | EncodeMotor_4->init(encoder4); 57 | EncodeMotor_1->setSpeed(200); 58 | EncodeMotor_2->setSpeed(200); 59 | EncodeMotor_3->setSpeed(200); 60 | EncodeMotor_4->setSpeed(200); 61 | EncodeMotor_1->run(FORWARD); 62 | EncodeMotor_2->run(FORWARD); 63 | EncodeMotor_3->run(BACKWARD); 64 | EncodeMotor_4->run(BACKWARD); 65 | EncodeMotor_1->run(BACKWARD, 200, ONE_CIRCLE_PULSE); 66 | while(1); 67 | } 68 | 69 | void loop() 70 | { 71 | 72 | Serial.print("Encoder1Pulse:"); 73 | Serial.println(EncodeMotor_1->EncoderPulse); 74 | Serial.print("Encoder2Pulse:"); 75 | Serial.println(EncodeMotor_2->EncoderPulse); 76 | Serial.print("Encoder3Pulse:"); 77 | Serial.println(EncodeMotor_3->EncoderPulse); 78 | Serial.print("Encoder4Pulse:"); 79 | Serial.println(EncodeMotor_4->EncoderPulse); 80 | while(1) { 81 | 82 | if (EncodeMotor_1->EncoderPulse > 180*12) { 83 | // Serial.println("STOP"); 84 | EncodeMotor_1->run(BRAKE); 85 | } else { 86 | Serial.println(EncodeMotor_1->EncoderPulse); 87 | } 88 | //delay(10); 89 | } 90 | } 91 | -------------------------------------------------------------------------------- /arduino_lib/examples/motor_test/encoder_pid/encoder_pid.ino: -------------------------------------------------------------------------------- 1 | #include "Emakefun_MotorDriver.h" 2 | #include "MsTimer2.h" 3 | #include "PID_v1.h" 4 | 5 | double Setpoint, Input, Output; 6 | double Kp=1, Ki=5, Kd=0; 7 | PID myPID(&Input, &Output, &Setpoint, Kp, Ki, Kd, DIRECT);//速度为正值时：DIRECT 负值时：REVERSE 8 | 9 | static volatile int Encoder1Pulse = 0, Encoder2Pulse = 0; 10 | int ratio = 1.5;//电机减速比 11 | 12 | Emakefun_MotorDriver mMotorDriver = Emakefun_MotorDriver(); 13 | Emakefun_EncoderMotor *EncodeMotor_1 = mMotorDriver.getEncoderMotor(E1); 14 | 15 | void EncoderSpeed() 16 | { 17 | Input = EncodeMotor_1->EncoderPulse*ratio; 18 | EncodeMotor_1->EncoderPulse = 0; 19 | Serial.println(Input); 20 | } 21 | 22 | static void encoder1(void) 23 | { 24 | if (digitalRead(EncodeMotor_1->ENCODER2pin) == LOW) { 25 | EncodeMotor_1->EncoderPulse++; 26 | } else { 27 | EncodeMotor_1->EncoderPulse--; 28 | } 29 | } 30 | 31 | void setup() 32 | { 33 | Serial.begin(9600); 34 | mMotorDriver.begin(); 35 | EncodeMotor_1->init(encoder1); 36 | MsTimer2::set(100, EncoderSpeed); // 500ms period 37 | MsTimer2::start(); 38 | Setpoint = 100; 39 | myPID.SetOutputLimits(-255, 255); 40 | myPID.SetSampleTime(100); 41 | myPID.SetMode(AUTOMATIC); 42 | 43 | } 44 | 45 | void loop() 46 | { 47 | myPID.Compute(); 48 | EncodeMotor_1->setSpeed(abs(Output)); 49 | if(Output > 0) { 50 | EncodeMotor_1->run(FORWARD); 51 | } else { 52 | EncodeMotor_1->run(BACKWARD); 53 | } 54 | } 55 | -------------------------------------------------------------------------------- /arduino_lib/examples/motor_test/servo/servo.ino: -------------------------------------------------------------------------------- 1 | #include "Emakefun_MotorDriver.h" 2 | Emakefun_MotorDriver mMotorDriver = Emakefun_MotorDriver(0x60); 3 | 4 | Emakefun_Servo *mServo1 = mMotorDriver.getServo(1); 5 | Emakefun_Servo *mServo2 = mMotorDriver.getServo(2); 6 | Emakefun_Servo *mServo3 = mMotorDriver.getServo(3); 7 | Emakefun_Servo *mServo4 = mMotorDriver.getServo(4); 8 | Emakefun_Servo *mServo5 = mMotorDriver.getServo(5); 9 | Emakefun_Servo *mServo6 = mMotorDriver.getServo(6); 10 | Emakefun_Servo *mServo7 = mMotorDriver.getServo(7); 11 | Emakefun_Servo *mServo8 = mMotorDriver.getServo(8); 12 | 13 | void setup() 14 | { 15 | Serial.begin(9600); 16 | mMotorDriver.begin(50); 17 | } 18 | 19 | void loop() 20 | { 21 | mServo1->writeServo(0); 22 | mServo2->writeServo(0); 23 | mServo3->writeServo(0); 24 | mServo4->writeServo(0); 25 | mServo5->writeServo(0); 26 | mServo6->writeServo(0); 27 | mServo7->writeServo(0); 28 | mServo8->writeServo(0); 29 | delay(1000); 30 | mServo1->writeServo(90); 31 | mServo2->writeServo(90); 32 | mServo3->writeServo(90); 33 | mServo4->writeServo(90); 34 | mServo5->writeServo(90); 35 | mServo6->writeServo(90); 36 | mServo7->writeServo(90); 37 | mServo8->writeServo(90); 38 | delay(1000); 39 | mServo1->writeServo(180); 40 | mServo2->writeServo(180); 41 | mServo3->writeServo(180); 42 | mServo4->writeServo(180); 43 | mServo5->writeServo(180); 44 | mServo6->writeServo(180); 45 | mServo7->writeServo(180); 46 | mServo8->writeServo(180); 47 | delay(1000); 48 | } 49 | -------------------------------------------------------------------------------- /arduino_lib/examples/motor_test/stepper/stepper.ino: -------------------------------------------------------------------------------- 1 | #include "Emakefun_MotorDriver.h" 2 | 3 | Emakefun_MotorDriver mMotorDriver = Emakefun_MotorDriver(0x60); 4 | 5 | Emakefun_StepperMotor *StepperMotor_1 = mMotorDriver.getStepper(STEPPER1, 200); 6 | Emakefun_StepperMotor *StepperMotor_2 = mMotorDriver.getStepper(STEPPER2, 200); 7 | 8 | void setup() 9 | { 10 | Serial.begin(9600); 11 | mMotorDriver.begin(1600); 12 | StepperMotor_1->setSpeed(400); 13 | StepperMotor_2->setSpeed(400); 14 | } 15 | 16 | void loop() 17 | { 18 | StepperMotor_1->step(200, FORWARD, DOUBLE); //电机1正转1圈 200步 19 | StepperMotor_1->release(); 20 | StepperMotor_2->step(200, FORWARD, SINGLE); //电机2正转1圈 200步 21 | StepperMotor_2->release(); 22 | delay(1000); 23 | StepperMotor_1->step(200, BACKWARD, DOUBLE); //电机1反转1圈 200步 24 | StepperMotor_1->release(); 25 | StepperMotor_2->step(200, BACKWARD, SINGLE); //电机2反转1圈 200步 26 | StepperMotor_2->release(); 27 | delay(1000); 28 | } -------------------------------------------------------------------------------- /arduino_lib/keywords.txt: -------------------------------------------------------------------------------- 1 | ####################################### 2 | # Classes, datatypes (KEYWORD1) 3 | ####################################### 4 | 5 | Emakefun_MotorDriver KEYWORD1 6 | Emakefun_DCMotor KEYWORD1 7 | Emakefun_EncoderMotor KEYWORD1 8 | Emakefun_StepperMotor KEYWORD1 9 | Emakefun_Servo KEYWORD1 10 | 11 | ####################################### 12 | # Methods and Functions (KEYWORD2) 13 | ####################################### 14 | 15 | FORWARD KEYWORD2 16 | BACKWARD KEYWORD2 17 | BRAKE KEYWORD2 18 | RELEASE KEYWORD2 19 | begin KEYWORD2 20 | getPWM KEYWORD2 21 | setPWM KEYWORD2 22 | setPin KEYWORD2 23 | setServoPulse KEYWORD2 24 | writeServo KEYWORD2 25 | writeServo KEYWORD2 26 | readDegrees KEYWORD2 27 | run KEYWORD2 28 | setSpeed KEYWORD2 29 | step KEYWORD2 30 | onestep KEYWORD2 31 | release KEYWORD2 32 | getMotor KEYWORD2 33 | getStepper KEYWORD2 34 | getEncoderMotor KEYWORD2 35 | getServo KEYWORD2 36 | 37 | ####################################### 38 | # Constants (LITERAL1) 39 | ####################################### 40 | FREQUENCY_OSCILLATOR LITERAL1 -------------------------------------------------------------------------------- /arduino_lib/library.properties: -------------------------------------------------------------------------------- 1 | name=Emakefun_MotorDriverBoard 2 | version=10 3 | author=emakefun 4 | maintainer=Emakefun 5 | sentence=. 6 | paragraph=. 7 | category=Communication 8 | url=https://github.com/emakefun/MotorDriverBoard 9 | architectures=* 10 | dot_a_linkage=true 11 | -------------------------------------------------------------------------------- /arduino_lib/src/Emakefun_MS_PWMServoDriver.cpp: -------------------------------------------------------------------------------- 1 | /*************************************************** 2 | This is a library for our Emakefun 16-channel PWM & Servo driver 3 | 4 | Pick one up today in the Emakefun shop! 5 | ------> http://www.Emakefun.com/products/815 6 | 7 | These displays use I2C to communicate, 2 pins are required to 8 | interface. For Arduino UNOs, thats SCL -> Analog 5, SDA -> Analog 4 9 | 10 | Emakefun invests time and resources providing this open source code, 11 | please support Emakefun and open-source hardware by purchasing 12 | products from Emakefun! 13 | 14 | Written by Limor Fried/Ladyada for Emakefun Industries. 15 | BSD license, all text above must be included in any redistribution 16 | ****************************************************/ 17 | 18 | #include "Emakefun_MS_PWMServoDriver.h" 19 | #include 20 | #if defined(ARDUINO_SAM_DUE) 21 | #define WIRE Wire1 22 | #else 23 | #define WIRE Wire 24 | #endif 25 | 26 | Emakefun_MS_PWMServoDriver::Emakefun_MS_PWMServoDriver(uint8_t addr) { 27 | _i2caddr = addr; 28 | } 29 | 30 | void Emakefun_MS_PWMServoDriver::begin(void) { 31 | WIRE.begin(); 32 | reset(); 33 | } 34 | 35 | void Emakefun_MS_PWMServoDriver::reset(void) { write8(PCA9685_MODE1, 0x0); } 36 | 37 | void Emakefun_MS_PWMServoDriver::setPWMFreq(float freq) { 38 | // Serial.print("Attempting to set freq "); 39 | // Serial.println(freq); 40 | 41 | // freq *=0.9; // Correct for overshoot in the frequency setting (see issue #11). 42 | 43 | float prescaleval = 25000000; 44 | prescaleval /= 4096; 45 | prescaleval /= freq; 46 | prescaleval -= 1; 47 | // Serial.print("Estimated pre-scale: "); Serial.println(prescaleval); 48 | uint8_t prescale = floor(prescaleval + 0.5); 49 | // Serial.print("Final pre-scale: "); Serial.println(prescale); 50 | 51 | uint8_t oldmode = read8(PCA9685_MODE1); 52 | uint8_t newmode = (oldmode & 0x7F) | 0x10; // sleep 53 | write8(PCA9685_MODE1, newmode); // go to sleep 54 | write8(PCA9685_PRESCALE, prescale); // set the prescaler 55 | write8(PCA9685_MODE1, oldmode); 56 | delay(5); 57 | write8(PCA9685_MODE1, 58 | oldmode | 59 | 0xa1); // This sets the MODE1 register to turn on auto increment. 60 | // This is why the beginTransmission below was not working. 61 | // Serial.print("Mode now 0x"); Serial.println(read8(PCA9685_MODE1), HEX); 62 | } 63 | 64 | void Emakefun_MS_PWMServoDriver::setPWM(uint8_t num, uint16_t on, 65 | uint16_t off) { 66 | // Serial.print("Setting PWM "); Serial.print(num); Serial.print(": "); 67 | // Serial.print(on); Serial.print("->"); Serial.println(off); 68 | 69 | WIRE.beginTransmission(_i2caddr); 70 | #if ARDUINO >= 100 71 | WIRE.write(LED0_ON_L + 4 * num); 72 | WIRE.write(on); 73 | WIRE.write(on >> 8); 74 | WIRE.write(off); 75 | WIRE.write(off >> 8); 76 | #else 77 | WIRE.send(LED0_ON_L + 4 * num); 78 | WIRE.send((uint8_t)on); 79 | WIRE.send((uint8_t)(on >> 8)); 80 | WIRE.send((uint8_t)off); 81 | WIRE.send((uint8_t)(off >> 8)); 82 | #endif 83 | WIRE.endTransmission(); 84 | } 85 | 86 | uint8_t Emakefun_MS_PWMServoDriver::read8(uint8_t addr) { 87 | WIRE.beginTransmission(_i2caddr); 88 | #if ARDUINO >= 100 89 | WIRE.write(addr); 90 | #else 91 | WIRE.send(addr); 92 | #endif 93 | WIRE.endTransmission(); 94 | 95 | WIRE.requestFrom((uint8_t)_i2caddr, (uint8_t)1); 96 | #if ARDUINO >= 100 97 | return WIRE.read(); 98 | #else 99 | return WIRE.receive(); 100 | #endif 101 | } 102 | 103 | void Emakefun_MS_PWMServoDriver::write8(uint8_t addr, uint8_t d) { 104 | WIRE.beginTransmission(_i2caddr); 105 | #if ARDUINO >= 100 106 | WIRE.write(addr); 107 | WIRE.write(d); 108 | #else 109 | WIRE.send(addr); 110 | WIRE.send(d); 111 | #endif 112 | WIRE.endTransmission(); 113 | } 114 | -------------------------------------------------------------------------------- /arduino_lib/src/Emakefun_MS_PWMServoDriver.h: -------------------------------------------------------------------------------- 1 | /*************************************************** 2 | This is a library for our Emakefun 16-channel PWM & Servo driver 3 | 4 | Pick one up today in the Emakefun shop! 5 | ------> http://www.Emakefun.com/products/815 6 | 7 | These displays use I2C to communicate, 2 pins are required to 8 | interface. For Arduino UNOs, thats SCL -> Analog 5, SDA -> Analog 4 9 | 10 | Emakefun invests time and resources providing this open source code, 11 | please support Emakefun and open-source hardware by purchasing 12 | products from Emakefun! 13 | 14 | Written by Limor Fried/Ladyada for Emakefun Industries. 15 | BSD license, all text above must be included in any redistribution 16 | ****************************************************/ 17 | 18 | #ifndef _Emakefun_MS_PWMServoDriver_H 19 | #define _Emakefun_MS_PWMServoDriver_H 20 | 21 | #if ARDUINO >= 100 22 | #include "Arduino.h" 23 | #else 24 | #include "WProgram.h" 25 | #endif 26 | 27 | #define PCA9685_SUBADR1 0x2 28 | #define PCA9685_SUBADR2 0x3 29 | #define PCA9685_SUBADR3 0x4 30 | 31 | #define PCA9685_MODE1 0x0 32 | #define PCA9685_PRESCALE 0xFE 33 | 34 | #define LED0_ON_L 0x6 35 | #define LED0_ON_H 0x7 36 | #define LED0_OFF_L 0x8 37 | #define LED0_OFF_H 0x9 38 | 39 | #define ALLLED_ON_L 0xFA 40 | #define ALLLED_ON_H 0xFB 41 | #define ALLLED_OFF_L 0xFC 42 | #define ALLLED_OFF_H 0xFD 43 | 44 | class Emakefun_MS_PWMServoDriver { 45 | public: 46 | Emakefun_MS_PWMServoDriver(uint8_t addr = 0x40); 47 | void begin(void); 48 | void reset(void); 49 | void setPWMFreq(float freq); 50 | void setPWM(uint8_t num, uint16_t on, uint16_t off); 51 | 52 | private: 53 | uint8_t _i2caddr; 54 | 55 | uint8_t read8(uint8_t addr); 56 | void write8(uint8_t addr, uint8_t d); 57 | }; 58 | 59 | #endif 60 | -------------------------------------------------------------------------------- /arduino_lib/src/Emakefun_MotorDriver.h: -------------------------------------------------------------------------------- 1 | 2 | /****************************************************************** 3 | This is the library for the Emakefun Motor Shield V2 for Arduino. 4 | It supports DC motors & Stepper motors with microstepping as well 5 | as stacking-support. It is *not* compatible with the V1 library! 6 | 7 | It will only work with https://www.Emakefun.com/products/1483 8 | 9 | Emakefun invests time and resources providing this open 10 | source code, please support Emakefun and open-source hardware 11 | by purchasing products from Emakefun! 12 | 13 | Written by Limor Fried/Ladyada for Emakefun Industries. 14 | BSD license, check license.txt for more information. 15 | All text above must be included in any redistribution. 16 | ******************************************************************/ 17 | 18 | #ifndef _Emakefun_MotorDriver_h_ 19 | #define _Emakefun_MotorDriver_h_ 20 | 21 | #include "Emakefun_MS_PWMServoDriver.h" 22 | #include 23 | #include 24 | 25 | //#define MOTORDEBUG 26 | #define MOTOR_DRIVER_V5_2 27 | 28 | #define MICROSTEPS 8 // 8 or 16 29 | 30 | #define MOTOR1_A 2 31 | #define MOTOR1_B 3 32 | #define MOTOR2_A 1 33 | #define MOTOR2_B 4 34 | #define MOTOR4_A 0 35 | #define MOTOR4_B 6 36 | #define MOTOR3_A 5 37 | #define MOTOR3_B 7 38 | 39 | #define FORWARD 1 40 | #define BACKWARD 2 41 | #define BRAKE 3 42 | #define RELEASE 4 43 | 44 | #define SINGLE 1 45 | #define DOUBLE 2 46 | #define INTERLEAVE 3 47 | #define MICROSTEP 4 48 | 49 | #define S1 0 50 | #define S2 1 51 | #define S3 14 52 | #define S4 15 53 | #define S5 3 54 | #define S6 6 55 | #define S7 9 56 | #define S8 12 57 | 58 | #define M1 1 59 | #define M2 2 60 | #define M3 3 61 | #define M4 4 62 | 63 | #define E1 1 64 | #define E2 2 65 | #define E3 3 66 | #define E4 4 67 | 68 | #define STEPPER1 1 69 | #define STEPPER2 2 70 | 71 | class Emakefun_MotorDriver; 72 | /** Object that controls and keeps state for a Servo */ 73 | class Emakefun_Servo 74 | { 75 | public: 76 | Emakefun_Servo(void); 77 | friend class Emakefun_MotorDriver; 78 | void setServoPulse(double pulse); 79 | void writeServo(uint8_t angle); 80 | void writeServo(uint8_t angle, uint8_t speed); 81 | uint8_t readDegrees(); 82 | private: 83 | uint8_t PWMpin; 84 | uint16_t PWMfreq; 85 | Emakefun_MotorDriver *MC; 86 | uint8_t servonum, currentAngle; 87 | }; 88 | 89 | 90 | /** Object that controls and keeps state for a single DC motor */ 91 | class Emakefun_DCMotor { 92 | public: 93 | Emakefun_DCMotor(void); 94 | friend class Emakefun_MotorDriver; ///< Let MotorShield create DCMotors 95 | void run(uint8_t); 96 | void setSpeed(uint8_t); 97 | 98 | private: 99 | uint8_t IN1pin, IN2pin; 100 | Emakefun_MotorDriver *MC; 101 | // int DcSpeed; 102 | uint8_t motornum; 103 | }; 104 | 105 | /** Object that controls and keeps state for a single stepper motor */ 106 | class Emakefun_StepperMotor { 107 | public: 108 | Emakefun_StepperMotor(void); 109 | void setSpeed(uint16_t); 110 | 111 | void step(uint16_t steps, uint8_t dir, uint8_t style = SINGLE); 112 | uint8_t onestep(uint8_t dir, uint8_t style); 113 | void release(void); 114 | 115 | friend class Emakefun_MotorDriver; ///< Let MotorShield create StepperMotors 116 | 117 | private: 118 | uint32_t usperstep; 119 | 120 | uint8_t AIN1pin, AIN2pin; 121 | uint8_t BIN1pin, BIN2pin; 122 | uint16_t revsteps; // # steps per revolution 123 | uint8_t currentstep; 124 | Emakefun_MotorDriver *MC; 125 | uint8_t steppernum; 126 | }; 127 | 128 | typedef void (*FuncPtr)(void); 129 | 130 | class Emakefun_EncoderMotor { 131 | public: 132 | Emakefun_EncoderMotor(void); 133 | friend class Emakefun_MotorDriver; 134 | void run(uint8_t); 135 | void run(uint8_t cmd, uint8_t speed, int pluse); 136 | void setSpeed(uint8_t); 137 | //void release(void); 138 | void init(FuncPtr encoder_fun); 139 | FuncPtr EncoderCallback; 140 | // private: 141 | uint8_t IN1pin, IN2pin; 142 | uint8_t ENCODER1pin, ENCODER2pin; 143 | volatile int EncoderPulse; 144 | private: 145 | Emakefun_MotorDriver *MC; 146 | uint8_t encodernum; 147 | }; 148 | 149 | /** Object that controls and keeps state for the whole motor shield. 150 | Use it to create DC and Stepper motor objects! */ 151 | class Emakefun_MotorDriver { 152 | public: 153 | Emakefun_MotorDriver(uint8_t addr = 0x60); 154 | 155 | void begin(uint16_t freq = 1600, TwoWire *theWire = NULL); 156 | Emakefun_DCMotor *getMotor(uint8_t n); 157 | Emakefun_StepperMotor *getStepper(uint8_t num, uint16_t steps); 158 | Emakefun_EncoderMotor *getEncoderMotor(uint8_t num); 159 | Emakefun_Servo *getServo(uint8_t num); 160 | friend class Emakefun_DCMotor; //< Let DCMotors control the Shield 161 | friend class Emakefun_EncoderMotor; 162 | 163 | void setPWM(uint8_t pin, uint16_t val); 164 | void setPin(uint8_t pin, boolean val); 165 | int DcSpeed; 166 | 167 | private: 168 | TwoWire *_i2c; 169 | uint8_t _addr; 170 | uint16_t _freq; 171 | 172 | Emakefun_Servo servos[8]; 173 | Emakefun_DCMotor dcmotors[4]; 174 | Emakefun_StepperMotor steppers[2]; 175 | Emakefun_EncoderMotor encoder[4]; 176 | Emakefun_MS_PWMServoDriver _pwm; 177 | }; 178 | 179 | #endif 180 | -------------------------------------------------------------------------------- /arduino_lib/src/MsTimer2.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | MsTimer2.h - Using timer2 with 1ms resolution 3 | Javier Valencia 4 | 5 | https://github.com/PaulStoffregen/MsTimer2 6 | 7 | History: 8 | 6/Jun/14 - V0.7 added support for Teensy 3.0 & 3.1 9 | 29/Dec/11 - V0.6 added support for ATmega32u4, AT90USB646, AT90USB1286 (paul@pjrc.com) 10 | some improvements added by Bill Perry 11 | note: uses timer4 on Atmega32u4 12 | 29/May/09 - V0.5 added support for Atmega1280 (thanks to Manuel Negri) 13 | 19/Mar/09 - V0.4 added support for ATmega328P (thanks to Jerome Despatis) 14 | 11/Jun/08 - V0.3 15 | changes to allow working with different CPU frequencies 16 | added support for ATMega128 (using timer2) 17 | compatible with ATMega48/88/168/8 18 | 10/May/08 - V0.2 added some security tests and volatile keywords 19 | 9/May/08 - V0.1 released working on ATMEGA168 only 20 | 21 | 22 | This library is free software; you can redistribute it and/or 23 | modify it under the terms of the GNU Lesser General Public 24 | License as published by the Free Software Foundation; either 25 | version 2.1 of the License, or (at your option) any later version. 26 | 27 | This library is distributed in the hope that it will be useful, 28 | but WITHOUT ANY WARRANTY; without even the implied warranty of 29 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 30 | Lesser General Public License for more details. 31 | 32 | You should have received a copy of the GNU Lesser General Public 33 | License along with this library; if not, write to the Free Software 34 | Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA 35 | */ 36 | 37 | #include "MsTimer2.h" 38 | 39 | unsigned long MsTimer2::msecs; 40 | void (*MsTimer2::func)(); 41 | volatile unsigned long MsTimer2::count; 42 | volatile char MsTimer2::overflowing; 43 | volatile unsigned int MsTimer2::tcnt2; 44 | #if defined(__arm__) && defined(TEENSYDUINO) 45 | static IntervalTimer itimer; 46 | #endif 47 | 48 | void MsTimer2::set(unsigned long ms, void (*f)()) { 49 | float prescaler = 0.0; 50 | 51 | if (ms == 0) 52 | msecs = 1; 53 | else 54 | msecs = ms; 55 | 56 | func = f; 57 | 58 | #if defined (__AVR_ATmega168__) || defined (__AVR_ATmega48__) || defined (__AVR_ATmega88__) || defined (__AVR_ATmega328P__) || defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) || defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__) 59 | TIMSK2 &= ~(1<= 1000000UL) && (F_CPU <= 16000000UL)) { // prescaler set to 64 66 | TCCR2B |= (1< 16Mhz, prescaler set to 128 74 | TCCR2B |= ((1<= 1000000UL) && (F_CPU <= 16000000UL)) { // prescaler set to 64 85 | TCCR2 |= (1< 16Mhz, prescaler set to 128 93 | TCCR2 |= ((1<= 1000000UL) && (F_CPU <= 16000000UL)) { // prescaler set to 64 103 | TCCR2 |= ((1< 16Mhz, prescaler set to 256 111 | TCCR2 |= (1<= 16000000L) { 122 | TCCR4B = (1<= 8000000L) { 125 | TCCR4B = (1<= 4000000L) { 128 | TCCR4B = (1<= 2000000L) { 131 | TCCR4B = (1<= 1000000L) { 134 | TCCR4B = (1<= 500000L) { 137 | TCCR4B = (1<= msecs && !overflowing) { 194 | overflowing = 1; 195 | count = count - msecs; // subtract ms to catch missed overflows 196 | // set to 0 if you don't want this. 197 | (*func)(); 198 | overflowing = 0; 199 | } 200 | } 201 | 202 | #if defined (__AVR__) 203 | #if defined (__AVR_ATmega32U4__) 204 | ISR(TIMER4_OVF_vect) { 205 | #else 206 | ISR(TIMER2_OVF_vect) { 207 | #endif 208 | #if defined (__AVR_ATmega168__) || defined (__AVR_ATmega48__) || defined (__AVR_ATmega88__) || defined (__AVR_ATmega328P__) || defined (__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) || defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__) 209 | TCNT2 = MsTimer2::tcnt2; 210 | #elif defined (__AVR_ATmega128__) 211 | TCNT2 = MsTimer2::tcnt2; 212 | #elif defined (__AVR_ATmega8__) 213 | TCNT2 = MsTimer2::tcnt2; 214 | #elif defined (__AVR_ATmega32U4__) 215 | // not necessary on 32u4's high speed timer4 216 | #endif 217 | MsTimer2::_overflow(); 218 | } 219 | #endif // AVR 220 | -------------------------------------------------------------------------------- /arduino_lib/src/MsTimer2.h: -------------------------------------------------------------------------------- 1 | #ifndef MsTimer2_h 2 | #define MsTimer2_h 3 | 4 | #ifdef __AVR__ 5 | #include 6 | #elif defined(__arm__) && defined(TEENSYDUINO) 7 | #include 8 | #else 9 | #error MsTimer2 library only works on AVR architecture 10 | #endif 11 | 12 | namespace MsTimer2 { 13 | extern unsigned long msecs; 14 | extern void (*func)(); 15 | extern volatile unsigned long count; 16 | extern volatile char overflowing; 17 | extern volatile unsigned int tcnt2; 18 | 19 | void set(unsigned long ms, void (*f)()); 20 | void start(); 21 | void stop(); 22 | void _overflow(); 23 | } 24 | 25 | #endif 26 | -------------------------------------------------------------------------------- /arduino_lib/src/PID_v1.cpp: -------------------------------------------------------------------------------- 1 | /********************************************************************************************** 2 | * Arduino PID Library - Version 1.2.1 3 | * by Brett Beauregard brettbeauregard.com 4 | * 5 | * This Library is licensed under the MIT License 6 | **********************************************************************************************/ 7 | 8 | #if ARDUINO >= 100 9 | #include "Arduino.h" 10 | #else 11 | #include "WProgram.h" 12 | #endif 13 | 14 | #include "PID_v1.h" 15 | 16 | /*Constructor (...)********************************************************* 17 | * The parameters specified here are those for for which we can't set up 18 | * reliable defaults, so we need to have the user set them. 19 | ***************************************************************************/ 20 | PID::PID(double* Input, double* Output, double* Setpoint, 21 | double Kp, double Ki, double Kd, int POn, int ControllerDirection) 22 | { 23 | myOutput = Output; 24 | myInput = Input; 25 | mySetpoint = Setpoint; 26 | inAuto = false; 27 | 28 | PID::SetOutputLimits(0, 255); //default output limit corresponds to 29 | //the arduino pwm limits 30 | 31 | SampleTime = 100; //default Controller Sample Time is 0.1 seconds 32 | 33 | PID::SetControllerDirection(ControllerDirection); 34 | PID::SetTunings(Kp, Ki, Kd, POn); 35 | 36 | lastTime = millis()-SampleTime; 37 | } 38 | 39 | /*Constructor (...)********************************************************* 40 | * To allow backwards compatability for v1.1, or for people that just want 41 | * to use Proportional on Error without explicitly saying so 42 | ***************************************************************************/ 43 | 44 | PID::PID(double* Input, double* Output, double* Setpoint, 45 | double Kp, double Ki, double Kd, int ControllerDirection) 46 | :PID::PID(Input, Output, Setpoint, Kp, Ki, Kd, P_ON_E, ControllerDirection) 47 | { 48 | 49 | } 50 | 51 | 52 | /* Compute() ********************************************************************** 53 | * This, as they say, is where the magic happens. this function should be called 54 | * every time "void loop()" executes. the function will decide for itself whether a new 55 | * pid Output needs to be computed. returns true when the output is computed, 56 | * false when nothing has been done. 57 | **********************************************************************************/ 58 | bool PID::Compute() 59 | { 60 | if(!inAuto) return false; 61 | unsigned long now = millis(); 62 | unsigned long timeChange = (now - lastTime); 63 | if(timeChange>=SampleTime) 64 | { 65 | /*Compute all the working error variables*/ 66 | double input = *myInput; 67 | double error = *mySetpoint - input; 68 | double dInput = (input - lastInput); 69 | outputSum+= (ki * error); 70 | 71 | /*Add Proportional on Measurement, if P_ON_M is specified*/ 72 | if(!pOnE) outputSum-= kp * dInput; 73 | 74 | if(outputSum > outMax) outputSum= outMax; 75 | else if(outputSum < outMin) outputSum= outMin; 76 | 77 | /*Add Proportional on Error, if P_ON_E is specified*/ 78 | double output; 79 | if(pOnE) output = kp * error; 80 | else output = 0; 81 | 82 | /*Compute Rest of PID Output*/ 83 | output += outputSum - kd * dInput; 84 | 85 | if(output > outMax) output = outMax; 86 | else if(output < outMin) output = outMin; 87 | *myOutput = output; 88 | 89 | /*Remember some variables for next time*/ 90 | lastInput = input; 91 | lastTime = now; 92 | return true; 93 | } 94 | else return false; 95 | } 96 | 97 | /* SetTunings(...)************************************************************* 98 | * This function allows the controller's dynamic performance to be adjusted. 99 | * it's called automatically from the constructor, but tunings can also 100 | * be adjusted on the fly during normal operation 101 | ******************************************************************************/ 102 | void PID::SetTunings(double Kp, double Ki, double Kd, int POn) 103 | { 104 | if (Kp<0 || Ki<0 || Kd<0) return; 105 | 106 | pOn = POn; 107 | pOnE = POn == P_ON_E; 108 | 109 | dispKp = Kp; dispKi = Ki; dispKd = Kd; 110 | 111 | double SampleTimeInSec = ((double)SampleTime)/1000; 112 | kp = Kp; 113 | ki = Ki * SampleTimeInSec; 114 | kd = Kd / SampleTimeInSec; 115 | 116 | if(controllerDirection ==REVERSE) 117 | { 118 | kp = (0 - kp); 119 | ki = (0 - ki); 120 | kd = (0 - kd); 121 | } 122 | } 123 | 124 | /* SetTunings(...)************************************************************* 125 | * Set Tunings using the last-rembered POn setting 126 | ******************************************************************************/ 127 | void PID::SetTunings(double Kp, double Ki, double Kd){ 128 | SetTunings(Kp, Ki, Kd, pOn); 129 | } 130 | 131 | /* SetSampleTime(...) ********************************************************* 132 | * sets the period, in Milliseconds, at which the calculation is performed 133 | ******************************************************************************/ 134 | void PID::SetSampleTime(int NewSampleTime) 135 | { 136 | if (NewSampleTime > 0) 137 | { 138 | double ratio = (double)NewSampleTime 139 | / (double)SampleTime; 140 | ki *= ratio; 141 | kd /= ratio; 142 | SampleTime = (unsigned long)NewSampleTime; 143 | } 144 | } 145 | 146 | /* SetOutputLimits(...)**************************************************** 147 | * This function will be used far more often than SetInputLimits. while 148 | * the input to the controller will generally be in the 0-1023 range (which is 149 | * the default already,) the output will be a little different. maybe they'll 150 | * be doing a time window and will need 0-8000 or something. or maybe they'll 151 | * want to clamp it from 0-125. who knows. at any rate, that can all be done 152 | * here. 153 | **************************************************************************/ 154 | void PID::SetOutputLimits(double Min, double Max) 155 | { 156 | if(Min >= Max) return; 157 | outMin = Min; 158 | outMax = Max; 159 | 160 | if(inAuto) 161 | { 162 | if(*myOutput > outMax) *myOutput = outMax; 163 | else if(*myOutput < outMin) *myOutput = outMin; 164 | 165 | if(outputSum > outMax) outputSum= outMax; 166 | else if(outputSum < outMin) outputSum= outMin; 167 | } 168 | } 169 | 170 | /* SetMode(...)**************************************************************** 171 | * Allows the controller Mode to be set to manual (0) or Automatic (non-zero) 172 | * when the transition from manual to auto occurs, the controller is 173 | * automatically initialized 174 | ******************************************************************************/ 175 | void PID::SetMode(int Mode) 176 | { 177 | bool newAuto = (Mode == AUTOMATIC); 178 | if(newAuto && !inAuto) 179 | { /*we just went from manual to auto*/ 180 | PID::Initialize(); 181 | } 182 | inAuto = newAuto; 183 | } 184 | 185 | /* Initialize()**************************************************************** 186 | * does all the things that need to happen to ensure a bumpless transfer 187 | * from manual to automatic mode. 188 | ******************************************************************************/ 189 | void PID::Initialize() 190 | { 191 | outputSum = *myOutput; 192 | lastInput = *myInput; 193 | if(outputSum > outMax) outputSum = outMax; 194 | else if(outputSum < outMin) outputSum = outMin; 195 | } 196 | 197 | /* SetControllerDirection(...)************************************************* 198 | * The PID will either be connected to a DIRECT acting process (+Output leads 199 | * to +Input) or a REVERSE acting process(+Output leads to -Input.) we need to 200 | * know which one, because otherwise we may increase the output when we should 201 | * be decreasing. This is called from the constructor. 202 | ******************************************************************************/ 203 | void PID::SetControllerDirection(int Direction) 204 | { 205 | if(inAuto && Direction !=controllerDirection) 206 | { 207 | kp = (0 - kp); 208 | ki = (0 - ki); 209 | kd = (0 - kd); 210 | } 211 | controllerDirection = Direction; 212 | } 213 | 214 | /* Status Funcions************************************************************* 215 | * Just because you set the Kp=-1 doesn't mean it actually happened. these 216 | * functions query the internal state of the PID. they're here for display 217 | * purposes. this are the functions the PID Front-end uses for example 218 | ******************************************************************************/ 219 | double PID::GetKp(){ return dispKp; } 220 | double PID::GetKi(){ return dispKi;} 221 | double PID::GetKd(){ return dispKd;} 222 | int PID::GetMode(){ return inAuto ? AUTOMATIC : MANUAL;} 223 | int PID::GetDirection(){ return controllerDirection;} 224 | -------------------------------------------------------------------------------- /arduino_lib/src/PID_v1.h: -------------------------------------------------------------------------------- 1 | #ifndef PID_v1_h 2 | #define PID_v1_h 3 | #define LIBRARY_VERSION 1.2.1 4 | 5 | class PID 6 | { 7 | 8 | 9 | public: 10 | 11 | //Constants used in some of the functions below 12 | #define AUTOMATIC 1 13 | #define MANUAL 0 14 | #define DIRECT 0 15 | #define REVERSE 1 16 | #define P_ON_M 0 17 | #define P_ON_E 1 18 | 19 | //commonly used functions ************************************************************************** 20 | PID(double*, double*, double*, // * constructor. links the PID to the Input, Output, and 21 | double, double, double, int, int);// Setpoint. Initial tuning parameters are also set here. 22 | // (overload for specifying proportional mode) 23 | 24 | PID(double*, double*, double*, // * constructor. links the PID to the Input, Output, and 25 | double, double, double, int); // Setpoint. Initial tuning parameters are also set here 26 | 27 | void SetMode(int Mode); // * sets PID to either Manual (0) or Auto (non-0) 28 | 29 | bool Compute(); // * performs the PID calculation. it should be 30 | // called every time loop() cycles. ON/OFF and 31 | // calculation frequency can be set using SetMode 32 | // SetSampleTime respectively 33 | 34 | void SetOutputLimits(double, double); // * clamps the output to a specific range. 0-255 by default, but 35 | // it's likely the user will want to change this depending on 36 | // the application 37 | 38 | 39 | 40 | //available but not commonly used functions ******************************************************** 41 | void SetTunings(double, double, // * While most users will set the tunings once in the 42 | double); // constructor, this function gives the user the option 43 | // of changing tunings during runtime for Adaptive control 44 | void SetTunings(double, double, // * overload for specifying proportional mode 45 | double, int); 46 | 47 | void SetControllerDirection(int); // * Sets the Direction, or "Action" of the controller. DIRECT 48 | // means the output will increase when error is positive. REVERSE 49 | // means the opposite. it's very unlikely that this will be needed 50 | // once it is set in the constructor. 51 | void SetSampleTime(int); // * sets the frequency, in Milliseconds, with which 52 | // the PID calculation is performed. default is 100 53 | 54 | 55 | 56 | //Display functions **************************************************************** 57 | double GetKp(); // These functions query the pid for interal values. 58 | double GetKi(); // they were created mainly for the pid front-end, 59 | double GetKd(); // where it's important to know what is actually 60 | int GetMode(); // inside the PID. 61 | int GetDirection(); // 62 | 63 | private: 64 | void Initialize(); 65 | 66 | double dispKp; // * we'll hold on to the tuning parameters in user-entered 67 | double dispKi; // format for display purposes 68 | double dispKd; // 69 | 70 | double kp; // * (P)roportional Tuning Parameter 71 | double ki; // * (I)ntegral Tuning Parameter 72 | double kd; // * (D)erivative Tuning Parameter 73 | 74 | int controllerDirection; 75 | int pOn; 76 | 77 | double *myInput; // * Pointers to the Input, Output, and Setpoint variables 78 | double *myOutput; // This creates a hard link between the variables and the 79 | double *mySetpoint; // PID, freeing the user from having to constantly tell us 80 | // what these values are. with pointers we'll just know. 81 | 82 | unsigned long lastTime; 83 | double outputSum, lastInput; 84 | 85 | unsigned long SampleTime; 86 | double outMin, outMax; 87 | bool inAuto, pOnE; 88 | }; 89 | #endif 90 | 91 | -------------------------------------------------------------------------------- /doc/MotorDriverBoard_V5.2.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/emakefun/MotorDriverBoard/4051027d1ec5340fda865871b807f75f68d594fc/doc/MotorDriverBoard_V5.2.pdf -------------------------------------------------------------------------------- /doc/PCA9685.pdf: 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-------------------------------------------------------------------------------- 1 | { 2 | "MotorDriverBoard.LEVELS.HIGH|menu": "高电平", 3 | "MotorDriverBoard.LEVELS.LOW|menu": "低电平", 4 | 5 | "MotorDriverBoard.DIRECTIONS.FORWARD|menu": "正转", 6 | "MotorDriverBoard.DIRECTIONS.BACKWARD|menu": "反转", 7 | "MotorDriverBoard.DIRECTIONS.BRAKE|menu": "刹车", 8 | "MotorDriverBoard.DIRECTIONS.RELEASE|menu": "释放", 9 | 10 | "MotorDriverBoard.STEPPER_DIRECTIONS.FORWARD|menu": "正转", 11 | "MotorDriverBoard.STEPPER_DIRECTIONS.BACKWARD|menu": "反转", 12 | 13 | "MotorDriverBoard.MODES.DOUBLE|menu": "全步", 14 | "MotorDriverBoard.MODES.SINGLE|menu": "单步", 15 | "MotorDriverBoard.MODES.INTERLEAVE|menu": "半步", 16 | 17 | "MotorDriverBoard.init|block": "MotorDriverBoard初始化", 18 | "MotorDriverBoard.setIOFrequency|block": "设置IO口输出频率(1-1600HZ)为 [FREQ]", 19 | "MotorDriverBoard.setIOPinLevel|block": "MotorDriverBoard控制IO口 [PIN] 设置 [LEVEL]", 20 | "MotorDriverBoard.setIOPinPwm|block": "MotorDriverBoard控制IO口 [PIN] 设置输出PWM的值(0-4096) [PWM]", 21 | 22 | "MotorDriverBoard.initDCMotor|block": "直流电机初始化 [MOTOR]", 23 | "MotorDriverBoard.controlDCMotor|block": "直流电机 [MOTOR] 方向 [DIRECTION] 速度(0-255) [SPEED]", 24 | "MotorDriverBoard.stopDCMotor|block": "停止直流电机 [MOTOR]", 25 | 26 | "MotorDriverBoard.initEncoderMotor|block": "编码电机初始化 [ENCODER]", 27 | "MotorDriverBoard.controlEncoderMotor|block": "编码电机 [ENCODER] 方向 [DIRECTION] 速度(0-255) [SPEED]", 28 | "MotorDriverBoard.stopEncoderMotor|block": "停止编码电机 [ENCODER]", 29 | 30 | "MotorDriverBoard.initStepperMotor|block": "步进电机初始化 [STEPPER] 步数(步/圈) [STEP] 每分钟的圈数 [LAP]", 31 | "MotorDriverBoard.controlStepperMotor|block": "步进电机 [STEPPER] 方向 [DIRECTION] 驱动方式(半步/单步) [MODE] 运动步数 [STEP]", 32 | "MotorDriverBoard.stopStepperMotor|block": "停止步进电机 [STEPPER]", 33 | 34 | "MotorDriverBoard.initServoMotor|block": "舵机初始化 接口[SERVO]", 35 | "MotorDriverBoard.controlServoMotor|block": "舵机接口 [SERVO] 角度 [ANGLE] 速度(0-10) [SPEED]", 36 | "MotorDriverBoard.readServoMotorAngle|block": "舵机接口 [SERVO] 读取当前舵机角度" 37 | } -------------------------------------------------------------------------------- /mind+/ext-MotorDriverBoard/arduinoC/_menus/arduino.json: -------------------------------------------------------------------------------- 1 | { 2 | "PIN_AnalogWrite": { 3 | "menu": [ 4 | ["3", "3"], 5 | ["5", "5"], 6 | ["6", "6"], 7 | ["9", "9"], 8 | ["10(SS)", "10"], 9 | ["11(MOSI)", "11"] 10 | ] 11 | }, 12 | "PIN_AnalogRead": { 13 | "menu": [ 14 | ["A0", "A0"], 15 | ["A1", "A1"], 16 | ["A2", "A2"], 17 | ["A3", "A3"], 18 | ["A4(SDA)", "A4"], 19 | ["A5(SCL)", "A5"], 20 | ["A6", "A6"], 21 | ["A7", "A7"] 22 | ] 23 | }, 24 | "PIN_DigitalWrite": { 25 | "menu": [ 26 | ["2", "2"], 27 | ["0(RX)", "0"], 28 | ["1(TX)", "1"], 29 | ["3", "3"], 30 | ["4", "4"], 31 | ["5", "5"], 32 | ["6", "6"], 33 | ["7", "7"], 34 | ["8", "8"], 35 | ["9", "9"], 36 | ["10(SS)", "10"], 37 | ["11(MOSI)", "11"], 38 | ["12(MISO)", "12"], 39 | ["13(LED/SCK)", "13"], 40 | ["A0", "A0"], 41 | ["A1", "A1"], 42 | ["A2", "A2"], 43 | ["A3", "A3"], 44 | ["A4(SDA)", "A4"], 45 | ["A5(SCL)", "A5"] 46 | ] 47 | }, 48 | "PIN_DigitalRead": { 49 | "menu": [ 50 | ["2", "2"], 51 | ["0(RX)", "0"], 52 | ["1(TX)", "1"], 53 | ["3", "3"], 54 | ["4", "4"], 55 | ["5", "5"], 56 | ["6", "6"], 57 | ["7", "7"], 58 | ["8", "8"], 59 | ["9", "9"], 60 | ["10(SS)", "10"], 61 | ["11(MOSI)", "11"], 62 | ["12(MISO)", "12"], 63 | ["13(LED/SCK)", "13"], 64 | ["A0", "A0"], 65 | ["A1", "A1"], 66 | ["A2", "A2"], 67 | ["A3", "A3"], 68 | ["A4(SDA)", "A4"], 69 | ["A5(SCL)", "A5"] 70 | ] 71 | }, 72 | "PINMODE":{ 73 | "menu": [ 74 | ["OUTPUT", "OUTPUT"], 75 | ["INPUT", "INPUT"], 76 | ["INPUT_PULLUP", "INPUT_PULLUP"] 77 | ] 78 | } 79 | } -------------------------------------------------------------------------------- /mind+/ext-MotorDriverBoard/arduinoC/_menus/mega2560.json: -------------------------------------------------------------------------------- 1 | { 2 | "PIN_AnalogWrite": { 3 | "menu": [ 4 | ["2", "2"], 5 | ["3", "3"], 6 | ["4", "4"], 7 | ["5", "5"], 8 | ["6", "6"], 9 | ["7", "7"], 10 | ["8", "8"], 11 | ["9", "9"], 12 | ["10", "10"], 13 | ["11", "11"], 14 | ["12", "12"], 15 | ["13(LED)", "13"], 16 | ["44", "44"], 17 | ["45", "45"], 18 | ["46", "46"] 19 | ] 20 | }, 21 | "PIN_AnalogRead": { 22 | "menu": [ 23 | ["A0", "A0"], 24 | ["A1", "A1"], 25 | ["A2", "A2"], 26 | ["A3", "A3"], 27 | ["A4", "A4"], 28 | ["A5", "A5"], 29 | ["A6", "A6"], 30 | ["A7", "A7"], 31 | ["A8", "A8"], 32 | ["A9", "A9"], 33 | ["A10", "A10"], 34 | ["A11", "A11"], 35 | ["A12", "A12"], 36 | ["A13", "A13"], 37 | ["A14", "A14"], 38 | ["A15", "A15"] 39 | ] 40 | }, 41 | "PIN_DigitalWrite": { 42 | "menu": [ 43 | ["2", "2"], 44 | ["0(RX)", "0"], 45 | ["1(TX)", "1"], 46 | ["3", "3"], 47 | ["4", "4"], 48 | ["5", "5"], 49 | ["6", "6"], 50 | ["7", "7"], 51 | ["8", "8"], 52 | ["9", "9"], 53 | ["10", "10"], 54 | ["11", "11"], 55 | ["12", "12"], 56 | ["13(LED)", "13"], 57 | ["14(Serial3-TX)", "14"], 58 | ["15(Serial3-RX)", "15"], 59 | ["16(Serial2-TX)", "16"], 60 | ["17(Serial2-RX)", "17"], 61 | ["18(Serial1-TX)", "18"], 62 | ["19(Serial1-RX)", "19"], 63 | ["20(SDA)", "20"], 64 | ["21(SCL)", "21"], 65 | ["22", "22"], 66 | ["23", "23"], 67 | ["24", "24"], 68 | ["25", "25"], 69 | ["26", "26"], 70 | ["27", "27"], 71 | ["28", "28"], 72 | ["29", "29"], 73 | ["30", "30"], 74 | ["31", "31"], 75 | ["32", "32"], 76 | ["33", "33"], 77 | ["34", "34"], 78 | ["35", "35"], 79 | ["36", "36"], 80 | ["37", "37"], 81 | ["38", "38"], 82 | ["39", "39"], 83 | ["40", "40"], 84 | ["41", "41"], 85 | ["42", "42"], 86 | ["43", "43"], 87 | ["44", "44"], 88 | ["45", "45"], 89 | ["46", "46"], 90 | ["47", "47"], 91 | ["48", "48"], 92 | ["49", "49"], 93 | ["50(MISO)", "50"], 94 | ["51(MOSI)", "51"], 95 | ["52(SCK)", "52"], 96 | ["53(SS)", "53"] 97 | ] 98 | }, 99 | "PIN_DigitalRead": { 100 | "menu": [ 101 | ["2", "2"], 102 | ["0(RX)", "0"], 103 | ["1(TX)", "1"], 104 | ["3", "3"], 105 | ["4", "4"], 106 | ["5", "5"], 107 | ["6", "6"], 108 | ["7", "7"], 109 | ["8", "8"], 110 | ["9", "9"], 111 | ["10", "10"], 112 | ["11", "11"], 113 | ["12", "12"], 114 | ["13(LED)", "13"], 115 | ["14(Serial3-TX)", "14"], 116 | ["15(Serial3-RX)", "15"], 117 | ["16(Serial2-TX)", "16"], 118 | ["17(Serial2-RX)", "17"], 119 | ["18(Serial1-TX)", "18"], 120 | ["19(Serial1-RX)", "19"], 121 | ["20(SDA)", "20"], 122 | ["21(SCL)", "21"], 123 | ["22", "22"], 124 | ["23", "23"], 125 | ["24", "24"], 126 | ["25", "25"], 127 | ["26", "26"], 128 | ["27", "27"], 129 | ["28", "28"], 130 | ["29", "29"], 131 | ["30", "30"], 132 | ["31", "31"], 133 | ["32", "32"], 134 | ["33", "33"], 135 | ["34", "34"], 136 | ["35", "35"], 137 | ["36", "36"], 138 | ["37", "37"], 139 | ["38", "38"], 140 | ["39", "39"], 141 | ["40", "40"], 142 | ["41", "41"], 143 | ["42", "42"], 144 | ["43", "43"], 145 | ["44", "44"], 146 | ["45", "45"], 147 | ["46", "46"], 148 | ["47", "47"], 149 | ["48", "48"], 150 | ["49", "49"], 151 | ["50(MISO)", "50"], 152 | ["51(MOSI)", "51"], 153 | ["52(SCK)", "52"], 154 | ["53(SS)", "53"] 155 | ] 156 | }, 157 | "PINMODE":{ 158 | "menu": [ 159 | ["OUTPUT", "OUTPUT"], 160 | ["INPUT", "INPUT"], 161 | ["INPUT_PULLUP", "INPUT_PULLUP"] 162 | ] 163 | } 164 | } -------------------------------------------------------------------------------- /mind+/ext-MotorDriverBoard/arduinoC/main.ts: -------------------------------------------------------------------------------- 1 | enum PINS { 2 | //% block="S1" 3 | S1, 4 | //% block="S2" 5 | S2, 6 | //% block="S3" 7 | S3, 8 | //% block="S4" 9 | S4, 10 | //% block="S5" 11 | S5, 12 | //% block="S6" 13 | S6, 14 | //% block="S7" 15 | S7, 16 | //% block="S8" 17 | S8 18 | } 19 | 20 | enum SERVOS { 21 | //% block="S1" 22 | S1 = 1, 23 | //% block="S2" 24 | S2, 25 | //% block="S3" 26 | S3, 27 | //% block="S4" 28 | S4, 29 | //% block="S5" 30 | S5, 31 | //% block="S6" 32 | S6, 33 | //% block="S7" 34 | S7, 35 | //% block="S8" 36 | S8 37 | } 38 | 39 | enum LEVELS { 40 | //% block="HIGH" 41 | HIGH, 42 | //% block="LOW" 43 | LOW 44 | } 45 | 46 | enum MOTORS { 47 | //% block="M1" 48 | M1 = 1, 49 | //% block="M2" 50 | M2, 51 | //% block="M3" 52 | M3, 53 | //% block="M4" 54 | M4 55 | } 56 | 57 | enum DIRECTIONS { 58 | //% block="FORWARD" 59 | FORWARD, 60 | //% block="BACKWARD" 61 | BACKWARD, 62 | //% block="BRAKE" 63 | BRAKE, 64 | //% block="RELEASE" 65 | RELEASE 66 | } 67 | 68 | enum STEPPER_DIRECTIONS { 69 | //% block="FORWARD" 70 | FORWARD, 71 | //% block="BACKWARD" 72 | BACKWARD 73 | } 74 | 75 | enum ENCODERS { 76 | //% block="Encoder1" 77 | Encoder1 = 1, 78 | //% block="Encoder2" 79 | Encoder2, 80 | //% block="Encoder3" 81 | Encoder3, 82 | //% block="Encoder4" 83 | Encoder4 84 | } 85 | 86 | enum STEPPERS { 87 | //% block="Stepper1" 88 | Stepper1 = 1, 89 | //% block="Stepper2" 90 | Stepper2 91 | } 92 | 93 | enum MODES { 94 | //% block="DOUBLE" 95 | DOUBLE = 1, 96 | //% block="SINGLE" 97 | SINGLE, 98 | //% block="INTERLEAVE" 99 | INTERLEAVE 100 | } 101 | 102 | //% color="#66A569" iconWidth=50 iconHeight=40 103 | namespace MotorDriverBoard { 104 | 105 | //% block="MotorDriverBoard initialization" blockType="command" 106 | export function init(parameter: any, block: any) { 107 | Generator.addInclude('Emakefun_MotorDriver', '#include', true); 108 | Generator.addObject('mMotorDriver', 'Emakefun_MotorDriver', 'mMotorDriver = Emakefun_MotorDriver(0x60);', true); 109 | Generator.addSetupMainTop('Serial.begin', 'Serial.begin(9600);', true); 110 | } 111 | 112 | //% block="set the IO frequency to [FREQ]" blockType="command" 113 | //% FREQ.shadow="range" FREQ.params.min=1 FREQ.params.max=1600 FREQ.defl=1000 114 | export function setIOFrequency(parameter: any, block: any) { 115 | let freq = parameter.FREQ.code; 116 | Generator.addSetup('mMotorDriver.begin', `mMotorDriver.begin(${freq});`, true); 117 | } 118 | 119 | //% block="set the IO [PIN] to [LEVEL]" blockType="command" 120 | //% PIN.shadow="dropdown" PIN.options="PINS" PIN.defl="PINS.S1" 121 | //% LEVEL.shadow="dropdown" LEVEL.options="LEVELS" LEVEL.defl="LEVELS.HIGH" 122 | export function setIOPinLevel(parameter: any, block: any) { 123 | let pin = parameter.PIN.code; 124 | let level = parameter.LEVEL.code; 125 | Generator.addSetup(`mMotorDriver.setIOPinLevel${pin}`, `mMotorDriver.setPin(${pin}, ${level});`, true); 126 | } 127 | 128 | //% block="set the IO [PIN] output PWM value(0-4096) [PWM]" blockType="command" 129 | //% PIN.shadow="dropdown" PIN.options="PINS" PIN.defl="PINS.S1" 130 | //% PWM.shadow="range" PWM.params.min=0 PWM.params.max=4096 PWM.defl=1024 131 | export function setIOPinPwm(parameter: any, block: any) { 132 | let pin = parameter.PIN.code; 133 | let pwm = parameter.PWM.code; 134 | Generator.addSetup(`mMotorDriver.setIOPinPwm${pin}`, `mMotorDriver.setPin(${pin}, ${pwm});`, true); 135 | } 136 | 137 | //% block="DC motor initialization [MOTOR]" blockType="command" 138 | //% MOTOR.shadow="dropdown" MOTOR.options="MOTORS" MOTOR.defl="MOTORS.M1" 139 | export function initDCMotor(parameter: any, block: any) { 140 | let motorValue = MOTORS[parameter.MOTOR.code]; 141 | Generator.addObject(`mMotorDriver.DCmotor_${motorValue}`, 'Emakefun_DCMotor', `*DCmotor_${motorValue} = mMotorDriver.getMotor(${motorValue});`, true); 142 | Generator.addSetup(`mMotorDriver.begin`, `mMotorDriver.begin(150);`, true); 143 | } 144 | 145 | //% block="DC Motor [MOTOR] Direction [DIRECTION] Speed (0-255) [SPEED]" blockType="command" 146 | //% MOTOR.shadow="dropdown" MOTOR.options="MOTORS" MOTOR.defl="MOTORS.M1" 147 | //% DIRECTION.shadow="dropdown" DIRECTION.options="DIRECTIONS" DIRECTION.defl="DIRECTIONS.FORWARD" 148 | //% SPEED.shadow="range" SPEED.params.min=0 SPEED.params.max=255 SPEED.defl=0 149 | export function controlDCMotor(parameter: any, block: any) { 150 | let motorValue = MOTORS[parameter.MOTOR.code]; 151 | let direction = parameter.DIRECTION.code; 152 | let speed = parameter.SPEED.code; 153 | Generator.addCode(`DCmotor_${motorValue}->run(${direction});`); 154 | Generator.addCode(`DCmotor_${motorValue}->setSpeed(${speed});`); 155 | } 156 | 157 | //% block="Stop DC motor [MOTOR]" blockType="command" 158 | //% MOTOR.shadow="dropdown" MOTOR.options="MOTORS" MOTOR.defl="MOTORS.M1" 159 | export function stopDCMotor(parameter: any, block: any) { 160 | let motorValue = MOTORS[parameter.MOTOR.code]; 161 | Generator.addCode(`DCmotor_${motorValue}->run(BRAKE);`); 162 | } 163 | 164 | //% block="Encoder motor initialization [ENCODER]" blockType="command" 165 | //% ENCODER.shadow="dropdown" ENCODER.options="ENCODERS" ENCODER.defl="ENCODERS.Encoder1" 166 | export function initEncoderMotor(parameter: any, block: any) { 167 | let encoderValue = ENCODERS[parameter.ENCODER.code]; 168 | Generator.addObject(`mMotorDriver.EncodeMotor_${encoderValue}`, 'Emakefun_EncoderMotor', `*EncodeMotor_${encoderValue} = mMotorDriver.getEncoderMotor(E${encoderValue});`, true); 169 | } 170 | 171 | //% block="Encoder Motor [ENCODER] Direction [DIRECTION] Speed (0-255) [SPEED]" blockType="command" 172 | //% ENCODER.shadow="dropdown" ENCODER.options="ENCODERS" ENCODER.defl="MOTORS.Encoder1" 173 | //% DIRECTION.shadow="dropdown" DIRECTION.options="DIRECTIONS" DIRECTION.defl="DIRECTIONS.FORWARD" 174 | //% SPEED.shadow="range" SPEED.params.min=0 SPEED.params.max=255 SPEED.defl=0 175 | export function controlEncoderMotor(parameter: any, block: any) { 176 | let encoderValue = ENCODERS[parameter.ENCODER.code]; 177 | let direction = parameter.DIRECTION.code; 178 | let speed = parameter.SPEED.code; 179 | Generator.addCode(`EncodeMotor_${encoderValue}->run(${direction});`); 180 | Generator.addCode(`EncodeMotor_${encoderValue}->setSpeed(${speed});`); 181 | } 182 | 183 | //% block="Stop Encoder Motor [ENCODER]" blockType="command" 184 | //% ENCODER.shadow="dropdown" ENCODER.options="ENCODERS" ENCODER.defl="MOTORS.Encoder1" 185 | export function stopEncoderMotor(parameter: any, block: any) { 186 | let encoderValue = ENCODERS[parameter.ENCODER.code]; 187 | Generator.addCode(`EncodeMotor_${encoderValue}->run(BRAKE);`); 188 | } 189 | 190 | //% block="Stepper motor initialization [STEPPER] Number of steps (steps/lap) [STEP] Revolutions per minute [LAP]" blockType="command" 191 | //% STEPPER.shadow="dropdown" STEPPER.options="STEPPERS" STEPPER.defl="STEPPERS.Stepper1" 192 | //% STEP.shadow="range" STEP.params.min=0 STEP.params.max=255 STEP.defl=100 193 | //% LAP.shadow="range" LAP.params.min=0 LAP.params.max=255 LAP.defl=200 194 | export function initStepperMotor(parameter: any, block: any) { 195 | let stepperValue = STEPPERS[parameter.STEPPER.code]; 196 | let step = parameter.STEP.code; 197 | let lap = parameter.LAP.code; 198 | Generator.addObject(`mMotorDriver.StepperMotor_${stepperValue}`, 'Emakefun_StepperMotor', `*StepperMotor_${stepperValue} = mMotorDriver.getStepper(${stepperValue}, ${step});`, true); 199 | Generator.addCode(`StepperMotor_${stepperValue}->setSpeed(${lap});`); 200 | } 201 | 202 | //% block="Stepper motor [STEPPER] Direction [DIRECTION] Drive mode (half-step/single-step) [MODE] Number of steps [STEP]" blockType="command" 203 | //% STEPPER.shadow="dropdown" STEPPER.options="STEPPERS" STEPPER.defl="STEPPERS.Stepper1" 204 | //% DIRECTION.shadow="dropdown" DIRECTION.options="STEPPER_DIRECTIONS" DIRECTION.defl="STEPPER_DIRECTIONS.FORWARD" 205 | //% MODE.shadow="dropdown" MODE.options="MODES" MODE.defl="MODES.DOUBLE" 206 | //% STEP.shadow="range" STEP.params.min=0 STEP.params.max=255 STEP.defl=100 207 | export function controlStepperMotor(parameter: any, block: any) { 208 | let stepperValue = STEPPERS[parameter.STEPPER.code]; 209 | let direction = parameter.DIRECTION.code; 210 | let mode = parameter.MODE.code; 211 | let step = parameter.STEP.code; 212 | Generator.addCode(`StepperMotor_${stepperValue}->step(${step}, ${direction}, ${mode});`); 213 | } 214 | 215 | //% block="Stop stepper motor [STEPPER]" blockType="command" 216 | //% STEPPER.shadow="dropdown" STEPPER.options="STEPPERS" STEPPER.defl="STEPPERS.Stepper1" 217 | export function stopStepperMotor(parameter: any, block: any) { 218 | let stepperValue = STEPPERS[parameter.STEPPER.code]; 219 | Generator.addCode(`StepperMotor_${stepperValue}->release();`); 220 | } 221 | 222 | //% block="Servo initialization interface [SERVO]" blockType="command" 223 | //% SERVO.shadow="dropdown" SERVO.options="SERVOS" SERVO.defl="SERVOS.S1" 224 | export function initServoMotor(parameter: any, block: any) { 225 | let servoValue = SERVOS[parameter.SERVO.code]; 226 | Generator.addObject(`mMotorDriver.servo${servoValue}`, 'Emakefun_Servo', `*servo${servoValue} = mMotorDriver.getServo(${servoValue});`, true); 227 | Generator.addSetup(`mMotorDriver.begin`, `mMotorDriver.begin(50);`, true); 228 | } 229 | 230 | //% block="The servo interface [SERVO] reads the current servo angle" blockType="command" 231 | //% SERVO.shadow="dropdown" SERVO.options="SERVOS" SERVO.defl="SERVOS.S1" 232 | export function readServoMotorAngle(parameter: any, block: any) { 233 | let servoValue = SERVOS[parameter.SERVO.code]; 234 | Generator.addCode(`servo${servoValue}->readDegrees();`); 235 | } 236 | 237 | //% block="Servo Interface [SERVO] Angle [ANGLE] Speed(0-100) [SPEED]" blockType="command" 238 | //% SERVO.shadow="dropdown" SERVO.options="SERVOS" SERVO.defl="SERVOS.S1" 239 | //% ANGLE.shadow="range" ANGLE.params.min=0 ANGLE.params.max=180 ANGLE.defl=90 240 | //% SPEED.shadow="range" SPEED.params.min=0 SPEED.params.max=10 SPEED.defl=10 241 | export function controlServoMotor(parameter: any, block: any) { 242 | let servoValue = SERVOS[parameter.SERVO.code]; 243 | let angle = parameter.ANGLE.code; 244 | let speed = parameter.SPEED.code; 245 | Generator.addCode(`servo${servoValue}->writeServo(${angle}, ${speed});`); 246 | } 247 | 248 | } 249 | -------------------------------------------------------------------------------- /mind+/ext-MotorDriverBoard/config.json: -------------------------------------------------------------------------------- 1 | { 2 | "name": { 3 | "zh-cn": "电机驱动板", 4 | "en": "MotorDriverBoard" 5 | }, 6 | "description": { 7 | "zh-cn": "专门针对Arduino Uno(兼容Mega2560)机器人，电机驱动，多路舵机控制而研发的一款多功能电机驱动扩展板。", 8 | "en": "Specially for Arduino Uno (compatible with Mega2560) robot, motor drive, and multi-channel servo control." 9 | }, 10 | "author": "emakefun", 11 | "email": "ken@emakefun.com", 12 | "license": "MIT", 13 | "isBoard": false, 14 | "id": "MotorDriverBoard", 15 | "platform": ["win", "mac", "web"], 16 | "version": "0.0.3", 17 | "asset": { 18 | "arduinoC": { 19 | "dir": "arduinoC/", 20 | "version": "0.0.1", 21 | "board": ["arduino", "mega2560"], 22 | "main": "main.ts" 23 | } 24 | } 25 | } -------------------------------------------------------------------------------- /mixly/MotorDriverBoard.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 1000 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 1024 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 0 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 0 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 100 55 | 56 | 57 | 58 | 59 | 200 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 100 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 90 81 | 82 | 83 | 84 | 85 | 10 86 | 87 | 88 | 89 | 90 | 91 | 98 | 120 | 121 | 122 | 123 | 124 | 125 | 126 | 127 | 128 | 129 | 130 | 131 | 132 | 133 | 134 | 135 | 136 | 137 | 138 | 139 | 140 | 141 | 142 | 143 | 144 | 146 | 147 | 148 | 149 | -------------------------------------------------------------------------------- /mixly/language/MotorDriverBoard/en.js: -------------------------------------------------------------------------------- 1 | //图形块名称翻译 2 | Blockly.MOTORDRIVERBOARD_SETUP = "MotorDriverBoard Initialization"; 3 | Blockly.MOTORDRIVERBOARD_DCMOTOR = "DC Motor Interface"; 4 | Blockly.MOTORDRIVERBOARD_DCDIRECTIONS = "direction"; 5 | Blockly.MOTORDRIVERBOARD_SPEED = "speed"; 6 | Blockly.MOTORDRIVERBOARD_DCPORTS_FIRST = "Interface 1"; 7 | Blockly.MOTORDRIVERBOARD_DCPORTS_SECOND = "Interface 2"; 8 | Blockly.MOTORDRIVERBOARD_DCPORTS_THIRD = "Interface 3"; 9 | Blockly.MOTORDRIVERBOARD_DCPORTS_FOURTH = "Interface 4"; 10 | Blockly.MOTORDRIVERBOARD_DCDIRECTION_FORWARD = "Positive rotation"; 11 | Blockly.MOTORDRIVERBOARD_DCDIRECTION_BACK = "Reversal"; 12 | Blockly.MOTORDRIVERBOARD_STOPDCMOTOR = "Stop DC motor"; 13 | Blockly.MOTORDRIVERBOARD_ENMOTOR = "Coded Motor Interface"; 14 | Blockly.MOTORDRIVERBOARD_ENPORTS_FIRST = "Interface 1"; 15 | Blockly.MOTORDRIVERBOARD_ENPORTS_SECOND = "Interface 2"; 16 | Blockly.MOTORDRIVERBOARD_ENPORTS_THIRD = "Interface 3"; 17 | Blockly.MOTORDRIVERBOARD_ENPORTS_FOURTH = "Interface 4"; 18 | Blockly.MOTORDRIVERBOARD_ENDIRECTIONS = "direction"; 19 | Blockly.MOTORDRIVERBOARD_ENDIRECTION_FORWARD = "Positive rotation"; 20 | Blockly.MOTORDRIVERBOARD_ENDIRECTION_BACK = "Reversal"; 21 | Blockly.MOTORDRIVERBOARD_STOPENMOTOR = "Stop coding motor"; 22 | Blockly.MOTORDRIVERBOARD_STMOTOR = "Stepping Motor Interface"; 23 | Blockly.MOTORDRIVERBOARD_STDIRECTIONS = "direction"; 24 | Blockly.MOTORDRIVERBOARD_STEPS = "Step number"; 25 | Blockly.MOTORDRIVERBOARD_STPORTS_FIRST = "Interface 1"; 26 | Blockly.MOTORDRIVERBOARD_STPORTS_SECOND = "Interface 2"; 27 | Blockly.MOTORDRIVERBOARD_STDIRECTION_FORWARD = "Positive rotation"; 28 | Blockly.MOTORDRIVERBOARD_STDIRECTION_BACK = "Reversal"; 29 | //Blockly.MOTORDRIVERBOARD_STSTYLES = "Style"; 30 | //Blockly.MOTORDRIVERBOARD_STYLE_SINGLE = "single"; 31 | //Blockly.MOTORDRIVERBOARD_STYLE_DOUBLE = "double"; 32 | //Blockly.MOTORDRIVERBOARD_STYLE_INTERLEAVE = "staggered"; 33 | //Blockly.MOTORDRIVERBOARD_STYLE_MICROSTEP = "Micro step"; 34 | //Blockly.MOTORDRIVERBOARD_SETRGB = "RGB lamp"; 35 | Blockly.MOTORDRIVERBOARD_RGBCOLOUR = "colour"; 36 | Blockly.MOTORDRIVERBOARD_RGBNUMBER_ALL = "all"; 37 | Blockly.MOTORDRIVERBOARD_RGBNUMBER_LEFT = "left"; 38 | Blockly.MOTORDRIVERBOARD_RGBNUMBER_RIGHT = "Right"; 39 | Blockly.MOTORDRIVERBOARD_RGBCOLOR_RED = "red"; 40 | Blockly.MOTORDRIVERBOARD_RGBCOLOR_GREEN = "green"; 41 | Blockly.MOTORDRIVERBOARD_RGBCOLOR_BLUE = "blue"; 42 | Blockly.MOTORDRIVERBOARD_RGBCOLOR_YELLOW = "yellow"; 43 | Blockly.MOTORDRIVERBOARD_RGBCOLOR_PURPLE = "purple"; 44 | Blockly.MOTORDRIVERBOARD_RGBCOLOR_WHITE = "white"; 45 | Blockly.MOTORDRIVERBOARD_RGBCOLOR_OFF = "Extinguish"; 46 | Blockly.MOTORDRIVERBOARD_PLAYSOUNDS = "Play sound"; 47 | Blockly.MOTORDRIVERBOARD_SOUNDS_CONNECTED = "Connect"; 48 | Blockly.MOTORDRIVERBOARD_SOUNDS_DISCONNECTED = "Disconnect"; 49 | Blockly.MOTORDRIVERBOARD_SOUNDS_BUTTONPUSHED = "Button press"; 50 | Blockly.MOTORDRIVERBOARD_SOUNDS_MODE1 = "Mode 1"; 51 | Blockly.MOTORDRIVERBOARD_SOUNDS_MODE2 = "Mode 2"; 52 | Blockly.MOTORDRIVERBOARD_SOUNDS_MODE3 = "Mode 3"; 53 | Blockly.MOTORDRIVERBOARD_SOUNDS_SURPRISE = "surprised"; 54 | Blockly.MOTORDRIVERBOARD_SOUNDS_OHOH = "oh"; 55 | Blockly.MOTORDRIVERBOARD_SOUNDS_OHOH2 = "ohoh"; 56 | Blockly.MOTORDRIVERBOARD_SOUNDS_CUDDLY = "cuddly"; 57 | Blockly.MOTORDRIVERBOARD_SOUNDS_SLEEPING = "sleeping"; 58 | Blockly.MOTORDRIVERBOARD_SOUNDS_HAPPY = "happy"; 59 | Blockly.MOTORDRIVERBOARD_SOUNDS_SUPERHAPPY = "superhappy"; 60 | Blockly.MOTORDRIVERBOARD_SOUNDS_SHORTHAPPY = "shorthappy"; 61 | Blockly.MOTORDRIVERBOARD_SOUNDS_SAD = "sad"; 62 | Blockly.MOTORDRIVERBOARD_SOUNDS_CONFUSED = "sonfused"; 63 | Blockly.MOTORDRIVERBOARD_SOUNDS_FART1 = "fart 1"; 64 | Blockly.MOTORDRIVERBOARD_SOUNDS_FART2 = "fart 2"; 65 | Blockly.MOTORDRIVERBOARD_SOUNDS_FART3 = "fart 3"; 66 | Blockly.MOTORDRIVERBOARD_INITULTRASONIC = "Ultrasound Initialization"; 67 | Blockly.MOTORDRIVERBOARD_READULTRASONICDISTANCE = "Reading Ultrasound Distance"; 68 | Blockly.MOTORDRIVERBOARD_INITIRREMOTE = "Initialization of Infrared Receiving"; 69 | Blockly.MOTORDRIVERBOARD_IFIRREMOTEPRESSED = "Ir key press"; 70 | Blockly.MOTORDRIVERBOARD_IRKEYPRESS = "emakefun Infrared remote control key press"; 71 | Blockly.MOTORDRIVERBOARD_IRKEYPRESS = "ordinary Infrared remote control key press"; 72 | Blockly.MOTORDRIVERBOARD_IRKEY_UP = "up"; 73 | Blockly.MOTORDRIVERBOARD_IRKEY_DOWN = "down"; 74 | Blockly.MOTORDRIVERBOARD_IRKEY_LEFT = "left"; 75 | Blockly.MOTORDRIVERBOARD_IRKEY_RIGHT = "right"; 76 | Blockly.MOTORDRIVERBOARD_INITNRF24L01 = "NRF24L01 initialization"; 77 | Blockly.MOTORDRIVERBOARD_INITNRF24L01SENDDATA = "NRF24L01 sends data"; 78 | Blockly.MOTORDRIVERBOARD_INITNRF24L01ADDRESS = "address"; 79 | Blockly.MOTORDRIVERBOARD_INITNRF24L01DATA = "data"; 80 | Blockly.MOTORDRIVERBOARD_INITNRF24L01RECEIVEDATA = "NRF24L01 receive data"; 81 | Blockly.MOTORDRIVERBOARD_INITNRF24L01ISNOTNULL = "NRF24L01 data is not empty"; 82 | Blockly.MOTORDRIVERBOARD_GETINITNRF24L01 = "Getting NRF24L01 data"; 83 | Blockly.MOTORDRIVERBOARD_PS2INIT = "PS2 Initialization"; 84 | Blockly.MOTORDRIVERBOARD_WHICHPS2KEYPRESSED = "PS2 key pressed"; 85 | Blockly.MOTORDRIVERBOARD_SETPS2VIBRATE = "Setting Ps2 Rocker Vibration Value"; 86 | Blockly.MOTORDRIVERBOARD_PS2KEYPRESS = "PS2 handle press"; 87 | Blockly.MOTORDRIVERBOARD_PS2KEYS_UP = "up"; 88 | Blockly.MOTORDRIVERBOARD_PS2KEYS_DOWN = "down"; 89 | Blockly.MOTORDRIVERBOARD_PS2KEYS_LEFT = "left"; 90 | Blockly.MOTORDRIVERBOARD_PS2KEYS_RIGHT = "right"; 91 | Blockly.MOTORDRIVERBOARD_PS2KEYS_TRIANGLE = "△"; 92 | Blockly.MOTORDRIVERBOARD_PS2KEYS_CIRCLE = "○"; 93 | Blockly.MOTORDRIVERBOARD_PS2KEYS_CROSS = "×"; 94 | Blockly.MOTORDRIVERBOARD_PS2KEYS_SQUARE = "囗"; 95 | Blockly.MOTORDRIVERBOARD_PS2KEYS_L1 = "Left 1"; 96 | Blockly.MOTORDRIVERBOARD_PS2KEYS_L2 = "Left 2"; 97 | Blockly.MOTORDRIVERBOARD_PS2KEYS_L3 = "Left 3"; 98 | Blockly.MOTORDRIVERBOARD_PS2KEYS_R1 = "Right 1"; 99 | Blockly.MOTORDRIVERBOARD_PS2KEYS_R2 = "Right 2"; 100 | Blockly.MOTORDRIVERBOARD_PS2KEYS_R3 = "Right 3"; 101 | Blockly.MOTORDRIVERBOARD_PS2KEYS_SELECT = "select"; 102 | Blockly.MOTORDRIVERBOARD_PS2KEYS_START = "start"; 103 | Blockly.MOTORDRIVERBOARD_PS2KEYUNPRESS = "ps2 loosened"; 104 | Blockly.MOTORDRIVERBOARD_PS2GETVIBRATE = "Getting Rocker Value"; 105 | Blockly.MOTORDRIVERBOARD_PS2GETVIBRATE2 = "Get rocker angle"; 106 | Blockly.MOTORDRIVERBOARD_VIBRATE2_L = "Left rocker"; 107 | Blockly.MOTORDRIVERBOARD_VIBRATE2_R = "Right rocker"; 108 | Blockly.MOTORDRIVERBOARD_VIBRATE_LX = "Left lateral axis"; 109 | Blockly.MOTORDRIVERBOARD_VIBRATE_LY = "Left vertical axis"; 110 | Blockly.MOTORDRIVERBOARD_VIBRATE_RX = "Right horizontal axis"; 111 | Blockly.MOTORDRIVERBOARD_VIBRATE_RY = "Right vertical axis"; 112 | Blockly.MOTORDRIVERBOARD_PS2STATUS = "Read PS2 status"; 113 | Blockly.MOTORDRIVERBOARD_SERVOPORT = "Steering gear interface"; 114 | Blockly.MOTORDRIVERBOARD_SERVOPORTS_FIRST = "Interface 1"; 115 | Blockly.MOTORDRIVERBOARD_SERVOPORTS_SECOND = "Interface 2"; 116 | Blockly.MOTORDRIVERBOARD_SERVOPORTS_THIRD = "Interface 3"; 117 | Blockly.MOTORDRIVERBOARD_SERVOPORTS_FOURTH = "Interface 4"; 118 | Blockly.MOTORDRIVERBOARD_SERVOPORTS_FIVETH = "Interface 5"; 119 | Blockly.MOTORDRIVERBOARD_SERVOPORTS_SIXTH = "Interface 6"; 120 | Blockly.MOTORDRIVERBOARD_SERVOPORTS_SEVENTH = "Interface 7"; 121 | Blockly.MOTORDRIVERBOARD_SERVOPORTS_EIGHTH = "Interface 8"; 122 | Blockly.MOTORDRIVERBOARD_ANGLE = "angle"; 123 | Blockly.MOTORDRIVERBOARD_RED = "red"; 124 | Blockly.MOTORDRIVERBOARD_GREEN = "green"; 125 | Blockly.MOTORDRIVERBOARD_BLUE = "blue"; 126 | Blockly.MOTORDRIVERBOARD_READDEGEREES = "Read the current steering angle"; 127 | 128 | Blockly.MOTORDRIVERBOARD_INITDCMOTOR = "DC motor initialization"; 129 | Blockly.MOTORDRIVERBOARD_INITENMOTOR = "Code motor initialization"; 130 | Blockly.MOTORDRIVERBOARD_INITSTMOTOR = "Stepper motor initialization"; 131 | Blockly.MOTORDRIVERBOARD_INITRGB = "RGB initialization"; 132 | Blockly.MOTORDRIVERBOARD_INITSOUNDS = "Buzzer initialization"; 133 | Blockly.MOTORDRIVERBOARD_INITSERVO = "Servo initialization Interface"; 134 | 135 | Blockly.MOTORDRIVERBOARD_M4INIT = "4WD initialization Motor Interface"; 136 | Blockly.MOTORDRIVERBOARD_LEFTFORWARD = "Left front"; 137 | Blockly.MOTORDRIVERBOARD_RIGHTFORWARD = "Right front"; 138 | Blockly.MOTORDRIVERBOARD_LEFTBACKWARD = "Left rear"; 139 | Blockly.MOTORDRIVERBOARD_RIGHTBACKWARD = "Right rear"; 140 | Blockly.MOTORDRIVERBOARD_M4GOFORWARD = "4WD car forward speed"; 141 | Blockly.MOTORDRIVERBOARD_M4BACKFORWARD = "4WD car back speed"; 142 | Blockly.MOTORDRIVERBOARD_M4TURNLEFT = "4WD car turn left speed"; 143 | Blockly.MOTORDRIVERBOARD_M4TURNRIGHT = "4WD car turn right speed"; 144 | Blockly.MOTORDRIVERBOARD_M4TURNLEFTS = "4WD car Left spin speed"; 145 | Blockly.MOTORDRIVERBOARD_M4TURNRIGHTS = "4WD car Right spin speed"; 146 | Blockly.MOTORDRIVERBOARD_M4GODEGREE = "4WD car Driving angle"; 147 | Blockly.MOTORDRIVERBOARD_M4GOSPEED = "speed"; 148 | Blockly.MOTORDRIVERBOARD_M4STOP = "4WD car stop"; 149 | Blockly.MOTORDRIVERBOARD_BLUETOOTHINIT = "Bluetooth initialization"; 150 | Blockly.MOTORDRIVERBOARD_RECEIVEDATA = "Receive Bluetooth data"; 151 | Blockly.MOTORDRIVERBOARD_RECEIVEDDDATA = "Bluetooth data received"; 152 | Blockly.MOTORDRIVERBOARD_BLUETOOTHPRESS = "Bluetooth operation key press"; 153 | Blockly.MOTORDRIVERBOARD_BLUETOOTHSTYLE = "Bluetooth data type"; 154 | Blockly.MOTORDRIVERBOARD_BLUETOOTHSTYLE_BUTTONS = "Key"; 155 | Blockly.MOTORDRIVERBOARD_BLUETOOTHSTYLE_DIRECTIONS = "angle"; 156 | Blockly.MOTORDRIVERBOARD_BLUETOOTHSTYLE_SPEEDS = "speed"; 157 | Blockly.MOTORDRIVERBOARD_BLUETOOTHGETDEGREE = "Bluetooth acquisition angle"; 158 | 159 | Blockly.MOTORDRIVERBOARD_BLUETOOTHGETSPEED = "Speed of Bluetooth acquisition"; 160 | Blockly.MOTORDRIVERBOARD_NRFINIT = "NRF24L01 + initialization address"; 161 | Blockly.MOTORDRIVERBOARD_NRFDATAREADY = "nRF24L01+Data received"; 162 | Blockly.MOTORDRIVERBOARD_NRFVALUE = "Define an array to receive NRF data"; 163 | Blockly.MOTORDRIVERBOARD_NRFGETDATA = "Read nRF24L01 + data"; 164 | Blockly.MOTORDRIVERBOARD_NRFGETPACKAGE = "Receive and read nRF24L01 + wireless handle data"; 165 | Blockly.MOTORDRIVERBOARD_NRFNEWOB = "Create NRF data type object"; 166 | Blockly.MOTORDRIVERBOARD_NRFDATAFUN = "Get the data type of nRF24L01 + wireless handle received and read"; 167 | Blockly.MOTORDRIVERBOARD_NRFDIRECTION = "direction"; 168 | Blockly.MOTORDRIVERBOARD_NRFSPEED = "speed"; 169 | Blockly.MOTORDRIVERBOARD_NRFBUTTON = "Key"; 170 | Blockly.MOTORDRIVERBOARD_NRFBUTTONS = "Wireless handle key press"; 171 | Blockly.MOTORDRIVERBOARD_NRFBUTTONSL1 = "left1"; 172 | Blockly.MOTORDRIVERBOARD_NRFBUTTONSR1 = "right1"; 173 | Blockly.MOTORDRIVERBOARD_NRFBUTTONSUP = "up"; 174 | Blockly.MOTORDRIVERBOARD_NRFBUTTONSDOWN = "down"; 175 | Blockly.MOTORDRIVERBOARD_NRFBUTTONSLEFT = "left"; 176 | Blockly.MOTORDRIVERBOARD_NRFBUTTONSRIGHT = "right"; 177 | Blockly.MOTORDRIVERBOARD_NRFGETDEGREE = "nRF24L01+ get angle"; 178 | Blockly.MOTORDRIVERBOARD_NRFGETSPEED = "nRF24L01+ get speed"; 179 | Blockly.MOTORDRIVERBOARD_SETRGBBRIGHTNESS = "Set RGB light brightness（0~255）"; -------------------------------------------------------------------------------- /mixly/language/MotorDriverBoard/zh-hans.js: -------------------------------------------------------------------------------- 1 | //图形块名称翻译 2 | Blockly.MOTORDRIVERBOARD_QRCODE = "Github学习教程", 3 | BASE_MODEL = "基础模块", 4 | Blockly.MOTORDRIVERBOARD_SETUP = "MotorDriverBoard初始化"; 5 | Blockly.MOTORDRIVERBOARD_DCMOTOR = "直流电机"; 6 | Blockly.MOTORDRIVERBOARD_DCDIRECTIONS = "方向"; 7 | Blockly.MOTORDRIVERBOARD_SPEED = "速度(0-10)"; 8 | Blockly.MOTORDRIVERBOARD_DCPORTS_FIRST = "M1"; 9 | Blockly.MOTORDRIVERBOARD_DCPORTS_SECOND = "M2"; 10 | Blockly.MOTORDRIVERBOARD_DCPORTS_THIRD = "M3"; 11 | Blockly.MOTORDRIVERBOARD_DCPORTS_FOURTH = "M4"; 12 | Blockly.MOTORDRIVERBOARD_DCDIRECTION_FORWARD = "正转"; 13 | Blockly.MOTORDRIVERBOARD_DCDIRECTION_BACK = "反转"; 14 | Blockly.MOTORDRIVERBOARD_DCDIRECTION_BRAKE = "刹车"; 15 | Blockly.MOTORDRIVERBOARD_DCDIRECTION_RELEASE = "释放"; 16 | Blockly.MOTORDRIVERBOARD_STOPDCMOTOR = "停止直流电机"; 17 | Blockly.MOTORDRIVERBOARD_ENMOTOR = "编码电机"; 18 | Blockly.MOTORDRIVERBOARD_ENPORTS_FIRST = "Encoder1"; 19 | Blockly.MOTORDRIVERBOARD_ENPORTS_SECOND = "Encoder2"; 20 | Blockly.MOTORDRIVERBOARD_ENPORTS_THIRD = "Encoder3"; 21 | Blockly.MOTORDRIVERBOARD_ENPORTS_FOURTH = "Encoder4"; 22 | Blockly.MOTORDRIVERBOARD_ENDIRECTIONS = "方向"; 23 | Blockly.MOTORDRIVERBOARD_ENDIMODE = "驱动方式"; 24 | Blockly.MOTORDRIVERBOARD_ENDIRECTION_FORWARD = "正转"; 25 | Blockly.MOTORDRIVERBOARD_ENDIRECTION_BACK = "反转"; 26 | Blockly.MOTORDRIVERBOARD_ENDIRECTION_BRAKE = "停止"; 27 | Blockly.MOTORDRIVERBOARD_STEP = "步数"; 28 | Blockly.MOTORDRIVERBOARD_STOPENMOTOR = "停止编码电机"; 29 | Blockly.MOTORDRIVERBOARD_STMOTOR = "步进电机"; 30 | Blockly.MOTORDRIVERBOARD_STDIRECTIONS = "方向"; 31 | Blockly.MOTORDRIVERBOARD_STEPS = "步数(步/圈)"; 32 | Blockly.MOTORDRIVERBOARD_STEPS1 = "运动步数"; 33 | Blockly.MOTORDRIVERBOARD_STPORTS_FIRST = "Stepper1"; 34 | Blockly.MOTORDRIVERBOARD_STPORTS_SECOND = "Stepper2"; 35 | Blockly.MOTORDRIVERBOARD_STDIRECTION_FORWARD = "正转"; 36 | Blockly.MOTORDRIVERBOARD_STDIRECTION_BACK = "反转"; 37 | Blockly.MOTORDRIVERBOARD_STOPSTMOTOR = "停止步进电机"; 38 | Blockly.MOTORDRIVERBOARD_STDOUBLESINGLE = "驱动方式(半步/单步)"; 39 | Blockly.MOTORDRIVERBOARD_STSINGLE = "单步"; 40 | Blockly.MOTORDRIVERBOARD_STDOUBLE = "全步"; 41 | Blockly.MOTORDRIVERBOARD_INTERLEAVE = "半步"; 42 | Blockly.MOTORDRIVERBOARD_MINFREQ = "每分钟转的圈数"; 43 | //Blockly.MOTORDRIVERBOARD_STYLE_INTERLEAVE = "交错"; 44 | //Blockly.MOTORDRIVERBOARD_STYLE_MICROSTEP = "微步"; 45 | Blockly.MOTORDRIVERBOARD_SETRGB = "RGB灯"; 46 | Blockly.MOTORDRIVERBOARD_RGBCOLOUR = "颜色"; 47 | Blockly.MOTORDRIVERBOARD_RGBNUMBER_ALL = "全部"; 48 | Blockly.MOTORDRIVERBOARD_RGBNUMBER_LEFT = "左边"; 49 | Blockly.MOTORDRIVERBOARD_RGBNUMBER_RIGHT = "右边"; 50 | Blockly.MOTORDRIVERBOARD_RGBCOLOR_RED = "红色"; 51 | Blockly.MOTORDRIVERBOARD_RGBCOLOR_GREEN = "绿色"; 52 | Blockly.MOTORDRIVERBOARD_RGBCOLOR_BLUE = "蓝色"; 53 | Blockly.MOTORDRIVERBOARD_RGBCOLOR_YELLOW = "黄色"; 54 | Blockly.MOTORDRIVERBOARD_RGBCOLOR_PURPLE = "紫色"; 55 | Blockly.MOTORDRIVERBOARD_RGBCOLOR_WHITE = "白色"; 56 | Blockly.MOTORDRIVERBOARD_RGBCOLOR_OFF = "熄灭"; 57 | Blockly.MOTORDRIVERBOARD_PLAYSOUNDS = "播放声音"; 58 | Blockly.MOTORDRIVERBOARD_SOUNDS_CONNECTED = "连接"; 59 | Blockly.MOTORDRIVERBOARD_SOUNDS_DISCONNECTED = "断开连接"; 60 | Blockly.MOTORDRIVERBOARD_SOUNDS_BUTTONPUSHED = "按钮按下"; 61 | Blockly.MOTORDRIVERBOARD_SOUNDS_MODE1 = "模式一"; 62 | Blockly.MOTORDRIVERBOARD_SOUNDS_MODE2 = "模式二"; 63 | Blockly.MOTORDRIVERBOARD_SOUNDS_MODE3 = "模式三"; 64 | Blockly.MOTORDRIVERBOARD_SOUNDS_SURPRISE = "惊讶"; 65 | Blockly.MOTORDRIVERBOARD_SOUNDS_OHOH = "哦"; 66 | Blockly.MOTORDRIVERBOARD_SOUNDS_OHOH2 = "哦哦"; 67 | Blockly.MOTORDRIVERBOARD_SOUNDS_CUDDLY = "可爱"; 68 | Blockly.MOTORDRIVERBOARD_SOUNDS_SLEEPING = "困倦"; 69 | Blockly.MOTORDRIVERBOARD_SOUNDS_HAPPY = "高兴"; 70 | Blockly.MOTORDRIVERBOARD_SOUNDS_SUPERHAPPY = "超级高兴"; 71 | Blockly.MOTORDRIVERBOARD_SOUNDS_SHORTHAPPY = "短暂高兴"; 72 | Blockly.MOTORDRIVERBOARD_SOUNDS_SAD = "悲伤"; 73 | Blockly.MOTORDRIVERBOARD_SOUNDS_CONFUSED = "困惑"; 74 | Blockly.MOTORDRIVERBOARD_SOUNDS_FART1 = "讨厌一"; 75 | Blockly.MOTORDRIVERBOARD_SOUNDS_FART2 = "讨厌二"; 76 | Blockly.MOTORDRIVERBOARD_SOUNDS_FART3 = "讨厌三"; 77 | Blockly.MOTORDRIVERBOARD_SOUNDS_DIDI = "滴滴", 78 | Blockly.MOTORDRIVERBOARD_INITULTRASONIC = "超声波初始化"; 79 | Blockly.MOTORDRIVERBOARD_READULTRASONICDISTANCE = "读取超声波距离"; 80 | Blockly.MOTORDRIVERBOARD_INITIRREMOTE = "红外接收初始化"; 81 | Blockly.MOTORDRIVERBOARD_IFIRREMOTEPRESSED = "红外遥控器按键被按下"; 82 | Blockly.MOTORDRIVERBOARD_IRKEYPRESS = "emakefun红外遥控器按键按下"; 83 | Blockly.MOTORDRIVERBOARD_IRKEYPRESS2 = "普通红外遥控器按键按下"; 84 | Blockly.MOTORDRIVERBOARD_IRKEY_UP = "上"; 85 | Blockly.MOTORDRIVERBOARD_IRKEY_DOWN = "下"; 86 | Blockly.MOTORDRIVERBOARD_IRKEY_LEFT = "左"; 87 | Blockly.MOTORDRIVERBOARD_IRKEY_RIGHT = "右"; 88 | Blockly.MOTORDRIVERBOARD_INITNRF24L01 = "NRF24L01初始化"; 89 | 90 | Blockly.MOTORDRIVERBOARD_INITNRF24L01ADDRESS = "接收地址"; 91 | 92 | Blockly.MOTORDRIVERBOARD_INITNRF24L01RECEIVEDATA = "串口打印NRF24L01接收的数据"; 93 | Blockly.MOTORDRIVERBOARD_INITNRF24L01ISNOTNULL = "NRF24L01数据不为空"; 94 | Blockly.MOTORDRIVERBOARD_GETINITNRF24L01 = "获取NRF24L01数据"; 95 | Blockly.MOTORDRIVERBOARD_PS2INIT = "PS2手柄初始化"; 96 | Blockly.MOTORDRIVERBOARD_PS2GETVALUE = "读取PS2状态"; 97 | Blockly.MOTORDRIVERBOARD_WHICHPS2KEYPRESSED = "PS2键被按下"; 98 | Blockly.MOTORDRIVERBOARD_SETPS2VIBRATE = "设置ps2摇杆震动值"; 99 | Blockly.MOTORDRIVERBOARD_PS2KEYPRESS = "ps2手柄按键"; 100 | Blockly.MOTORDRIVERBOARD_PS2KEYS_UP = "上"; 101 | Blockly.MOTORDRIVERBOARD_PS2KEYS_DOWN = "下"; 102 | Blockly.MOTORDRIVERBOARD_PS2KEYS_LEFT = "左"; 103 | Blockly.MOTORDRIVERBOARD_PS2KEYS_RIGHT = "右"; 104 | Blockly.MOTORDRIVERBOARD_PS2KEYS_TRIANGLE = "△"; 105 | Blockly.MOTORDRIVERBOARD_PS2KEYS_CIRCLE = "○"; 106 | Blockly.MOTORDRIVERBOARD_PS2KEYS_CROSS = "×"; 107 | Blockly.MOTORDRIVERBOARD_PS2KEYS_SQUARE = "囗"; 108 | Blockly.MOTORDRIVERBOARD_PS2KEYS_L1 = "左1"; 109 | Blockly.MOTORDRIVERBOARD_PS2KEYS_L2 = "左2"; 110 | Blockly.MOTORDRIVERBOARD_PS2KEYS_L3 = "左3"; 111 | Blockly.MOTORDRIVERBOARD_PS2KEYS_R1 = "右1"; 112 | Blockly.MOTORDRIVERBOARD_PS2KEYS_R2 = "右2"; 113 | Blockly.MOTORDRIVERBOARD_PS2KEYS_R3 = "右3"; 114 | Blockly.MOTORDRIVERBOARD_PS2KEYS_SELECT = "选择"; 115 | Blockly.MOTORDRIVERBOARD_PS2KEYS_START = "开始"; 116 | Blockly.MOTORDRIVERBOARD_PS2KEYUNPRESS = "ps2手柄松开"; 117 | Blockly.MOTORDRIVERBOARD_PS2GETVIBRATE = "获取摇杆值"; 118 | Blockly.MOTORDRIVERBOARD_PS2GETVIBRATE2 = "获取摇杆角度"; 119 | Blockly.MOTORDRIVERBOARD_VIBRATE2_L = "左摇杆"; 120 | Blockly.MOTORDRIVERBOARD_VIBRATE2_R = "右摇杆"; 121 | Blockly.MOTORDRIVERBOARD_VIBRATE_LX = "左横轴"; 122 | Blockly.MOTORDRIVERBOARD_VIBRATE_LY = "左纵轴"; 123 | Blockly.MOTORDRIVERBOARD_VIBRATE_RX = "右横轴"; 124 | Blockly.MOTORDRIVERBOARD_VIBRATE_RY = "右纵轴"; 125 | Blockly.MOTORDRIVERBOARD_PS2STATUS = "读取ps2状态"; 126 | Blockly.MOTORDRIVERBOARD_SERVOPORT = "舵机接口"; 127 | Blockly.MOTORDRIVERBOARD_SERVOPORTS_FIRST = "S1"; 128 | Blockly.MOTORDRIVERBOARD_SERVOPORTS_SECOND = "S2"; 129 | Blockly.MOTORDRIVERBOARD_SERVOPORTS_THIRD = "S3"; 130 | Blockly.MOTORDRIVERBOARD_SERVOPORTS_FOURTH = "S4"; 131 | Blockly.MOTORDRIVERBOARD_SERVOPORTS_FIVETH = "S5"; 132 | Blockly.MOTORDRIVERBOARD_SERVOPORTS_SIXTH = "S6"; 133 | Blockly.MOTORDRIVERBOARD_SERVOPORTS_SEVENTH = "S7"; 134 | Blockly.MOTORDRIVERBOARD_SERVOPORTS_EIGHTH = "S8"; 135 | Blockly.MOTORDRIVERBOARD_ANGLE = "角度"; 136 | Blockly.MOTORDRIVERBOARD_RED = "红"; 137 | Blockly.MOTORDRIVERBOARD_GREEN = "绿"; 138 | Blockly.MOTORDRIVERBOARD_BLUE = "蓝"; 139 | Blockly.MOTORDRIVERBOARD_READDEGEREES = "读取当前舵机角度"; 140 | Blockly.MOTORDRIVERBOARD_INITDCMOTOR = "直流电机初始化"; 141 | Blockly.MOTORDRIVERBOARD_INITENMOTOR = "编码电机初始化"; 142 | Blockly.MOTORDRIVERBOARD_INITSTMOTOR = "步进电机初始化"; 143 | Blockly.MOTORDRIVERBOARD_INITRGB = "RGB灯初始化"; 144 | Blockly.MOTORDRIVERBOARD_INITSOUNDS = "蜂鸣器初始化"; 145 | Blockly.MOTORDRIVERBOARD_INITSERVO = "舵机初始化 接口"; 146 | 147 | Blockly.MOTORDRIVERBOARD_M4INIT = "四驱车初始化电机接口"; 148 | Blockly.MOTORDRIVERBOARD_LEFTFORWARD = "左前"; 149 | Blockly.MOTORDRIVERBOARD_RIGHTFORWARD = "右前"; 150 | Blockly.MOTORDRIVERBOARD_LEFTBACKWARD = "左后"; 151 | Blockly.MOTORDRIVERBOARD_RIGHTBACKWARD = "右后"; 152 | Blockly.MOTORDRIVERBOARD_M4GOFORWARD = "四驱车前进 速度"; 153 | Blockly.MOTORDRIVERBOARD_M4BACKFORWARD = "四驱车后退 速度"; 154 | Blockly.MOTORDRIVERBOARD_M4TURNLEFT = "四驱车左转 速度"; 155 | Blockly.MOTORDRIVERBOARD_M4TURNRIGHT = "四驱车右转 速度"; 156 | Blockly.MOTORDRIVERBOARD_M4TURNLEFTS = "四驱车左自旋 速度"; 157 | Blockly.MOTORDRIVERBOARD_M4TURNRIGHTS = "四驱车右自旋 速度"; 158 | Blockly.MOTORDRIVERBOARD_M4GODEGREE = "四驱车行驶角度"; 159 | Blockly.MOTORDRIVERBOARD_M4GOSPEED = "速度"; 160 | Blockly.MOTORDRIVERBOARD_M4STOP = "四驱车停止"; 161 | Blockly.MOTORDRIVERBOARD_BLUETOOTHINIT = "蓝牙初始化"; 162 | Blockly.MOTORDRIVERBOARD_RECEIVEDATA = "接收蓝牙数据"; 163 | Blockly.MOTORDRIVERBOARD_RECEIVEDDDATA = "接收到了蓝牙数据"; 164 | Blockly.MOTORDRIVERBOARD_BLUETOOTHPRESS = "蓝牙操作键按下"; 165 | Blockly.MOTORDRIVERBOARD_BLUETOOTHSTYLE = "蓝牙数据类型"; 166 | Blockly.MOTORDRIVERBOARD_BLUETOOTHSTYLE_BUTTONS = "按键"; 167 | Blockly.MOTORDRIVERBOARD_BLUETOOTHSTYLE_DIRECTIONS = "角度"; 168 | Blockly.MOTORDRIVERBOARD_BLUETOOTHSTYLE_SPEEDS = "速度"; 169 | Blockly.MOTORDRIVERBOARD_BLUETOOTHGETDEGREE = "蓝牙获取的角度"; 170 | Blockly.MOTORDRIVERBOARD_BLUETOOTHGETSPEED = "蓝牙获取的速度"; 171 | Blockly.MOTORDRIVERBOARD_NRFINIT = "nRF24L01+初始化 地址"; 172 | Blockly.MOTORDRIVERBOARD_NRFDATAREADY = "nRF24L01+接收到数据"; 173 | Blockly.MOTORDRIVERBOARD_NRFVALUE = "定义接收nrf数据的数组"; 174 | Blockly.MOTORDRIVERBOARD_NRFGETDATA = "读取nRF24L01+数据"; 175 | Blockly.MOTORDRIVERBOARD_NRFGETPACKAGE = "收到读取nRF24L01+无线手柄数据"; 176 | Blockly.MOTORDRIVERBOARD_NRFNEWOB = "创建nrf数据类型对象"; 177 | Blockly.MOTORDRIVERBOARD_NRFDATAFUN = "获取收到读取nRF24L01+无线手柄数据类型"; 178 | Blockly.MOTORDRIVERBOARD_NRFDIRECTION = "方向"; 179 | Blockly.MOTORDRIVERBOARD_NRFSPEED = "速度(0-10)"; 180 | Blockly.MOTORDRIVERBOARD_NRFBUTTON = "按键"; 181 | Blockly.MOTORDRIVERBOARD_NRFBUTTONS = "无线手柄按键按下"; 182 | Blockly.MOTORDRIVERBOARD_NRFBUTTONSL1 = "左1"; 183 | Blockly.MOTORDRIVERBOARD_NRFBUTTONSR1 = "右1"; 184 | Blockly.MOTORDRIVERBOARD_NRFBUTTONSUP = "上"; 185 | Blockly.MOTORDRIVERBOARD_NRFBUTTONSDOWN = "下"; 186 | Blockly.MOTORDRIVERBOARD_NRFBUTTONSLEFT = "左"; 187 | Blockly.MOTORDRIVERBOARD_NRFBUTTONSRIGHT = "右"; 188 | Blockly.MOTORDRIVERBOARD_NRFGETDEGREE = "获取nRF24L01+无线手柄角度"; 189 | Blockly.MOTORDRIVERBOARD_NRFGETSPEED = "获取nRF24L01+无线手柄速度"; 190 | Blockly.MOTORDRIVERBOARD_SETRGBBRIGHTNESS = "设置RGB灯亮度（0~255）"; 191 | Blockly.MOTORDRIVERBOARD_RGBBRIGHTNESSS = "亮度（0~255）"; 192 | Blockly.MOTORDRIVERBOARD_INITNRF24L01SENDDATA = "初始化nRF24L01+"; 193 | Blockly.MOTORDRIVERBOARD_INITNRF24L01CHANNEL = "频道"; 194 | Blockly.MOTORDRIVERBOARD_INITNRF24L01DATA = "发送数组"; 195 | Blockly.MOTORDRIVERBOARD_INITNRF24L01DATA2 = "接收数组"; 196 | Blockly.MOTORDRIVERBOARD_INITNRF24L01SENDDATASS = "nRF24L01+发送数据"; 197 | Blockly.MOTORDRIVERBOARD_NRFISSEND = "nRF24L01+是否发送数据成功"; 198 | Blockly.MOTORDRIVERBOARD_NRFREADYDATA = "nRF24L01+是否接收到数据"; 199 | Blockly.MOTORDRIVERBOARD_INITNRF24L01RECDATASSS = "nRF24L01+接收数据"; 200 | 201 | 202 | Blockly.MOTORDRIVERBOARD_GPIO = "MotorDriverBoard控制IO口"; 203 | Blockly.MOTORDRIVERBOARD_GPIOMODE = "设置"; 204 | Blockly.MOTORDRIVERBOARD_GPIOHIGH = "高电平"; 205 | Blockly.MOTORDRIVERBOARD_GPIOLOW = "低电平"; 206 | Blockly.MOTORDRIVERBOARD_GPIOPWM = "输出PWM的值(0-4096)"; 207 | Blockly.MOTORDRIVERBOARD_GPIOFREQ = "设置IO口输出频率(1-1600HZ)"; -------------------------------------------------------------------------------- /mixly/language/MotorDriverBoard/zh-hant.js: -------------------------------------------------------------------------------- 1 | //图形块名称翻译 2 | Blockly.MOTORDRIVERBOARD_SETUP = "MotorDriverBoard初始化"; 3 | Blockly.MOTORDRIVERBOARD_DCMOTOR = "直流電機介面"; 4 | Blockly.MOTORDRIVERBOARD_DCDIRECTIONS = "方向"; 5 | Blockly.MOTORDRIVERBOARD_SPEED = "速度"; 6 | Blockly.MOTORDRIVERBOARD_DCPORTS_FIRST = "介面1"; 7 | Blockly.MOTORDRIVERBOARD_DCPORTS_SECOND = "介面2"; 8 | Blockly.MOTORDRIVERBOARD_DCPORTS_THIRD = "介面3"; 9 | Blockly.MOTORDRIVERBOARD_DCPORTS_FOURTH = "介面4"; 10 | Blockly.MOTORDRIVERBOARD_DCDIRECTION_FORWARD = "正轉"; 11 | Blockly.MOTORDRIVERBOARD_DCDIRECTION_BACK = "反轉"; 12 | Blockly.MOTORDRIVERBOARD_STOPDCMOTOR = "停止直流電機"; 13 | Blockly.MOTORDRIVERBOARD_ENMOTOR = "編碼電機介面"; 14 | Blockly.MOTORDRIVERBOARD_ENPORTS_FIRST = "介面1"; 15 | Blockly.MOTORDRIVERBOARD_ENPORTS_SECOND = "接口2"; 16 | Blockly.MOTORDRIVERBOARD_ENPORTS_THIRD = "介面3"; 17 | Blockly.MOTORDRIVERBOARD_ENPORTS_FOURTH = "介面4"; 18 | Blockly.MOTORDRIVERBOARD_ENDIRECTIONS = "方向"; 19 | Blockly.MOTORDRIVERBOARD_ENDIRECTION_FORWARD = "正轉"; 20 | Blockly.MOTORDRIVERBOARD_ENDIRECTION_BACK = "反轉"; 21 | Blockly.MOTORDRIVERBOARD_STOPENMOTOR = "停止編碼電機"; 22 | Blockly.MOTORDRIVERBOARD_STMOTOR = "步進電機介面"; 23 | Blockly.MOTORDRIVERBOARD_STDIRECTIONS = "方向"; 24 | Blockly.MOTORDRIVERBOARD_STEPS = "步數"; 25 | Blockly.MOTORDRIVERBOARD_STPORTS_FIRST = "介面1"; 26 | Blockly.MOTORDRIVERBOARD_STPORTS_SECOND = "介面2"; 27 | Blockly.MOTORDRIVERBOARD_STDIRECTION_FORWARD = "正轉"; 28 | Blockly.MOTORDRIVERBOARD_STDIRECTION_BACK = "反轉"; 29 | //Blockly.MOTORDRIVERBOARD_STSTYLES = "管道"; 30 | //Blockly.MOTORDRIVERBOARD_STYLE_SINGLE = "單"; 31 | //Blockly.MOTORDRIVERBOARD_STYLE_DOUBLE = "雙"; 32 | //Blockly.MOTORDRIVERBOARD_STYLE_INTERLEAVE = "交錯"; 33 | //Blockly.MOTORDRIVERBOARD_STYLE_MICROSTEP = "微步"; 34 | Blockly.MOTORDRIVERBOARD_SETRGB = "RGB燈"; 35 | Blockly.MOTORDRIVERBOARD_RGBCOLOUR = "顏色"; 36 | Blockly.MOTORDRIVERBOARD_RGBNUMBER_ALL = "全部"; 37 | Blockly.MOTORDRIVERBOARD_RGBNUMBER_LEFT = "左邊"; 38 | Blockly.MOTORDRIVERBOARD_RGBNUMBER_RIGHT = "右邊"; 39 | Blockly.MOTORDRIVERBOARD_RGBCOLOR_RED = "紅色"; 40 | Blockly.MOTORDRIVERBOARD_RGBCOLOR_GREEN = "綠色"; 41 | Blockly.MOTORDRIVERBOARD_RGBCOLOR_BLUE = "藍色"; 42 | Blockly.MOTORDRIVERBOARD_RGBCOLOR_YELLOW = "黃色"; 43 | Blockly.MOTORDRIVERBOARD_RGBCOLOR_PURPLE = "紫色"; 44 | Blockly.MOTORDRIVERBOARD_RGBCOLOR_WHITE = "白色"; 45 | Blockly.MOTORDRIVERBOARD_RGBCOLOR_OFF = "熄滅"; 46 | Blockly.MOTORDRIVERBOARD_PLAYSOUNDS = "播放聲音"; 47 | Blockly.MOTORDRIVERBOARD_SOUNDS_CONNECTED = "連接"; 48 | Blockly.MOTORDRIVERBOARD_SOUNDS_DISCONNECTED = "斷開連接"; 49 | Blockly.MOTORDRIVERBOARD_SOUNDS_BUTTONPUSHED = "按鈕按下"; 50 | Blockly.MOTORDRIVERBOARD_SOUNDS_MODE1 = "模式一"; 51 | Blockly.MOTORDRIVERBOARD_SOUNDS_MODE2 = "模式二"; 52 | Blockly.MOTORDRIVERBOARD_SOUNDS_MODE3 = "模式三"; 53 | Blockly.MOTORDRIVERBOARD_SOUNDS_SURPRISE = "驚訝"; 54 | Blockly.MOTORDRIVERBOARD_SOUNDS_OHOH = "哦"; 55 | Blockly.MOTORDRIVERBOARD_SOUNDS_OHOH2 = "哦哦"; 56 | Blockly.MOTORDRIVERBOARD_SOUNDS_CUDDLY = "可愛"; 57 | Blockly.MOTORDRIVERBOARD_SOUNDS_SLEEPING = "困倦"; 58 | Blockly.MOTORDRIVERBOARD_SOUNDS_HAPPY = "高興"; 59 | Blockly.MOTORDRIVERBOARD_SOUNDS_SUPERHAPPY = "超級高興"; 60 | Blockly.MOTORDRIVERBOARD_SOUNDS_SHORTHAPPY = "短暫高興"; 61 | Blockly.MOTORDRIVERBOARD_SOUNDS_SAD = "悲傷"; 62 | Blockly.MOTORDRIVERBOARD_SOUNDS_CONFUSED = "困惑"; 63 | Blockly.MOTORDRIVERBOARD_SOUNDS_FART1 = "討厭一"; 64 | Blockly.MOTORDRIVERBOARD_SOUNDS_FART2 = "討厭二"; 65 | Blockly.MOTORDRIVERBOARD_SOUNDS_FART3 = "討厭三"; 66 | Blockly.MOTORDRIVERBOARD_INITULTRASONIC = "超聲波初始化"; 67 | Blockly.MOTORDRIVERBOARD_READULTRASONICDISTANCE = "讀取超聲波距離"; 68 | Blockly.MOTORDRIVERBOARD_INITIRREMOTE = "紅外接收初始化"; 69 | Blockly.MOTORDRIVERBOARD_IFIRREMOTEPRESSED = "红外遥控器按键被按下"; 70 | Blockly.MOTORDRIVERBOARD_IRKEYPRESS = "emakefun紅外遙控器按鍵按下"; 71 | Blockly.MOTORDRIVERBOARD_IRKEYPRESS2 = "普通紅外遙控器按鍵按下"; 72 | Blockly.MOTORDRIVERBOARD_IRKEY_UP = "上"; 73 | Blockly.MOTORDRIVERBOARD_IRKEY_DOWN = "下"; 74 | Blockly.MOTORDRIVERBOARD_IRKEY_LEFT = "左"; 75 | Blockly.MOTORDRIVERBOARD_IRKEY_RIGHT = "右"; 76 | Blockly.MOTORDRIVERBOARD_INITNRF24L01 = "NRF24L01初始化"; 77 | Blockly.MOTORDRIVERBOARD_INITNRF24L01SENDDATA = "NRF24L01發送數據"; 78 | Blockly.MOTORDRIVERBOARD_INITNRF24L01ADDRESS = "地址"; 79 | Blockly.MOTORDRIVERBOARD_INITNRF24L01DATA = "數據"; 80 | Blockly.MOTORDRIVERBOARD_INITNRF24L01RECEIVEDATA = "NRF24L01接收數據"; 81 | Blockly.MOTORDRIVERBOARD_INITNRF24L01ISNOTNULL = "NRF24L01數據不為空"; 82 | Blockly.MOTORDRIVERBOARD_GETINITNRF24L01 = "獲取NRF24L01數據"; 83 | Blockly.MOTORDRIVERBOARD_PS2INIT = "PS2手柄初始化"; 84 | Blockly.MOTORDRIVERBOARD_WHICHPS2KEYPRESSED = "PS2鍵被按下"; 85 | Blockly.MOTORDRIVERBOARD_SETPS2VIBRATE = "設定ps2搖杆震動值"; 86 | Blockly.MOTORDRIVERBOARD_PS2KEYPRESS = "ps2手柄按下"; 87 | Blockly.MOTORDRIVERBOARD_PS2KEYS_UP = "上"; 88 | Blockly.MOTORDRIVERBOARD_PS2KEYS_DOWN = "下"; 89 | Blockly.MOTORDRIVERBOARD_PS2KEYS_LEFT = "左"; 90 | Blockly.MOTORDRIVERBOARD_PS2KEYS_RIGHT = "右"; 91 | Blockly.MOTORDRIVERBOARD_PS2KEYS_TRIANGLE = "△"; 92 | Blockly.MOTORDRIVERBOARD_PS2KEYS_CIRCLE = "○"; 93 | Blockly.MOTORDRIVERBOARD_PS2KEYS_CROSS = "×"; 94 | Blockly.MOTORDRIVERBOARD_PS2KEYS_SQUARE = "囗"; 95 | Blockly.MOTORDRIVERBOARD_PS2KEYS_L1 = "左1"; 96 | Blockly.MOTORDRIVERBOARD_PS2KEYS_L2 = "左2"; 97 | Blockly.MOTORDRIVERBOARD_PS2KEYS_L3 = "左3"; 98 | Blockly.MOTORDRIVERBOARD_PS2KEYS_R1 = "右1"; 99 | Blockly.MOTORDRIVERBOARD_PS2KEYS_R2 = "右2"; 100 | Blockly.MOTORDRIVERBOARD_PS2KEYS_R3 = "右3"; 101 | Blockly.MOTORDRIVERBOARD_PS2KEYS_SELECT = "選擇"; 102 | Blockly.MOTORDRIVERBOARD_PS2KEYS_START = "開始"; 103 | Blockly.MOTORDRIVERBOARD_PS2KEYUNPRESS = "ps2手柄鬆開"; 104 | Blockly.MOTORDRIVERBOARD_PS2GETVIBRATE = "獲取搖杆值"; 105 | Blockly.MOTORDRIVERBOARD_VIBRATE_LX = "左橫軸"; 106 | Blockly.MOTORDRIVERBOARD_VIBRATE_LY = "左縱軸"; 107 | Blockly.MOTORDRIVERBOARD_VIBRATE_RX = "右橫軸"; 108 | Blockly.MOTORDRIVERBOARD_VIBRATE_RY = "右縱軸"; 109 | Blockly.MOTORDRIVERBOARD_PS2STATUS = "讀取ps2狀態"; 110 | Blockly.MOTORDRIVERBOARD_PS2GETVIBRATE2 = "獲取搖杆角度"; 111 | Blockly.MOTORDRIVERBOARD_VIBRATE2_L = "左搖杆"; 112 | Blockly.MOTORDRIVERBOARD_VIBRATE2_R = "右搖杆"; 113 | Blockly.MOTORDRIVERBOARD_SERVOPORT = "舵機介面"; 114 | Blockly.MOTORDRIVERBOARD_SERVOPORTS_FIRST = "介面1"; 115 | Blockly.MOTORDRIVERBOARD_SERVOPORTS_SECOND = "介面2"; 116 | Blockly.MOTORDRIVERBOARD_SERVOPORTS_THIRD = "介面3"; 117 | Blockly.MOTORDRIVERBOARD_SERVOPORTS_FOURTH = "介面4"; 118 | Blockly.MOTORDRIVERBOARD_SERVOPORTS_FIVETH = "介面5"; 119 | Blockly.MOTORDRIVERBOARD_SERVOPORTS_SIXTH = "介面6"; 120 | Blockly.MOTORDRIVERBOARD_SERVOPORTS_SEVENTH = "介面7"; 121 | Blockly.MOTORDRIVERBOARD_SERVOPORTS_EIGHTH = "介面8"; 122 | Blockly.MOTORDRIVERBOARD_ANGLE = "角度"; 123 | Blockly.MOTORDRIVERBOARD_RED = "紅"; 124 | Blockly.MOTORDRIVERBOARD_GREEN = "綠"; 125 | Blockly.MOTORDRIVERBOARD_BLUE = "藍"; 126 | Blockly.MOTORDRIVERBOARD_READDEGEREES = "讀取當前舵機角度"; 127 | 128 | Blockly.MOTORDRIVERBOARD_INITDCMOTOR = "直流電機初始化"; 129 | Blockly.MOTORDRIVERBOARD_INITENMOTOR = "編碼電機初始化"; 130 | Blockly.MOTORDRIVERBOARD_INITSTMOTOR = "步進電機初始化"; 131 | Blockly.MOTORDRIVERBOARD_INITRGB = "RGB燈初始化"; 132 | Blockly.MOTORDRIVERBOARD_INITSOUNDS = "蜂鳴器初始化"; 133 | Blockly.MOTORDRIVERBOARD_INITSERVO = "舵機初始化 介面"; 134 | 135 | Blockly.MOTORDRIVERBOARD_M4INIT = "四驅車初始化電機介面"; 136 | Blockly.MOTORDRIVERBOARD_LEFTFORWARD = "左前"; 137 | Blockly.MOTORDRIVERBOARD_RIGHTFORWARD = "右前"; 138 | Blockly.MOTORDRIVERBOARD_LEFTBACKWARD = "左後"; 139 | Blockly.MOTORDRIVERBOARD_RIGHTBACKWARD = "右後"; 140 | Blockly.MOTORDRIVERBOARD_M4GOFORWARD = "四驅車前進 速度"; 141 | Blockly.MOTORDRIVERBOARD_M4BACKFORWARD = "四驅車後退 速度"; 142 | Blockly.MOTORDRIVERBOARD_M4TURNLEFT = "四驅車左轉 速度"; 143 | Blockly.MOTORDRIVERBOARD_M4TURNRIGHT = "四驅車右轉 速度"; 144 | Blockly.MOTORDRIVERBOARD_M4TURNLEFTS = "四驅車左自旋 速度"; 145 | Blockly.MOTORDRIVERBOARD_M4TURNRIGHTS = "四驅車右自旋 速度"; 146 | Blockly.MOTORDRIVERBOARD_M4GODEGREE = "四驅車行駛角度"; 147 | Blockly.MOTORDRIVERBOARD_M4GOSPEED = "速度"; 148 | Blockly.MOTORDRIVERBOARD_M4STOP = "四驅車停止"; 149 | Blockly.MOTORDRIVERBOARD_BLUETOOTHINIT = "藍牙初始化"; 150 | Blockly.MOTORDRIVERBOARD_RECEIVEDATA = "接收藍牙數據"; 151 | Blockly.MOTORDRIVERBOARD_RECEIVEDDDATA = "接收到了藍牙數據"; 152 | Blockly.MOTORDRIVERBOARD_BLUETOOTHPRESS = "藍牙操作鍵按下"; 153 | Blockly.MOTORDRIVERBOARD_BLUETOOTHSTYLE = "藍牙資料類型"; 154 | Blockly.MOTORDRIVERBOARD_BLUETOOTHSTYLE_BUTTONS = "按鍵"; 155 | Blockly.MOTORDRIVERBOARD_BLUETOOTHSTYLE_DIRECTIONS = "角度"; 156 | Blockly.MOTORDRIVERBOARD_BLUETOOTHSTYLE_SPEEDS = "速度"; 157 | Blockly.MOTORDRIVERBOARD_BLUETOOTHGETDEGREE = "藍牙獲取的角度"; 158 | 159 | Blockly.MOTORDRIVERBOARD_BLUETOOTHGETSPEED = "藍牙獲取的速度"; 160 | Blockly.MOTORDRIVERBOARD_NRFINIT = "nRF24L01+初始化 地址"; 161 | Blockly.MOTORDRIVERBOARD_NRFDATAREADY = "nRF24L01+接收到數據"; 162 | Blockly.MOTORDRIVERBOARD_NRFVALUE = "定義接收nrf數據的數組"; 163 | Blockly.MOTORDRIVERBOARD_NRFGETDATA = "取nRF24L01+數據"; 164 | Blockly.MOTORDRIVERBOARD_NRFGETPACKAGE = "收到讀取nRF24L01+無線手柄數據"; 165 | Blockly.MOTORDRIVERBOARD_NRFNEWOB = "創建nrf資料類型對象"; 166 | Blockly.MOTORDRIVERBOARD_NRFDATAFUN = "獲取收到讀取nRF24L01+無線手柄資料類型"; 167 | Blockly.MOTORDRIVERBOARD_NRFDIRECTION = "方向"; 168 | Blockly.MOTORDRIVERBOARD_NRFSPEED = "速度"; 169 | Blockly.MOTORDRIVERBOARD_NRFBUTTON = "按键"; 170 | Blockly.MOTORDRIVERBOARD_NRFBUTTONS = "無線手柄按鍵按下"; 171 | Blockly.MOTORDRIVERBOARD_NRFBUTTONSL1 = "左1"; 172 | Blockly.MOTORDRIVERBOARD_NRFBUTTONSR1 = "右1"; 173 | Blockly.MOTORDRIVERBOARD_NRFBUTTONSUP = "上"; 174 | Blockly.MOTORDRIVERBOARD_NRFBUTTONSDOWN = "下"; 175 | Blockly.MOTORDRIVERBOARD_NRFBUTTONSLEFT = "左"; 176 | Blockly.MOTORDRIVERBOARD_NRFBUTTONSRIGHT = "右"; 177 | Blockly.MOTORDRIVERBOARD_NRFGETDEGREE = "nRF24L01+獲取角度"; 178 | Blockly.MOTORDRIVERBOARD_NRFGETSPEED = "nRF24L01+獲取速度"; 179 | Blockly.MOTORDRIVERBOARD_SETRGBBRIGHTNESS = "設定RGB燈亮度（0~255）"; 180 | 181 | 182 | -------------------------------------------------------------------------------- /mixly/media/Motordriverboard/em_md_qr.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/emakefun/MotorDriverBoard/4051027d1ec5340fda865871b807f75f68d594fc/mixly/media/Motordriverboard/em_md_qr.png --------------------------------------------------------------------------------