mirror of
https://github.com/m1ngsama/robot_arm.git
synced 2026-03-25 19:53:49 +00:00
88 lines
2.6 KiB
C++
88 lines
2.6 KiB
C++
/*
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* ESP32 原生硬件 PWM 控制程序 (适配 Core 3.x 版本)
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* 解决 'ledcSetup' was not declared 报错问题
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*/
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// --- 1. 引脚定义 ---
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const int PIN_X = 14;
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const int PIN_Y = 4;
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const int PIN_Z = 5;
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const int PIN_B = 18;
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const int PIN_G = 23;
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// --- 2. PWM 参数 (舵机标准) ---
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const int freq = 50; // 频率 50Hz (周期 20ms)
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const int resolution = 12; // 分辨率 12位 (数值范围 0-4095)
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// 舵机角度对应的占空比数值 (12位分辨率)
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// 0.5ms (0度) -> 约 102
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// 1.5ms (90度) -> 约 307
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// 2.5ms (180度) -> 约 512
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void setup() {
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Serial.begin(115200);
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delay(1000);
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Serial.println("\n--- 使用 ESP32 Core 3.x LEDC 驱动初始化 ---");
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// 在新版 Core 中，直接使用 ledcAttach(引脚, 频率, 分辨率)
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ledcAttach(PIN_X, freq, resolution);
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ledcAttach(PIN_Y, freq, resolution);
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ledcAttach(PIN_Z, freq, resolution);
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ledcAttach(PIN_B, freq, resolution);
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ledcAttach(PIN_G, freq, resolution);
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// 初始归中
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writeAngle(PIN_X, 90); delay(500);
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writeAngle(PIN_Y, 90); delay(500);
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writeAngle(PIN_Z, 90); delay(500);
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writeAngle(PIN_B, 90); delay(500);
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writeAngle(PIN_G, 90); delay(500);
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Serial.println("--- 5轴硬件 PWM 初始化完成 ---");
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}
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void loop() {
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if (Serial.available() > 0) {
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String cmd = Serial.readStringUntil('\n');
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cmd.trim();
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// 根据指令解析并控制
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if (cmd.startsWith("Servo_ArmX")) writeAngle(PIN_X, extractAngle(cmd, "Servo_ArmX"));
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else if (cmd.startsWith("Servo_ArmY")) writeAngle(PIN_Y, extractAngle(cmd, "Servo_ArmY"));
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else if (cmd.startsWith("Servo_ArmZ")) writeAngle(PIN_Z, extractAngle(cmd, "Servo_ArmZ"));
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else if (cmd.startsWith("Servo_ArmB")) writeAngle(PIN_B, extractAngle(cmd, "Servo_ArmB"));
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else if (cmd.startsWith("Servo_Gripper")) {
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int a = extractAngle(cmd, "Servo_Gripper");
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if (a != -1) {
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writeAngle(PIN_G, a);
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Serial.print("夹爪已转动至: "); Serial.println(a);
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}
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}
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}
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}
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/**
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* 核心控制函数
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* pin: 控制的引脚号
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* angle: 目标角度 (0-180)
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*/
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void writeAngle(int pin, int angle) {
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if (angle < 0) angle = 0;
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if (angle > 180) angle = 180;
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// 线性映射计算占空比
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// 0度 = 102, 180度 = 512
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int duty = (angle * (512 - 102) / 180) + 102;
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// 在新版 Core 中，ledcWrite 直接接收引脚号和数值
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ledcWrite(pin, duty);
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}
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// 提取命令中的数字
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int extractAngle(String cmd, String prefix) {
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int prefixLen = prefix.length();
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String valPart = cmd.substring(prefixLen);
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if (valPart.length() > 0) return valPart.toInt();
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return -1;
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}
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