挥舞的手臂(mixly+二次开发)

本文主要是介绍挥舞的手臂(mixly+二次开发)，希望对大家解决编程问题提供一定的参考价值，需要的开发者们随着小编来一起学习吧！

从vb6到vb.net，一路c#, java, python, nn, c，对技术的切换早已经没有害怕的感觉了，一直有的是技术的热情和我所认为的技术信仰。

扯完，开始正文。

看看效果图：

使用的是Arduino UNO+16 Servo Drive Board+2个SG90舵机（左右手分别1个舵机摇摆）

Arduino UNO:

16 Servo Drive Board

然后将这2块叠在一起插上引脚硬件就好了

连的是5和6引脚

接下来就程序了，直接编码算是很简单的，就2步：

拷贝厂商的.h/.cpp文件夹到arduino的libraries目录
写代码如下：

#include <Adafruit_PWMServoDriver.h>#define SERVOMIN 200
#define SERVOMAX 540
#define SERVOMIN_Angle 0
#define SERVOMAX_Angle 112Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();void servo_goto_angle(int pinId, int angle)
{int anglePwmValue=map(angle, SERVOMIN_Angle, SERVOMAX_Angle, SERVOMIN, SERVOMAX);pwm.setPWM(pinId,0, anglePwmValue);
}void servo_init()
{Serial.begin(9600);pwm.begin();pwm.setPWMFreq(60);delay(200);
}void setup(){servo_init();
}void loop(){for (int i = 1; i <= 112; i = i + (1)) {servo_goto_angle(5, i);delay(10);}for (int i = 112; i >= 1; i = i + (-1)) {servo_goto_angle(5, i);delay(10);}for (int i = 1; i <= 112; i = i + (1)) {servo_goto_angle(6, i);delay(10);}for (int i = 112; i >= 1; i = i + (-1)) {servo_goto_angle(6, i);delay(10);}}

然后交叉编译，上传就好了。

可是(哈哈，这里还有，故意空出了一大段)，考虑到我还要教女儿学会这个，就不能这么直接代码给她看了，毕竟才小学1年级，还好，有mixly，好，希望来了，图形化编程来了。

鼓捣了一般，最后发现通用的组件都能用，只是这个舵机由于是厂商买来的，还没法很好的支持，得自定义！这下麻烦了，找了点mixly二次开发的资料看了看，最终决定自己写mixly插件。

看了看mixly插件其实就是用js编写外观以及生成代码部分拼c代码出来，然后就好办了，下面是完整插件的目录结构（xml是描述文件、block中的js是生成积木外观的、generator中的js是生成c代码的）：

McKay.xml

<!--
type="company"
block="block/McKay.js"
generator="generator/McKay.js"
media="media/McKay"
language="language/McKay"
-->
<script type="text/javascript" src="../../blocks/company/McKay.js"></script>
<script type="text/javascript" src="../../generators/arduino/company/McKay.js"></script>
<category id="McKay_ServoDriveBoard" name="McKay-舵机" colour="20"><block type="ServoDriveBoard_Init"><value name="MinAngle"></value><value name="MaxAngle"></value></block><block type="ServoDriveBoard_Do"><value name="ServoNumber"></value><value name="Angle"></value></block>
</category>

block\McKay.js

'use strict';goog.provide('Blockly.Blocks.McKay');goog.require('Blockly.Blocks');Blockly.Blocks.ServoDriveBoard_Init={
init:function(){this.appendDummyInput("").appendField("初始化舵机");this.appendValueInput("MinAngle").setCheck(Number).appendField("最小角度");this.appendValueInput("MaxAngle").setCheck(Number).appendField("最大角度");this.setColour(20);this.setPreviousStatement(true);this.setNextStatement(true);this.setInputsInline(false);this.setTooltip("初始化舵机");}
};Blockly.Blocks.ServoDriveBoard_Do={
init:function(){this.appendDummyInput("").appendField("舵机运行");this.appendValueInput("ServoNumber").setCheck(Number).appendField("舵机编号");this.appendValueInput("Angle").setCheck(Number).appendField("角度");this.setColour(20);this.setPreviousStatement(true);this.setNextStatement(true);this.setInputsInline(true);this.setTooltip("舵机运行");}
};

generator\McKay.js

'use strict';goog.provide('Blockly.Arduino.McKay');goog.require('Blockly.Arduino');Blockly.McKay_ServoDriveBoard_MinAngle=0;
Blockly.McKay_ServoDriveBoard_MaxAngle=0;
Blockly.Arduino.ServoDriveBoard_Init=function(){var MinAngle = Blockly.Arduino.valueToCode(this, 'MinAngle', Blockly.Arduino.ORDER_ATOMIC) || '0';var MaxAngle = Blockly.Arduino.valueToCode(this, 'MaxAngle', Blockly.Arduino.ORDER_ATOMIC) || '112';Blockly.McKay_ServoDriveBoard_MinAngle=parseInt(MinAngle);Blockly.McKay_ServoDriveBoard_MaxAngle=parseInt(MaxAngle);Blockly.Arduino.definitions_["define_McKay_ServoDriveBoard_Include"] = "#include <Adafruit_PWMServoDriver.h>\n";var defines="#define SERVOMIN 200\n";defines+="#define SERVOMAX 540\n";defines+="#define SERVOMIN_Angle "+Blockly.McKay_ServoDriveBoard_MinAngle+"\n";defines+="#define SERVOMAX_Angle "+Blockly.McKay_ServoDriveBoard_MaxAngle+"\n";Blockly.Arduino.definitions_["define_McKay_ServoDriveBoard_Defines"] = defines;Blockly.Arduino.definitions_["define_McKay_ServoDriveBoard_pwmObj"] = "Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();\n";var gotoCode="void servo_goto_angle(int pinId, int angle)\n";gotoCode+="{\n";gotoCode+="     int anglePwmValue=map(angle, SERVOMIN_Angle, SERVOMAX_Angle, SERVOMIN, SERVOMAX);\n";gotoCode+="     pwm.setPWM(pinId,0, anglePwmValue);\n";gotoCode+="}\n";Blockly.Arduino.definitions_["define_McKay_ServoDriveBoard_goto_angle"] = gotoCode;var initCode="void servo_init()\n";initCode+="{\n";initCode+="     Serial.begin(9600);\n";initCode+="     pwm.begin();\n";initCode+="     pwm.setPWMFreq(60);\n";initCode+="     delay(200);\n";initCode+="}\n";Blockly.Arduino.definitions_["define_McKay_ServoDriveBoard_initCode"] = initCode;return "servo_init();\n";
};Blockly.Arduino.ServoDriveBoard_Do=function(){var ServoNumber = Blockly.Arduino.valueToCode(this, 'ServoNumber', Blockly.Arduino.ORDER_ATOMIC) || '0';var Angle = Blockly.Arduino.valueToCode(this, 'Angle', Blockly.Arduino.ORDER_ATOMIC) || '0';var code="servo_goto_angle("+ServoNumber+", "+Angle+");\n";return code;
};