中原工 摘星车 蓝牙控制

好久前 比赛完成 超级给力
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现在 记录下 代码
#include <SoftwareSerial.h>
SoftwareSerial mySerial(0, 1); // RX, TX
#include <Servo.h>
Servo myservo; // create servo object to control a servo
int pos=0;
int base=2; //定义从2号端口开始
int num=4; //定义4个端口

int p1=6;
int p2=7;
int p3=8;
int p4=9;
int p5=10;// variable to store the servo position
char val=’/’;
void setup()
{
for(int i=base;i<base+num;i++)
{
pinMode(i,OUTPUT); //端口为输出端
digitalWrite(i,HIGH); //相应端口初始化为高电平
Serial.begin(9600);
myservo.attach(p1); // attaches the servo on pin 2 to the servo object
myservo.write(pos); //初始化所有舵机位置，防止通电抖动。
delay(100);
myservo.detach();
}
Serial.begin(9600);
}

void loop() // run over and over 上升
{
val=Serial.read();
if(val==‘1’)
{
pos=pos+5; //anti-clock motion
myservo.attach(p1);
myservo.write(pos);
delay(50);
myservo.detach();
val=‘w’;
}
if(val==‘2’)
{
pos=pos-5; //clock motion
myservo.attach(p1);
myservo.write(pos);
delay(100);
myservo.detach();
val=‘r’;
}
if(val==‘3’)
{
pos=60; //initialization
myservo.attach(p1);
myservo.write(pos);
delay(50);
myservo.detach();
val=‘r’;
}
val=Serial.read();
if(val==‘11’)
{
pos=pos+5; //anti-clock motion
myservo.attach(p2);
myservo.write(pos);
delay(50);
myservo.detach();
val=‘w’;
}
if(val==‘22’)
{
pos=pos-5; //clock motion
myservo.attach(p2);
myservo.write(pos);
delay(100);
myservo.detach();
val=‘r’;
}
if(val==‘33’)
{
pos=60; //initialization
myservo.attach(p2);
myservo.write(pos);
delay(50);
myservo.detach();
val=‘r’;
}
val=Serial.read();
if(val==‘111’)
{
pos=pos+5; //anti-clock motion
myservo.attach(p3);
myservo.write(pos);
delay(50);
myservo.detach();
val=‘w’;
}
if(val==‘222’)
{
pos=pos-5; //clock motion
myservo.attach(p3);
myservo.write(pos);
delay(100);
myservo.detach();
val=‘r’;
}
if(val==‘333’)
{
pos=60; //initialization
myservo.attach(p3);
myservo.write(pos);
delay(50);
myservo.detach();
val=‘r’;
}
val=Serial.read();
if(val==‘1111’)
{
pos=pos+5; //anti-clock motion
myservo.attach(p4);
myservo.write(pos);
delay(50);
myservo.detach();
val=‘w’;
}
if(val==‘2222’)
{
pos=pos-5; //clock motion
myservo.attach(p4);
myservo.write(pos);
delay(100);
myservo.detach();
val=‘r’;
}
if(val==‘3333’)
{
pos=60; //initialization
myservo.attach(p4);
myservo.write(pos);
delay(50);
myservo.detach();
val=‘r’;

}
val=Serial.read(); //接收数据
if(val==‘q’) //停止
{
digitalWrite(2,HIGH);
digitalWrite(3,HIGH);
}
if(val==‘w’) //前进
{
digitalWrite(2,LOW);
digitalWrite(3,HIGH);
}
if(val==‘e’) // 后退
{
digitalWrite(2,HIGH);
digitalWrite(3,LOW);
}
val=Serial.read(); //接收数据
if(val==‘8’) //停止
{
digitalWrite(4,HIGH);
digitalWrite(5,HIGH);
}
if(val==‘9’) //前进
{
digitalWrite(4,LOW);
digitalWrite(5,HIGH);
}
if(val==‘10’) // 后退
{
digitalWrite(4,HIGH);
digitalWrite(5,LOW);
}

}

其实就是 机械臂小车