Buongiorno a tutta la comunity,
Mi sono imbattuto sul progetto del casco iron man articolato con programmazione arduino. La persona che ha fornito il progetto ha anche rilasciato lo sketch per far si che tutte le parti del casco di muovano contemporaniamente ma in direzioni diverse. Ho iniziato tutto il cablaggio ma i servi 2 e 3 invece di muoversi verso l'alto, si muovono verso il basso (posizione sbagliata) . Qualcuno può aiutarmi a risolvere questo problema? grazie mille
#include <Wire.h>
#include <Adafruit_PWMServoDriver.h>
Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();
#define SERVOMIN 150 // This is the 'minimum' pulse length count (out of 4096)
#define SERVOMAX 450 // This is the 'maximum' pulse length count (out of 4096)
#define USMIN 600 // This is the rounded 'minimum' microsecond length based on the minimum pulse of 150
#define USMAX 2400 // This is the rounded 'maximum' microsecond length based on the maximum pulse of 600
#define SERVO_FREQ 50 // Analog servos run at ~50 Hz updates
uint8_t servonum = 0;
int buttonPin = 2;
int ledPin = 6;
int buttonState = 0;
int globalPos = 1;
unsigned long previousMillis = 0;
unsigned long interval = 5000;
int a = 60;
int mainServoL = 0;
int mainServoR = 1;
int mainServoClosed = 5;
int mainServoOpen = 90;
int servoBrowCenter = 4;
int servoBrowCenterOpen = 40;
int servoBrowCenterClosed = 120;
int animDelay = 1;
void setup() {
Serial.begin(9600);
Serial.println("Boot Up");
pwm.begin();
pwm.setOscillatorFrequency(27000000);
pwm.setPWMFreq(SERVO_FREQ);
pinMode(buttonPin, INPUT_PULLUP);
delay(50);
pwm.sleep();
}
int getAngleToPulse(int angle) {
return map(angle, 0, 180, SERVOMIN, SERVOMAX);
}
int getAngleToMilli(int angle) {
return map(angle, 0, 180, USMIN, USMAX);
}
void loop() {
buttonState = digitalRead(buttonPin);
if (buttonState == 0) {
Serial.println("Wake up");
pwm.wakeup();
if (globalPos > 0) {
Serial.println("Opening");
// CHEEKS
for (uint16_t pulselen = 90; pulselen >= 20; pulselen--) {
pwm.setPWM(9, 0, getAngleToPulse(90 + 20 - pulselen));
pwm.setPWM(8, 0, getAngleToPulse(pulselen));
}
delay(animDelay);
Serial.println("1. Cheeks Open");
// NOSE Side
for (uint16_t pulselen = 86; pulselen >= 10; pulselen--) {
pwm.setPWM(6, 0, getAngleToPulse(86 + 10 - pulselen));
pwm.setPWM(7, 0, getAngleToPulse(pulselen));
}
delay(animDelay);
Serial.println("2. Nose Side Open");
//BROW Center
for (uint16_t pulselen = servoBrowCenterClosed; pulselen >= servoBrowCenterOpen; pulselen--) {
pwm.setPWM(servoBrowCenter, 0, getAngleToPulse(pulselen));
}
delay(animDelay);
Serial.println("3. Brow Center Open");
// BROW Side
for (uint16_t pulselen = 30; pulselen <= 90; pulselen++) {
pwm.setPWM(2, 0, getAngleToPulse(pulselen));
pwm.setPWM(3, 0, getAngleToPulse(30 + 90 - pulselen));
}
delay(animDelay);
Serial.println("4. Brow Side Open");
// NOSE Center
for (uint16_t pulselen = 110; pulselen >= 1; pulselen--) {
pwm.setPWM(5, 0, getAngleToPulse(pulselen));
}
delay(animDelay);
Serial.println("5. Nose Center Open");
// EYES
analogWrite(ledPin, 0);
// MAIN SERVOS
for (uint16_t microsec = 750; microsec < 1950; microsec +=5) {
pwm.writeMicroseconds(mainServoL, microsec);
pwm.writeMicroseconds(mainServoR, (1950+750-microsec));
}
globalPos = 0;
delay(animDelay);
Serial.println("6. Main Open");
//delay(100);
//Serial.println("Sleep");
//pwm.sleep();
} else {
Serial.println("Closing");
//MAIN SERVOS
for (uint16_t microsec = 1950; microsec > 750; microsec-=5) {
pwm.writeMicroseconds(mainServoL, microsec);
pwm.writeMicroseconds(mainServoR, (1950+750-microsec));
}
delay(animDelay);
//NOSE Center
for (uint16_t pulselen = 1; pulselen <= 110; pulselen++) {
pwm.setPWM(5, 0, getAngleToPulse(pulselen));
}
delay(animDelay);
// BROW Side
for (uint16_t pulselen = 90; pulselen >= 30; pulselen--) {
pwm.setPWM(2, 0, getAngleToPulse(pulselen));
pwm.setPWM(3, 0, getAngleToPulse(30 + 90 - pulselen));
}
delay(animDelay);
for (uint16_t pulselen = servoBrowCenterOpen; pulselen <= servoBrowCenterClosed; pulselen++) {
pwm.setPWM(servoBrowCenter, 0, getAngleToPulse(pulselen));
}
delay(animDelay);
// NOSE Side
for (uint16_t pulselen = 10; pulselen <= 86; pulselen++) {
pwm.setPWM(6, 0, getAngleToPulse(86 + 10 - pulselen));
pwm.setPWM(7, 0, getAngleToPulse(pulselen));
}
delay(animDelay);
//CHEEKS
for (uint16_t pulselen = 20; pulselen <= 90; pulselen++) {
pwm.setPWM(9, 0, getAngleToPulse(90 + 20 - pulselen));
pwm.setPWM(8, 0, getAngleToPulse(pulselen));
}
delay(animDelay);
//EYES
analogWrite(ledPin, 255);
globalPos = 1;
delay(100);
Serial.println("Sleep");
pwm.sleep();
}
delay(500);
}
delay(10);
}
secondo te quale sarebbe la soluzione al problema?