揮舞的手臂(mixly+二次開發)

從vb6到vb.net，一路c#, java, python, nn, c，對技術的切換早已經沒有害怕的感覺了，一直有的是技術的熱情和我所認為的技術信仰。

扯完，開始正文。

看看效果圖：

使用的是Arduino UNO+16 Servo Drive Board+2個SG90舵機（左右手分別1個舵機搖擺）

Arduino UNO:

16 Servo Drive Board

然后將這2塊疊在一起插上引腳硬件就好了 

連的是5和6引腳

 

接下來就程序了，直接編碼算是很簡單的，就2步：

1. 拷貝廠商的.h/.cpp文件夾到arduino的libraries目錄
2. 寫代碼如下：

3. #include <Adafruit_PWMServoDriver.h>
   
   #define SERVOMIN 200
   #define SERVOMAX 540
   #define SERVOMIN_Angle 0
   #define SERVOMAX_Angle 112
   
   Adafruit_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);
     }
   
   }

    

然后交叉編譯，上傳就好了。

 

 

 

 

 

 

 

 

 

 

 

可是(哈哈，這里還有，故意空出了一大段)，考慮到我還要教女兒學會這個，就不能這么直接代碼給她看了，畢竟才小學1年級，還好，有mixly，好，希望來了，圖形化編程來了。

 

鼓搗了一般，最后發現通用的組件都能用，只是這個舵機由於是廠商買來的，還沒法很好的支持，得自定義！這下麻煩了，找了點mixly二次開發的資料看了看，最終決定自己寫mixly插件。

看了看mixly插件其實就是用js編寫外觀以及生成代碼部分拼c代碼出來，然后就好辦了，下面是完整插件的目錄結構（xml是描述文件、block中的js是生成積木外觀的、generator中的js是生成c代碼的）：

 

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-舵機" 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("初始化舵機");
        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("初始化舵機");
  }
};




Blockly.Blocks.ServoDriveBoard_Do={
init:function(){
    this.appendDummyInput("")
          .appendField("舵機運行");
        this.appendValueInput("ServoNumber").setCheck(Number).appendField("舵機編號");
        this.appendValueInput("Angle").setCheck(Number).appendField("角度");

        this.setColour(20);
        this.setPreviousStatement(true);
        this.setNextStatement(true);
        this.setInputsInline(true);
        this.setTooltip("舵機運行");
  }
};

 

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;
};

 

多年編程經驗的你肯定得出結論其實就是通過js拼string，string里是c代碼。。。

然后就可以老少皆宜的寫代碼了：

 

有興趣玩玩這些，挺有意思的

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