Động cơ RC Servo

[ykien_cuatoi]

sao thế.đợi hoài không thấy ai đăng hết ta

[opto]

điều khiển một động co rcservo thi dễ rùi. còn điều khiển kiểu này có ai làm được chưa

http://www.youtube.com/watch?v=0il8uEUCGtk

[opto]

đây là code cho 1 servo:

#include "16F84.H"
#define CP_off |= 0x3FFF // copy protect off for 16F84
#pragma config CP_off, PWRTE=on, WDTE=off, FOSC=XT

/* assign names to ports and pins */
#pragma bit SERVO @ PORTB.1
#pragma bit RESET_S @ PORTA.0
#pragma bit TURN_C @ PORTA.1
#pragma bit TURN_A @ PORTA.2

/* function prototypes */
void delay_min (void);
void delay_var (char n);
void pause (void);

void main( void)
{
PORTB = 0b.0000.0000; /* initial value */
TRISB = 0b.0000.0000; /* Port B all o/p */
PORTA = 0b.0.0111; /* initial value */
TRISA = 0b.1110.0111; /* xxx0 0001 */

char position=107; // total time 1.5ms center position

while(1) // endless loop
{
SERVO=1;
delay_min();
if (position>0)
delay_var(position);
SERVO=0;
pause(); // 20 ms delay before next pulse
if ((TURN_C==0)&&(position<255))
position++;
if ((TURN_A==0)&&(position>0))
position--;
if (RESET_S==0)
position=107; // center the servo
}

} // end of main


void delay_min (void) // 750 uS including overhead
{
char n=248;
do ; while(--n>0);
nop(); // padding to produce precise time
}
// delay = 2 + 2 + (n x 3) -1 +1 +2 = 750us @ 4MHz
// 2 for call, 2 for preset n, (n x 3)-1 for loop, 1 padding, 2 for return

void delay_var (char n) // adc x 7 uS = 1790us max.
{
do {nop(); nop(); nop(); nop();} while(--n>0);
}
// delay= 2 + 2 + (t x 7) -1 +2 us @ 4MHz

void pause (void) // delay between pulses approx 20 ms
{
char n;
for (n=0;n<26;n++)
{
delay_min(); // 750 us
}
}

[opto]

còn đây là code cho 4 servo. bạn nào quan tâm chúng ta cùng mổ xẻ nhé:


#include "16C711.H" // Change for your CPU
#include "int16CXX.h"

#pragma config WDTE=off, FOSC=XT, BODEN=on
#pragma config |= 0x3FB0 // Code protect off

char servo_pin; // Variable for port pins
char servo[4]; // Servo position values
char servo_num; // Pointer to current servo position value
char position; // Working servo position value
char window; // 2ms - position value
char boogies; // Interrupt counter
char loops; // Loop counter
char current; // same as servo_num, but outside of interrupt
bit direction; // direction of travel flag

#pragma origin 4

// With .1ms resolution, we can control the servo in 10% steps:
// 10 = 0 degrees (or 100% backward motion) 1.0ms
// 11 = 18 degrees (or 80% backward motion) 1.1ms
// 12 = 36 degrees (or 60% backward motion) 1.2ms
// 13 = 54 degrees (or 40% backward motion) 1.3ms
// 14 = 72 degrees (or 20% backward motion) 1.4ms
// 15 = 90 degrees (or stopped) 1.5ms
// 16 = 108 degrees (or 20% forward motion) 1.6ms
// 17 = 126 degrees (or 40% forward motion) 1.7ms
// 18 = 144 degrees (or 60% forward motion) 1.8ms
// 19 = 162 degrees (or 80% forward motion) 1.9ms
// 20 = 180 degrees (or 100% forward motion) 2.0ms
// So our pulse routine needs to run 1ms + x tenths.
// Next version will (maybe) use hundredths, from 100 to 200.

interrupt scan_servos() {
PORTA = 2; // indicate where we are
T0IF = 0; // Clear TMR0 interrupt flag
int_save_registers // Save status & W reg
char fsr; fsr = FSR; // Save FSR
OPTION = 8; // No TMR0 prescaler
servo_pin = 1; // Set up for first servo
for(servo_num = 0; servo_num <=3; servo_num++) {
position = servo[servo_num]; // get pulse width value
window = 30 - position; // Figure out remainder of 2ms window
PORTB = servo_pin; // Turn on servo pin
TMR0 = 0; // Clear TMR0
do {
TMR0 = 11; // Adjust for execution time
while ( TMR0 < 100 ); // wait 100 uS
} while( --position > 0 ); // for as many as we need
PORTB = 0; // Turn off all servo pins
// Now we have to burn up the remainder of the 2ms total pulse
// window...
if(window > 0) {
do {
TMR0 = 11; // Adjust for execution time
while ( TMR0 < 100 ); // wait 100 uS
} while(--window > 0); // for as many as we need
}
// And set us up for the next servo in line...
servo_pin = servo_pin*2; // Set up for next servo in line
}

// Now we set up for an 8ms delay until the ext interrupt.
// We just spent 8ms pulsing the servos, so in another 12 we
// need to do it again.
int_restore_registers // Retrieve the registers
FSR = fsr; // Restore FSR
OPTION = 5; // 256 prescaler for TMR0
TMR0 = 187; // Set up for 12ms interrupt
boogies++; // Increment boogie counter
PORTA = 0;
}


void main(){
T0CS = 0; // T0 on instruction cycle
T0SE = 1; // rising edge
clearRAM(); // start with clear RAM
PORTA = 0;
PORTB = 0; // All outputs off
TRISA = 0;
TRISB = 0; // Port B is all output
OPTION = 5; // Prescaler set to 256
direction = 0;

// Set all servo position registers to the 90 degree mid point.
for(current = 0; current < 4; current++) {
servo[current] = 15;
}
TMR0 = 131; // Set up timer for 8ms
T0IE = 1; // Enable TMR0 interrupt
GIE = 1; // Duh.

// The boogie counter gets updated every 20ms, so 50 boogies
// equals one second. Tip of the hat to bogomips.

// First wait 2 seconds to let us see how the servos do at deadband
while(boogies < 100); // Loop for 2 seconds

// Now do 60 loops of 10% steps once a second, full motion
// range from 10 to 20 and back. Should take 1 minute.
direction = 1;
loops = 0;
PORTA = 1;
do {
boogies = 0; // clear boogie counter
while( boogies < 10 ); // Wait 1/5 second
for(current=0; current < 4; current++) {
if(servo[current] == 25) direction = 0;
if(servo[current] == 5) direction = 1;
if(direction == 0) servo[current]--;
if(direction == 1) servo[current]++;
}
} while(++loops < 60);

// Now recenter the servos for 2 seconds
for(current=0; current < 4; current++) {
servo[current] = 15;
}
boogies = 0;
while(boogies < 100);

// Now we finish up with 10 full-travel swings, 10 to 20,
// with a 2-second delay in between.

loops = 0;
PORTA = 0xD;
do {
boogies = 0;
while(boogies < 100); // 2 second delay
for(current=0; current < 4; current++) {
if(servo[current] == 25) direction = 0;
else if(servo[current] == 5) direction = 1;
else if(servo[current] > 5 && servo[current] < 25) direction = 0;
if(direction == 0) servo[current] = 5;
if(direction == 1) servo[current] = 25;
}
} while(++loops < 10);

// And loop forever.
main();
}

[langtul42]

help me !!!

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[delta21]

bác opto lấy đoạn code trên ở đâu thê!!!

[NBTrung]

anh falleaf cho em xin tài liệu rc servo với ạ, link post #1 die rùi.
Nếu k tiện up lên thì cho e vào mail dont.surrender@yahoo.com.vn

[dinhquang2410]

minh dang lam luan van ve dong co servoRC su dung trong cac thiet bi dieu khien tu xa nhu do choi dieu khien may bay cac bac co ai biet ve phan mem viet code va lam trinh ko chi minh voi,cach thuc hien nhu the nao.thks

[tuand1]

tìm hoài cũng thấy tài liệu về Servo motor gửi lên cho các bác tham khảo

[tuand1]

http://www.mediafire.com/?f6t8gsddl70f7lv

[chuong_prof]

điều khiển &gt;10 RC servo

điều khiển một động co rcservo thi dễ rùi. còn điều khiển kiểu này có ai làm được chưa
http://www.youtube.com/watch?v=0il8uEUCGtk

Có ai làm được cái này chưa ta?