四足机器人课程设计

1、实验目的进一步了解“创意之星”标准版套件；初步学习足式机器人的不太规划； 深入学习AVR控制器的使用方法； 深入学习模拟量传感器的使用方法。 实验要求模仿四腿生物的行走方式，四条腿交替前进； 能感知光源，并能转向光源，朝光源前进。 实验过程1. 任务分析与规划了解腿式机器人步态规划任务规划2. 搭建机器人3. 让四足机器人走起来 四足机器人步态分析设计前进、后退步态设计转向步态编写步态让舵机跟踪光源建立工程添加变量程序逻辑设计 等待延迟最终的程序流程及对应源码让四足机器人跟踪光源12345678910111213141516171819202122232425262728ttinclude ,

2、Apps/SystemTask .hB,uint8 SERUO_MAPPING10 1,2,3,4,5.6,7,8,9,10; int nain()int DiFF = 0;int Left = 0;int Right - 0;MFInitO;MFInitSeruoMapping (&SERUO_MAPP ING 0 ,10);MFSetPortDirect( Ox OO00OFFC);MFSetSeruoMode(190);MFS?tSeruoMode(2»0);MFSetSeruoMode(3,0);MFSPtSeruoMode(4,0);MFSPtSeruoMode(5

3、f0);MFSetSeruoMode(6,0);MFSetSeruoMode(7v0);MFS&tSeruoMode(8,0);MFSetSeruoMode(9 f 0);HFSetSeruoHode(109 0);while (1)<Left = MFGetDigilnput(O>Right MFGetDigilnput(l);DifF = Left - Right;左侧的值大于右侧if (?DiFF>50)2930313233343536373839彳Q4142434445464748495051525354555657MFSetSeruoPos(1,570,51

4、2);MFSetServoPos(2,265f512);MFSetSeruoPos(3,825,512);MFSetSeruoPos(H,265,512);NFSetSeruoPos(5»512»5-12); NFSetSeruoPos(692659512); MFSetSeruoPos(7,465»512); MFSetSerUOPOSC8,265 f 512);HFSetServoPos(9,512,512)； t1FSetServoPos(10,512,512);MFSeruoAction(>DelasiMS(OO); MFSetSeruoPos(1f

5、430,512);MFSetSpruoPos(2,265,512)； MFSetS?ruoPos(3f7e3f512); MFSetSeruoPos(4,265,512); NFSetServoPosf? 9 376,512); MFSetSeruoPos(6,265,512);MFSetSeruoPos(7,622,512); MFSetSeruoPos(8,265,512); MFSetSpruoPos(9f512,512)； MFSetSeruoPos(10f512,512); MFSeruoActionO;DelayMS(50a); MFSetSeruoPos(1,430,512);

6、MFSetSeruoPos(2,265,512); MFSetSeruoPos(3f7e3f512);MFSetSfrruoPo5(4,265,512);MFSetSeruoPos(5»110f512);585960£162636465666768697071727374757677787980818283348586MFSetServoPos(6,265,512); MFSetSeruoPos(7,622.512); MFSetSeruoPos(8,265,512); MFSetSeruoPos(9,512>512); MFSetServoPos(10w512f51

7、2); MFSeruoActionf);DelayMS(500); MFSPtSeruoPos(1,U30»512); MFSetServoPos(2w265f512); MFSetSeruoPos(3,703f512); MFSetSer 11005(4,265.512); MFSetSeruoPos(5,110,512); MFSetSeruoPos(6,265.512); MFSetSeruoPos(7,378,512); MFSetSeruoPos(8,265.512); MFSetServoPos(9f512f512);MFSetSeruoPosd 0,512.512);M

8、FSeruoActionf);Delayh1S(500); MFSetServoPos(1v430v512); MFSetSeruoPos(2,265,512); MFSetSeruoPos(3,703.512);MFSetSeruoPos(4r265f512)； MFSetSeruoPos(5,371.512); MFSetSeruoPos(6,265,512); MFSetSeruoPos(7,570.512); MFSetServoPos(8f265f512); MF$Qt"ruoPo£；(0Q2/12” MFSetServoPos(10f512.512);87888

9、990919293949596979899100101102103104105106107108109110111112113114115MFSeruoAction();左侧的值小于右侧if (Diff<-50)<MFSetSeruoPosd ,570,512);MFSetSeruoPos(2,265,512);MFSetSeruoPos(3,825,512); MFSetSeruoPos(4,265f512);MFSetSeruoPos(5,512,512);MFSetSeKUoPos(6,265,512);MFSetSeruoPos(7,512,512);MFSetSeruoP

10、os(8,265,512);MFSetSeruoPos(9,512,512);MFSetServoPos(10,512,512);MFSeruofiction();DelayMS(SOO);MFSetSeruoPosd,413,512);MFSetSeruoPos(2,265,512);MFSetSeruoPos(3F731F512);MFSetSeruoPos(4,265,512);MFSetSeruoPos(5,285,512);MFSetSeruoPos(6,265,512);MFSetSeruoPos(7,628,512);MFSetSeruoPos(8,265,512);MFSetS

11、ervoPos(9,512,512);MFSetSeruoPos(10,512,512);MFServoAction();DelapMS(SOO);116117118119120121122123124125126127128129130131132133134135136137138139140141H2143XAAHFSfrtSruoPos(1,413,512)； MFSetSeruoPos(2,265,512); MFSetSe-ruoPo5(3F731F512); HFS?tS?ruoPos(U,265,512); MFSetSeruoPos(5,105,512); t1FS?tS?r

12、uoPos(6,265,512);HFSetServoPos(7,570,512);MFSptSpruoPoc(8,265,512);HFSetServoPos(9,512,512);MFSPtSpruoPos(10,512,512);MFServoActionO;DeiayMS(SOO);MFSetSeruoPosd ,413,512):MFSetSeruoPos(2F26&p512);MFSetSeruoPos(3w731,512);MFSetSeruoPos(4r265r512); MFS?tS?ruoPos(5p105F512); MFSetSeruoPos(6,265,512

13、); MF S?tS?ruoPos(7,355,512)； HFSetServoPos(8,265,512); t1FSPtSpruoFos(9,512JI512);HFSetServoPosd 0,512,512);MFSeruoftctionC);DelayMS(SOO);MFSPtSeruoPos(1,413,512); MFSetSeruoPos(2,265,512); MFSetSfrPU0P05(3,731,512)； MFSetSeruoPos(4,265,512); MFSetSeruoPos(5F105F512);1451471481491501511521531541551

14、56157158159160161162*163164165166167168169170171172173MFSetServoPos(6w265f512);MFSPtSpruoPos(7,i4l3»512);HFSetServoPos(8 P265,512):MFSPtSeruoPos(9,512.512);MFSetSeruo 卩 os(10.512.512); MFSpruoftction();左右两侧的值相等iF (DiFF>50)&&(D1FF<=50)MFSetSeruoPosd ,551 »512);MFSetSeruoPos(2,

15、26b>bJl2);MFS?tSeruoPos(3,750.512);HFSetSeruoPos(4,265.512);MFSPtSeruoPos(5w38U>512);HFSetServoPos(6,265.512);MFSetSeruoPos(7 9628 9512);HFSetServoPos(8,265.512);MFSPtSpruoPos(9,512>512);MFSetSeruoPos(10f512.512);MFSpruoActionO;DelayMS(500);MFS&tSeruoPos(1,349,512);MFSetSeruoP0S(Z.26551

16、2);MFS&tSeruoPos(3F651,512);MFS?tSeruoPos(4,265.512);MFSetSeruoPos(5,302,512);t1FS?tSeruoPos(6,265.512);MFSetSeruoPos(7,525>512);175176177178179180181182183184185186187188189190191192193194195196197198199200201202203204205206207208209210211212213214215216217174MFSetSeruoPos(8,265,512);MFSetSe

17、ruoPos(9,512,512); MFSetSeruoPos(10,512,512);MFSeruofictionO;DelayMS(SQO);MFSetSeruoPosd ,458,512);MFSetSeruoPos(2J265,5-l2);MFSetSeruoPos(3 »767,512); MFSetSeruoPos(ii,265 ,512); MFSetSeruoPos(5,151,512);HFSetSeruoPos(6,26S,512);MFSetSeruoPos(7,320,512);MFSetSeruoPos(8,265,512);MFSetSeruoPos(9

18、,512,512);MFSetSeruoPo5(10,512,512);MFSeruofiction();DelayMSC50O);MFSetSeruoPos(1,663,512);MFSetSeruoPos(2,265,512);HFSetSeruoPos(3,872f512);MFSetSeruoPos(H,265,512);MFSetSeruoPos(5f81,512);MFSetSeruoPos(6,265,5-l2);MFSetSeruoPos(7»471,512);MFSetSeruoPos(85265,512);MFSetSeruoPos(9,512,512);MFSetSeruoPos(10,512,512);MFSeruoficti; l>elayMS(50O);MFSetSeruoPosd ,570,512);MFSetSeruoPos(2,265,512);MFSetSeruoPos<3,744,512);MFSetSeruoPos(H,265»512);HFSetServoPos<5,221,512);MFSetSeruoPos(6,265,512