联系人:蓝艳萍
手机:15359298293
QQ:2259678687
邮箱:lanlan@szcxdcs.com
地址:深圳市宝安区西乡街道臣田社区宝民二路东方雅苑2层B39
联系人:蓝艳萍
手机:15359298293
QQ:2259678687
邮箱:lanlan@szcxdcs.com
地址:深圳市宝安区西乡街道臣田社区宝民二路东方雅苑2层B39
TRICON 3503E |
TRICON 3503E |
ROS很适合用在Ubuntu或Debian上,无须编译。建置时要在Linux机器上执行Ubuntu,使用业余用伺服机、Arduino和普通的导线。ROS要在Ubuntu机器上启动,讯息则透过USB传送到Arduino。只要安装二进制的ROS套件,就会在主控台程序(像是gnome-terminal或konsole)追加以下指令,这样Arduino系统就能辨识ROS函式库。
接下来要将程序代码上传到Arduino当中,执行低阶的伺服机控制,以便能从Linux机器操作。这时要以限制范围内的百分比(0.0~1.0)指定伺服机的位置。之所以使用百分比而不是写明角度,是因为Arduino的程序代码限制了正确的角度,要避免在指定角度时发生冲突。
就如各位所见,使用ROS之后,一般的循环函数就会变得相当简单。循环函数只会订阅(subscribe)数据,任何Arduino循环都一样。设定时要将ROS初始化,将各个ROS讯息订阅者的订阅叫出来。每个订阅者会占据Arduino的RAM,数量取决于要用程序代码做什么,以6个到12个为限。
#include
#include
#include
#include
#define SERVOPIN 3
Servo servo;
void servo_cb( const std_msgs::Float32& msg )
{
const float min = 45;
const float range = 90;
float v = msg.data;
if( v > 1 ) v = 1;
(8252) Allen Bradley Starter 140-MN-1000 6.3-10 Amp + A
(7791) Allen Bradley Control Interface Board 1336-L6/B
(6326) GE DC Amperes Meter 0-200 50-103121 (6326)
(2881) MC Technologies Speed Switch PS-111 (2881)
(8058) Horton Asahi Seiki PC Board MZ1344.3-01 With Hea
(7820) Reliance Dodge Sleevoil Seal Kit 31960897 (7820)
(6954) Lot of 2 Allen Bradley Trailer Fuse Blocks1494V-
(5236) Banner Photoelectric Module Maxi-Amp 26451 (5236
(R2-6) 1 FISCHER F3588005452 LINEAR ASSY. R2-6.
(L17) 1 TUFLINE 037AX VALVE 1-1/2" PLUG. L-17.
(8284) Square D Limit Switch 9007C52A 10A 600V SEE PICS
(4503) Wagner Relay Card 010974 20001-808990 (450
(7532) Electro Corp Speed Sensor 58423 (7532)
(8072) Allen Bradley Pilot Light Transformer 120V 800T-
(7547) Dwyer Series 1900 Pressure Switch 25-165364-00 (
(N1-2) 1 TELEMECANIQUE XAP-M3503 ENCLOSURE N1-2
(4517) Microswitch Indicator Assembly 908AAA01 (4517
(Q3-3) 1 RULAND SPC1212SS COUPLING Q3-3
(X5-7) 1 ALLEN BRADLEY 802T-NX76 OILTIGHT LIMIT SWI
(4537) Wagner Multi-function Card 020464-3 808993 (453
(4538) Portec Universal Interface Card 808132 (4538)
(RR) Westinghouse Circuit Breaker MCP0322CR EXCELLENT
(6992) Meltric Receptacle 33-14043-843 DS20 SEE PICS (6
(7579) Turck Proximity Sensor Ni2-Q9,5-AP6-0,2-FS4.4X3/
(7580) Turck Proximity Sensor Ni2-Q9,5-AP6/S34 Valve Po
(7030) Warner Electric Octal Power Supply MCS-802-2 120
(7592) Watts Regulator 118-02 1/4" 1-125 Psi (7592)
(7593) Schneider Cable Remote I/O Signal 1.5' AS-W808-0
(8339) Krom Schroder UV Probe 220/240 8435010 (8339)
(7323) Vickers Check Valve Pilot Operated DGMPC-3ABK-21
(8874) Hytec Hydraulic Work Support 5,000LB Cap. 100231
(7901) Klockner Moeller Safety Interlock ATO-02-24DMT-Z...
(6172) ITT Actuator 1 1/2" V710GESV15 5 Psi (6172)
(L25) 1 SCHNEIDER AUTOMATION INC 990NAD23020 MB+ SUPER
(7384) Mitsubishi Power Block PD25016A SEALED (7384)
(H2-4) 1 ROSS C5211C7017 VALVE H2-4
(S1-1) 1 ASCO 8215C30 VALVE. S1-1.
(7677) Allen Bradley Coil 480V 72A288 2 3 4 Pole (7677
(5504) Midstates Temperature Control 0-1000 F 800423A C
(5968) Fanuc Robotics Speed Pickup Ass'y EE-4526-600 (5
(7703) Siemens Nerlite BL50 X 50-LP Backlight 650800 (
(7704) Dynapar Hoyt 0-10,000 DC Amperes Meter 680-19 (7
(7707) Omron Counter H7CR-A (7707)
(H3-6) 1 BARBER COLMAN 580 ALARM MODULE. H3-6.
(8425) Novar ETM-2024IE-AC Base Unit & Cover
(8432) Cryptronics Portapac II P4064 Dipswitch
(5437) Power One DC/DC Converter DFA20E24S12 (5437)
(5440) Reliance Shunt 23C8 100 MV 25 Amp HA25100- Empro
(7448) Allen Bradley Push Button 800TFXMQH32RA7 Illumin
(4677) Yokogawa Panel Meter 0-100% Tension 250320MTPKW0
(8600) Rees Push Button Round Red Plunger 01461-102 Bla
(7740) International Rectifier Silicon Readout SPR810PL
(Q10-5) 1 NIB PEPPERL FUCH 082414 82414 SENSOR Q10-5
(2852) Lot of 5 Reliance Electric Thyristor 41040330AC
(68Set of 2 Schneider Modicon Primary & Secondary Rack
(6043) GE Overload Relay Power Block 3P CR324E310F (604
(z RR 1-12 L16) LOT OF 2 DEUBLIN UNION 1117-404-406 M1
(N2-3) 1 SQUARE D TYPE M2 CIRCUIT BREAKER 3P, 240AC, 10