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TRICON 3503E 說明參數

型號: TRICON 3503E

分類: 英維思ESD系統InvensysTriconex

聯系人:藍艷萍

手機:15359298293

QQ:2259678687

郵箱:lanlan@szcxdcs.com

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TRICON 3503E

 

TRICON 3503E



ROS很適合用在Ubuntu或Debian上,無須編譯。建置時要在Linux機器上執行Ubuntu,使用業余用伺服機、Arduino和普通的導線。ROS要在Ubuntu機器上啟動,訊息則透過USB傳送到Arduino。只要安裝二進制的ROS套件,就會在主控臺程序(像是gnome-terminal或konsole)追加以下指令,這樣Arduino系統就能辨識ROS函式庫。
接下來要將程序代碼上傳到Arduino當中,執行低階的伺服機控制,以便能從Linux機器操作。這時要以限制范圍內的百分比(0.0~1.0)指定伺服機的位置。之所以使用百分比而不是寫明角度,是因為Arduino的程序代碼限制了正確的角度,要避免在指定角度時發生沖突。
就如各位所見,使用ROS之后,一般的循環函數就會變得相當簡單。循環函數只會訂閱(subscribe)數據,任何Arduino循環都一樣。設定時要將ROS初始化,將各個ROS訊息訂閱者的訂閱叫出來。每個訂閱者會占據Arduino的RAM,數量取決于要用程序代碼做什么,以6個到12個為限。
#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;


TRICON 3503E 說明參數





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