FeiTeSCS-机器人手臂

上传者: 42134554 | 上传时间: 2024-05-30 16:20:42 | 文件大小: 47.16MB | 文件类型: ZIP
机械臂控制程序 使用STM32CubeMX生成代码,使用了HAL库 这是一个5自由度机械臂的控制程序,机械臂机械结构以3D打印制作。 移植了letter-shell,可以通过串口命令行来发送命令,调试机械臂。 可以实现舵机卸力,之后手动调整机械臂的位置,然后存储舵机角度,实现机械臂的动作组。 硬件: 飞特舵机SCS0009 + SCS215(前者测试通过,并待测试) 飞特UART控制板 3S锂电池 降压模块 STM32F407VET6(使用了I2C1和UART1,UART2) EEPROM芯片24C08(连接在I2C1) USB转串口模块 电脑通过USB转串口芯片连接到USART2(115200),并给STM32和舵机控制板供电 PD5 USART2_TX PD6 USART2_RX 3S锂电池通过降压模块降压到7.8V连接到飞特舵机控制板的供电端子 STM32的串口1波特率设置为1

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