1. 功能说明

本文示例将实现R329样机机器鸟扇动翅膀的功能。

2. 结构说明

鸟类的翅膀主要由肩关节、肘关节、腕关节组成，本样机利用组合机构设计机器鸟的扑翼机构。

单侧翅膀

双翅

尾部

整机

3. 电子硬件

电路连接：将舵机连接在Bigfish扩展板的D3端口。

4. 功能实现

编程环境：Arduino 1.8.19
下面提供一个机器鸟扇动翅膀的参考例程（Bird_Wing_Fly.ino），实验效果可参考演示视频。

/*------------------------------------------------------------------------------------

  版权说明：Copyright 2023 Robottime(Beijing) Technology Co., Ltd. All Rights Reserved.

           Distributed under MIT license.See file LICENSE for detail or copy at

           https://opensource.org/licenses/MIT

           by 机器谱 2023-05-24 https://www.robotway.com/

  ------------------------------*/

#include 


int _ABVAR_1_Subdivision_number = 0 ;

int _ABVAR_2_Flags = 0 ;

Servo servo_pin_3;

int _ABVAR_3_Servo3_Start = 0 ;

int _ABVAR_4_Servo3_End = 0 ;

int _ABVAR_5_Angle_Of_Each_Time = 0 ;

int _ABVAR_6_value1 = 0 ;

int _ABVAR_7_Angle_Of_Change = 0 ;

int _ABVAR_8_value2 = 0 ;


void Wing_Open();

void Wing_Close();


void setup()

{

  servo_pin_3.attach(3);

  _ABVAR_1_Subdivision_number = 14 ;


  _ABVAR_2_Flags = 0 ;


  servo_pin_3.write( 80 );


  delay( 1000 );


}


void loop()

{

  Wing_Close();

  Wing_Open();

}


void Wing_Close()

{

  _ABVAR_3_Servo3_Start = 10 ;

  _ABVAR_4_Servo3_End = 80 ;

  _ABVAR_5_Angle_Of_Each_Time = ( abs( ( _ABVAR_3_Servo3_Start - _ABVAR_4_Servo3_End ) ) / _ABVAR_1_Subdivision_number ) ;

  if (( ( ( _ABVAR_3_Servo3_Start - _ABVAR_4_Servo3_End ) ) > ( 1 ) ))

  {

    _ABVAR_2_Flags = -1 ;

  }

  else

  {

    _ABVAR_2_Flags = 1 ;

  }

  for (_ABVAR_6_value1= 1; _ABVAR_6_value1<= ( ( _ABVAR_1_Subdivision_number + 1 ) ); _ABVAR_6_value1++ ) { _ABVAR_7_Angle_Of_Change = ( _ABVAR_3_Servo3_Start + ( _ABVAR_5_Angle_Of_Each_Time * _ABVAR_2_Flags ) ) ; servo_pin_3.write( _ABVAR_7_Angle_Of_Change ); _ABVAR_3_Servo3_Start = _ABVAR_7_Angle_Of_Change ; delay( 28 ); } } void Wing_Open() { _ABVAR_3_Servo3_Start = 80 ; _ABVAR_4_Servo3_End = 10 ; _ABVAR_5_Angle_Of_Each_Time = ( abs( ( _ABVAR_3_Servo3_Start - _ABVAR_4_Servo3_End ) ) / _ABVAR_1_Subdivision_number ) ; if (( ( ( _ABVAR_3_Servo3_Start - _ABVAR_4_Servo3_End ) ) > ( 1 ) ))

  {

    _ABVAR_2_Flags = -1 ;

  }

  else

  {

    _ABVAR_2_Flags = 1 ;

  }

  for (_ABVAR_8_value2= 1; _ABVAR_8_value2<= ( ( _ABVAR_1_Subdivision_number + 1 ) ); _ABVAR_8_value2++ ) { _ABVAR_7_Angle_Of_Change = ( _ABVAR_3_Servo3_Start + ( _ABVAR_5_Angle_Of_Each_Time * _ABVAR_2_Flags ) ) ; servo_pin_3.write( _ABVAR_7_Angle_Of_Change ); _ABVAR_3_Servo3_Start = _ABVAR_7_Angle_Of_Change ; delay( 65 ); } }