可変抵抗でロボットアーム制御

ロボットアーム制御3-1<br />

<script src="https://code.jquery.com/jquery-3.2.1.min.js"></script>

<script src="https://unpkg.com/obniz@3.x/obniz.js" crossorigin="anonymous" ></script>

Robot Arm obniz ID:<input type="text" id="oid1" style="width: 100px;"><br />

Controller obniz ID:<input type="text" id="oid2" style="width: 100px;"><br />

<button onClick="init();">実行</button><br />

m1: <span id="m1"></span><br />

m2: <span id="m2"></span><br />

m3: <span id="m3"></span><br />

m4: <span id="m4"></span><br />

STS:<div id="sts"></div>

<script>

var obniz1, obniz2;

var servo1, servo2, servo3, servo4;

var m1, m2, m3, m4;

var ag1 = 90;

var ag2 = 90;

var ag3 = 90;

var ag4 = 90;

function init() {

  obniz1 = new Obniz($("#oid1").val());

  obniz1.onconnect = async function () {

    servo1 = obniz1.wired("ServoMotor", {signal:0});

    servo2 = obniz1.wired("ServoMotor", {signal:1});

    servo3 = obniz1.wired("ServoMotor", {signal:2});

    servo4 = obniz1.wired("ServoMotor", {signal:3});

    servo1.angle(ag1);

    servo2.angle(ag2);

    servo3.angle(ag3);

    servo4.angle(ag4);

    obniz2 = new Obniz($("#oid2").val());

    obniz2.onconnect = async function () {

        m1 = obniz2.wired("Potentiometer", {pin0:0, pin1:1, pin2:2});

        m2 = obniz2.wired("Potentiometer", {pin0:3, pin1:4, pin2:5});

        m3 = obniz2.wired("Potentiometer", {pin0:6, pin1:7, pin2:8});

        m4 = obniz2.wired("Potentiometer", {pin0:9, pin1:10, pin2:11});

        m1.onchange =function(p) {

          const v = Math.floor(p * 45) - 6;

          $("#m1").html(v);

          main(v, 0, 0, 0);

        };

        m2.onchange =function(p) {

          const v = Math.floor(p * 45) - 22;

          $("#m2").html(v);

          main(0, v, 0, 0);

        };

        m3.onchange =function(p) {

          const v = Math.floor(p * 45) - 22;

          $("#m3").html(v);

          main(0, 0, v, 0);

        };

        m4.onchange =function(p) {

          const v = Math.floor(p * 45) - 5;

          $("#m4").html(v);

          main(0, 0, 0, v);

        };

    };

  };

}

async function main(x1, y1, x2, y2) {

  if (y1 < -1 || y1 > 1) ag1 += y1 / 2;

  ag1 = adjustRange(ag1, 40, 140);

  if (x1 < -1 || x1 > 1) ag2 += x1 / 2;

  ag2 = adjustRange(ag2, 60, 150);

  if (x2 < -1 || x2 > 1) ag3 -= x2 / 2;

  ag3 = adjustRange(ag3, 60, 180);

  if (y2 < -1 || y2 > 1) ag4 += y2 * 1;

  ag4 = adjustRange(ag4, 5, 100);

  $("#sts").html(ag1+":"+ag2+":"+ag3+":"+ag4);

  await servo1.angle(ag1);

  await servo2.angle(ag2);

  await servo3.angle(ag3);

  await servo4.angle(ag4);

}

function adjustRange(v, vmin, vmax) {

  let ret = v;

  if (v < vmin) ret = vmin;

  if (v > vmax) ret = vmax;

  return ret;

}

</script>