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mBot Ranger 高速循線範例_

    [複製鏈接]
magiccar 發表於 2018-2-13 01:51 | 顯示全部樓層 |閱讀模式

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  1. #include <Arduino.h>5 P/ L/ J* E/ e3 L
  2. #include <MeAuriga.h>
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  3. #include "MeLineFollowerArray.h"& S' h0 [/ x: x! ]

  4. 8 ]4 [5 \6 t1 v4 ~
  5. MeEncoderOnBoard Encoder_1(SLOT1);. H( |2 F2 `0 S9 Y  {
  6. MeEncoderOnBoard Encoder_2(SLOT2);
    ) A& s% L) ]! U/ T+ P
  7. MeLightSensor lightsensor_1(12);( \0 Z( _3 B1 f0 W  ]
  8. MeLightSensor lightsensor_2(11);
    1 K0 z# Z% N; w% [# r  f
  9. MeBuzzer buzzer;
    - q  S' Y' F7 C
  10. MeLineFollowerArray linefollower(PORT_6);
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  11. ' |4 H. W3 G  x$ S' c! h
  12. #define Error1 1
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  13. #define Error2 2" l  I3 G8 i+ ?* M% v3 {  N# _
  14. #define Error3 3
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  15. + a- d5 `- b# f& q9 e
  16. #define Kp 15$ ]- P5 D, c" E0 x" t4 w# J
  17. #define Ki 0.15
    # {# C8 k6 v! T$ f+ Z5 w
  18. #define Kd 0.03
    ; O+ V  E* F) d) [6 F& f

  19. 2 O, [5 l) [4 ^6 Y
  20. uint8_t sData;
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  21. uint8_t D1;
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  22. uint8_t D2;
      M! H& G9 X8 ~& Q
  23. uint8_t D3;
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  24. uint8_t D4;/ N: K) @3 f, u' y: w& t
  25. uint8_t D5;8 n5 `6 u8 n% [" E* J1 R
  26. uint8_t D6;
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  27. & s$ g1 V0 `# n2 k9 v, ?/ O
  28. float previous_error = 0;, ~' X; L5 |4 q) J$ c8 P
  29. float integral = 0;
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  30. float derivative = 0;
    & U- J3 k# _1 A6 t
  31. int  Speed  = 160;# z( T. h& c3 k4 @6 G0 P( r2 g
  32. float output;
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  33. 2 K7 Z3 g- `4 P, D( \* K7 t/ b
  34. byte Left;
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  35.   L8 A/ K( C2 d+ @) B
  36. void setup()
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  37. {
    - n8 ?" ?# s9 _
  38. //Set PWM 8KHz
    6 w3 m3 j+ {9 ~* U) d
  39.   TCCR1A = _BV(WGM10);: e, y! ]2 j' C/ _
  40.   TCCR1B = _BV(CS11) | _BV(WGM12);
    8 {4 j% I) d0 R1 U
  41.   TCCR2A = _BV(WGM21) | _BV(WGM20);
    ( [/ \7 R( R* F- P
  42.   TCCR2B = _BV(CS21);
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  43.   Serial.begin(9600);, j# p/ p) [. n$ ~+ e/ C7 L/ r
  44.   buzzer.setpin(45);: \5 f( Q( `0 ~, S( x0 z4 X2 Q) P! Y1 R
  45. }1 n0 B* s8 x6 _
  46. ! w  x( B) C2 b- D7 c: X: Z
  47. void loop()) G% L( T, |  L/ ~
  48. {  \6 _. G1 o5 a- H
  49.   while(!((lightsensor_1.read()) < (10)));* `9 P% Z# |4 ]/ k5 h$ o
  50.   buzzer.tone(1047, 500);
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  51.   delay(500);
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  52.   do
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  53.   {* R+ D' j: y8 t. s- `2 k
  54.    int Err = getErr();
    % F0 K  G5 _% j$ a
  55.    if(D1 == 1)/ W3 G2 P6 X; C0 A0 L" X8 a, O
  56.    {
    % s: @" K8 \1 O0 k3 J( A, B
  57.      Left = 1;
    & k+ |3 |' q( l# q$ t
  58.    }
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  59.    if(D6 == 1)" s( u' b8 J: Y. x+ N
  60.    {
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  61.      Left = 0;
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  62.    }- P5 x" }) n# _. @% z0 ^: ?, q
  63.    if(Err == 99)# R; q- D9 w5 P2 L
  64.    {
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  65.      if(Left == 1)' k* k) S7 u8 a) S8 y
  66.      {' j, e6 O" o1 g$ L( ~
  67.        Speed -= 5;
    . \3 W- V- Z$ d# i8 Y
  68.        moto(0,Speed);5 `" w) H7 ]" \7 c
  69.        do
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  70.        {' H& C! B4 _  g9 l6 p) z
  71.          Err = getErr();# _& Z& _+ ]$ z; F/ B
  72.        }while((D1+D6) == 0);& P2 H9 a; a! p
  73.      }' e* O- b4 [  a
  74.      else4 a/ V0 [$ [- P$ P, [0 M1 V
  75.      {+ U# d1 {0 R* s; X
  76.        Speed -= 5;
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  77.        moto(Speed,0); , D  y7 Y& x9 F8 E' x; ~: K
  78.        do# {9 n1 f$ V$ y' {" Z
  79.        {' |. q0 H5 s7 v. j+ `9 D! L4 D
  80.          Err = getErr();2 x* z& n& G- z$ x
  81.        }while((D1+D6) == 0);
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  82.      }7 _3 P$ U  T' e: G( ?
  83.    }
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  84.    else1 s: H$ h3 W/ {7 F
  85.    {
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  86.      if((Speed < 160) & (Err < 2)) Speed+=1; " U7 O0 L  ?- j! A- a* y8 k
  87.      if((Speed > 100) & (Err > 2)) Speed-=2;
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  88.      integral = integral + Err;8 s  u" X* z5 r2 |
  89.      derivative = Err - previous_error;$ r7 H8 S2 D8 j' [$ }) E2 v
  90.      output = Kp*Err + Ki*integral + Kd*derivative;
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  91.      moto(int(Speed-output),int(Speed+output));
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  92.      previous_error = Err;
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  93.    }
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  94.   }while(!((lightsensor_2.read()) < (10)));
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  95.   moto(0,0);. T' a) |3 p8 t& {
  96.   delay(500);
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  97.   buzzer.tone(262, 500);! w  Q9 o! V1 [* E
  98. }
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  99.   Q; p, }: e7 C8 W$ d' w
  100. int getErr()$ v( B4 j' P5 X
  101. {  $ b" E3 n' Q0 `" m1 p" N
  102.    sData = linefollower.getValue();) J2 m( ^# ]7 U/ s& J
  103.    D1 = ~(sData>>0)&1;$ ]% _0 n, y( O! X1 j; f9 r7 \% {6 c8 ^
  104.    D2 = ~(sData>>1)&1;8 i" [1 ~2 B3 o/ ^
  105.    D3 = ~(sData>>2)&1;
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  106.    D4 = ~(sData>>3)&1;
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  107.    D5 = ~(sData>>4)&1;+ Q* I6 Q; }, D1 ?6 y* T# [& @) @
  108.    D6 = ~(sData>>5)&1;
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  109.    int downD = D1+D2+D3+D4+D5+D6;
      ?0 E% h) q6 Y" i7 a6 q
  110.    int upD = D1*(Error3)+D2*(Error2)+D3*(Error1)+D4*(-Error1)+D5*(-Error2)+D6*(-Error3);4 N& z# |8 H. W- @( w1 K
  111.    if(downD == 0)
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  112.    {
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  113.      return 99;
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  114.    }- S' z" j$ @& W  b+ C
  115.    else
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  116.    {
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  117.     return upD/downD;
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  118.    }- e0 R' R1 V- A( L1 p& C! P
  119. }
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  120. 9 Q) a8 ^1 F+ @  \; y% R
  121. void moto(int Speed_L,int Speed_R); U  G- L6 o- x3 k
  122. {
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  123.   Encoder_2.setMotorPwm(Speed_L);, q  i) {7 V3 }" R( e9 q
  124.   Encoder_1.setMotorPwm(-Speed_R);6 c* N- Q, M* g! m
  125. }
複製代碼
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MeLineFollowerArray.cpp/ ~8 y$ V4 H" u. `
  1. #include "MeLineFollowerArray.h"6 }4 R' `0 B, n5 T' Z

  2. , e" L; |1 S2 A
  3. #ifdef ME_PORT_DEFINED' F0 \6 [0 \7 }  U
  4. MeLineFollowerArray::MeLineFollowerArray(void) : MePort(0)  K& g, _8 d* ]# s- ^8 C+ |
  5. {
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  7. }! a: [# p+ j  A8 B3 v$ w$ w' @8 R
  8. MeLineFollowerArray::MeLineFollowerArray(uint8_t port) : MePort(port)
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  9. {. N) Z. A8 {# q+ T
  10.     _DataPin = mePort[port].s2;
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  11.     pinMode(_DataPin, OUTPUT);
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  12.     digitalWrite(_DataPin, HIGH);4 G) _& `- Z& P5 y5 C- N' j
  13. }, L6 U1 A. Y' i) c4 ~* {" B3 `
  14. #else // ME_PORT_DEFINED
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  15. MeLineFollowerArray::MeLineFollowerArray(uint8_t pin). ]: @9 {# {; w3 X+ ]5 |
  16. {
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  17.     _DataPin = pin;' x' _( U- q' N" W5 n
  18.     pinMode(_DataPin, OUTPUT);
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  19.     digitalWrite(_DataPin, HIGH);* s, i7 c2 g8 ?( g% H% b  I+ G
  20. }
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  21. #endif // ME_PORT_DEFINED5 l) F7 y' k+ r  |; [
  22. : B* \( k! t7 @
  23. 0 F9 K. X  }+ e/ x
  24. void MeLineFollowerArray::setpin(uint8_t pin)% Z' z: C! g, G$ Q
  25. {
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  26.     _DataPin = pin;& T8 o9 @' E% j* c0 F
  27.     pinMode(_DataPin, OUTPUT); ; l2 I2 ^5 z) \
  28.     digitalWrite(_DataPin, HIGH);! W' t: U# a4 \5 m" o. @
  29. 8 m2 h& t" J! ?6 O
  30.     #ifdef ME_PORT_DEFINED
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  31.     s2 = pin;  e% s7 O# t6 M. n. H5 _
  32.     #endif
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  33. }
    # w; v! F6 ~4 Y

  34. $ e1 _- [2 M3 O* `
  35. uint8_t MeLineFollowerArray::getValue()
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  36. {
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  37.     uint32_t LOW_level_read_time;& a' b+ S1 h4 t; \. q
  38.     uint32_t HIGH_level_read_time;
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  39.     uint32_t time_out_flag;
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  40.     uint8_t Sensor_Data[3];2 W) F) Q/ I# _" `# I
  41.     static uint8_t old_data = 0xff;& y) F8 B5 ~: M3 P

  42. " O* w& v8 Z# O
  43.     pinMode(_DataPin, OUTPUT);
    , _! i/ T' j. [) N% F
  44.     digitalWrite(_DataPin, LOW);( @7 z& u! \8 ?2 [9 }! a
  45.     delayMicroseconds(980);
    - r/ w( w' \+ W
  46.     digitalWrite(_DataPin, HIGH);# C- H6 P1 u% Z

  47. ' ?/ Z* N; @( C0 ^: Q2 _
  48.     pinMode(_DataPin, INPUT_PULLUP);! k* N2 \  ]6 H* i, Y. f! z9 [
  49.     delayMicroseconds(10);2 Q. U3 u  J! x' M

  50. 5 U' ?6 P$ K5 Z  x$ u4 ^
  51.     time_out_flag = millis();* h$ s  q: a7 d) J# K, p
  52.     while(digitalRead(_DataPin) == 1 && ((millis() - time_out_flag) < MeLineFollowerArray_Communication_Time_Out) );/ s" c4 g5 R% G; p7 f

  53. 9 e. Y' {/ |% y% y! A- @
  54.     LOW_level_read_time = micros();8 `8 e; ?' p9 w6 v$ ]! q1 u
  55.     if((millis() - time_out_flag) >= MeLineFollowerArray_Communication_Time_Out)   //time out( t& G0 F% B' l5 j- R' o9 B
  56.     {
    / n3 s4 j  @  ]  i# C/ e6 S
  57.         return 0xff;
    0 W/ U  u' j, t5 h
  58.     }/ K5 C9 r; m+ I# i. U

  59. : Y% x( p! b2 y+ F/ k, G+ _
  60.     while(digitalRead(_DataPin) == 0 && ((millis() - time_out_flag) < MeLineFollowerArray_Communication_Time_Out) );
    # l. H2 |0 I' v& \

  61. . E# m+ z3 K* K' `  d. M  P
  62.     HIGH_level_read_time = micros();$ T" H& t0 d, \+ S' _- Z' ^+ s  S5 U
  63.     LOW_level_read_time  = micros() - LOW_level_read_time;    //read 100us LOW level
    + f' \% |* W2 H/ ~0 j
  64. 1 x3 X( R% y- o9 h
  65.     if((millis() - time_out_flag) >= MeLineFollowerArray_Communication_Time_Out)   //time out8 H" q2 Z* W0 \1 c
  66.     {
    5 Z" @* `: A1 s8 U! y/ ~6 ]; t* C
  67.         return 0xff;+ j4 o7 y$ `9 d* S* {( ?
  68.     }+ ~- l- K9 P2 x& R, P

  69. 1 S- ^5 @# j: m, O
  70.     if( (LOW_level_read_time < 90) && (LOW_level_read_time > 110))
    " j( J0 f+ Z! w; T
  71.     {
    * j  B5 i  i2 g# q6 ~
  72.         return 0xff;
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  73.     }! \( Z$ Z: e5 S4 @4 ?% B! q$ c
  74. / t6 p$ M5 n, R' L
  75.     while(digitalRead(_DataPin) == 1 && ((millis() - time_out_flag) < MeLineFollowerArray_Communication_Time_Out) );9 `, g2 y2 E& I9 l$ B
  76.     LOW_level_read_time  = micros();: Y$ `: c% {1 }: r
  77.     HIGH_level_read_time = micros() - HIGH_level_read_time;    //read 50us HIGH level( S  |4 z$ }9 S1 d0 W- u0 R

  78. 8 C4 J# q% u" `2 E
  79.     if((millis() - time_out_flag) >= MeLineFollowerArray_Communication_Time_Out)   //time out) _9 @& T, B$ c( a
  80.     {
    % m0 G1 p# q2 l6 s( q: w
  81.         return 0xff;: Y* A0 D2 ^; o& N* v4 q3 J
  82.     }( t% W( n  L0 x: }9 N
  83. : K5 B5 I* W" h6 v
  84.     if( (HIGH_level_read_time < 5) && (HIGH_level_read_time > 55))
    * t2 n/ T# o& t. U- [
  85.     {  J% ]1 f9 b! n/ l
  86.         return 0xff;/ c9 p9 i: Q1 b1 ~
  87.     }: k5 M( B- z5 b0 u8 J

  88. 9 j4 `/ I3 c0 m7 Q7 r4 h/ J
  89.     for(uint8_t k=0; k<3; k++)
    4 d( Q; p  F0 t/ G3 p) y, F9 ?
  90.     {* A! B4 l( G+ c8 ?+ o9 D
  91.         Sensor_Data[k] = 0x00;
    3 a8 U& b. R/ t1 b) u$ X
  92. 1 T( I& `# @) e, J5 K1 E3 S3 d/ B  c
  93.         for(uint8_t i=0;i<8;i++)- Y5 ?- T3 \' n: f
  94.         {
    ) c$ ]+ X# s# ]: [
  95.             while(digitalRead(_DataPin) == 0 && ((millis() - time_out_flag) < MeLineFollowerArray_Communication_Time_Out) );   //read 50us LOW level; |6 f4 }! T# B1 q9 Q2 F, ]
  96.             HIGH_level_read_time = micros();
    9 U4 g8 u6 z' @* Y( {
  97.             LOW_level_read_time  = micros() - LOW_level_read_time;% u  A$ {6 e" g4 Y  o
  98. 5 A& V8 F0 q' a9 g" i
  99.             if( (LOW_level_read_time < 5) && (LOW_level_read_time > 55) ), w7 |9 C+ O) u' f( w
  100.             {
    ' B7 g; T2 Z: ?7 a& j' J
  101.                 return 0xff;: q, v/ D) J8 g1 S
  102.             }
    " i  b8 p0 f( }

  103. 2 D& t4 e0 e; B) s" c5 @2 L$ r. c7 i
  104.             while(digitalRead(_DataPin) == 1 && ((millis() - time_out_flag) < MeLineFollowerArray_Communication_Time_Out) );, d( h4 b4 z4 K  d- ~, v
  105.             LOW_level_read_time  = micros();  k/ I2 V! M$ ~5 J4 Q0 f0 r
  106.             HIGH_level_read_time = micros() - HIGH_level_read_time;    //read HIGH level5 Q6 W/ c* Y* ~* G/ c
  107. & g" X4 h0 y: Z4 V: Q# h
  108.             if(HIGH_level_read_time > 50 && HIGH_level_read_time < 100)   //bit 1
    5 r9 B: \% U2 c( u
  109.             {2 |. t" Z  a/ p& U0 C" ]
  110.                 Sensor_Data[k] |= (0x80 >> i);
    0 b- N* b( {2 t% z
  111.             }
    ; C+ |2 l" i: G2 U& I9 E
  112.             else if(HIGH_level_read_time >= 100). ]2 `5 }8 Y9 a/ c+ e% Y
  113.             {
    : q: @. J8 [/ s3 u2 |, L
  114.                 return 0xff;9 O2 h- |% t* E3 U4 l8 o% @, \2 X& f, G
  115.             }. Z2 m5 w$ W! ~6 c; V0 A3 S  W% N

  116. & R+ t* S' C0 S' P- v6 b0 O- l
  117.             if((millis() - time_out_flag) >= MeLineFollowerArray_Communication_Time_Out)* N5 z; c6 S% g, ^, S: P
  118.             {
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  119.                 return 0xff;
    : s# ^% R3 c" H6 b& d
  120.             }, @* o( H: r8 A$ R
  121.         }$ @4 p: |, c' T# i2 w, G
  122.     }
    . d4 }+ i/ N4 i" q$ M

  123. * X8 f2 j# T! c  T& r, J6 `
  124.     while(digitalRead(_DataPin) == 0 && ((millis() - time_out_flag) < MeLineFollowerArray_Communication_Time_Out) );   //read 50us LOW level
    " ~1 Z: j, r7 A6 b$ g4 A
  125.     HIGH_level_read_time = micros();1 W, k  Q  M* w2 H
  126.     LOW_level_read_time  = micros() - LOW_level_read_time;
    % N4 [5 ?, r5 b# p  b" e

  127. 3 T( i6 [: d$ J6 K9 X
  128.     if( (LOW_level_read_time < 5) && (LOW_level_read_time > 55) )
    " s: m, x" }6 g, V( `6 m4 {3 a
  129.     {( e7 L, r+ j) |* D7 M
  130.         return 0xff;3 D' d3 N5 _4 i# {# L4 B
  131.     }# i" R8 `) `% U$ I- }

  132. 3 J% b/ `0 [/ Y* R
  133.     pinMode(_DataPin, OUTPUT);' P  x7 [4 D+ N2 w( K3 I- x9 v
  134.     digitalWrite(_DataPin, HIGH);
    . ^" ]7 q7 a0 ^0 U$ U2 H
  135. * `$ w0 Q) g; x; E
  136.     if( (Sensor_Data[2] == (uint8_t)(Sensor_Data[1] - Sensor_Data[0])) && (Sensor_Data[1] == (uint8_t)(~(uint8_t)Sensor_Data[0])))
    # k3 F( O& h. b$ b
  137.     {
    & {! o8 s; X3 w6 n' X: B; q
  138.         old_data = Sensor_Data[0];
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  139.         return Sensor_Data[0];
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  140.     }
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  141.     else
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  142.     {* z0 a- Q5 {2 t
  143.         return old_data;
    4 H+ d/ v1 _, m
  144.     }
    0 g3 @' _2 R3 |7 i
  145. }
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複製代碼
6 |) j+ M! C; ]0 }$ ?4 Z. ]
MeLineFollowerArray.h   MeLineFollowerArray.h (731 Bytes, 下載次數: 10, 售價: 100 個銅錢) / G3 u6 Q1 K+ a2 e
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bw2014 發表於 2019-6-29 00:03 | 顯示全部樓層
強力推廣中
daven 發表於 2019-3-6 00:09 | 顯示全部樓層
哇...要100 個銅錢
 樓主| magiccar 發表於 2019-3-6 00:16 | 顯示全部樓層
daven 發表於 2019-3-6 00:09/ o- {9 I% S% `
哇...要100 個銅錢

0 ^, ?# w- I+ n+ f7 D( E8 _認真的回饋本站一些內容, 很容易達成的!
delphi 發表於 2019-3-26 14:19 | 顯示全部樓層
感謝分享,還不夠權限下載
gary0317 發表於 2019-5-20 19:15 | 顯示全部樓層
感謝分享Thanks
roboger 發表於 2020-11-13 15:43 | 顯示全部樓層
能否用到mblock 5 上面呢?
 樓主| magiccar 發表於 2020-11-25 08:53 | 顯示全部樓層
roboger 發表於 2020-11-13 15:43
6 e/ L: D% y0 o能否用到mblock 5 上面呢?
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MeLineFollowerArray 在 mBlock5 中, 只有支援 megaPi 控制板, Ranger 無法使用, 如有需求, 我再寫一個擴展上架吧!
roboger 發表於 2020-12-10 15:09 | 顯示全部樓層
无法添加到扩展呀
ksvsn009 發表於 2021-3-16 23:23 | 顯示全部樓層
高手就是高手
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