.7附錄三程序源代碼MATLAB程序：functionvarargout=dof4serial(varargin)%DOF4SERIALMATLABcodefordof4serial.figgui_Singleton=1;gui_State=struct('gui_Name',mfilename,...'gui_Singleton',gui_Singleton,...'gui_OpeningFcn',@dof4serial_OpeningFcn,...'gui_OutputFcn',@dof4serial_OutputFcn,...'gui_LayoutFcn',[],...'gui_Callback',[]);ifnargin&&ischar(varargin{1})gui_State.gui_Callback=str2func(varargin{1});endifnargout[varargout{1:nargout}]=gui_mainfcn(gui_State,varargin{:});elsegui_mainfcn(gui_State,varargin{:});endfunctiondof4serial_OpeningFcn(hObject,eventdata,handles,varargin)handles.output=hObject;warning('off');javaFrame=get(hObject,'JavaFrame');%javaFrame.setFigureIcon(javax.swing.ImageIcon('icon.jpg'));%%初始化參數hasData=false;%表征串口是否接收到數據isShow=false;%表征是否正在進行數據顯示，即是否正在執行函數dataDispisStopDisp=false;%表征是否按下了【停止顯示】按鈕isHexDisp=false;%表征是否勾選了【十六進制顯示】isHexSend=false;%表征是否勾選了【十六進制發送】numRec=0;%接收字符計數numSend=0;%發送字符計數strRec='';%已接收的字符串isSeparateSend=false;%表征是否勾選了分開發送的命令num_Send_counts=0;%發送總次數num_Send_counter=0;%發送次數計數%%將上述參數作為應用數據，存入窗口對象內setappdata(hObject,'hasData',hasData);setappdata(hObject,'strRec',strRec);setappdata(hObject,'numRec',numRec);setappdata(hObject,'numSend',numSend);setappdata(hObject,'isShow',isShow);setappdata(hObject,'isStopDisp',isStopDisp);setappdata(hObject,'isHexDisp',isHexDisp);setappdata(hObject,'isHexSend',isHexSend);setappdata(hObject,'isSeparateSend',isSeparateSend);setappdata(hObject,'num_Send_counts',num_Send_counts);setappdata(hObject,'num_Send_counter',num_Send_counter);guidata(hObject,handles);%%%%模型建立clc;clear;%反解和笛卡爾直角坐標deg=pi/180;L(1)=Revolute('d',1.1,'a',0.1,'alpha',-pi/2,...'qlim',[-9090]*deg);L(2)=Revolute('d',0.1,'a',1.04,'alpha',0,...'qlim',[0180]*deg);L(3)=Revolute('d',0,'a',0.97,'alpha',0,...'qlim',[-9090]*deg);L(4)=Revolute('d',0,'a',0,'alpha',0,...'qlim',[-9090]*deg);L(5)=Revolute('d',0,'a',0.01,'alpha',0,...'qlim',[-11]*deg);L(6)=Revolute('d',0,'a',0.8,'alpha',0,...'qlim',[-11]*deg);dof4=SerialLink(L,'name','dof4');qz=[000000];%zeroangles,Lshapedposedof4.plot(qz);functionvarargout=dof4serial_OutputFcn(hObject,eventdata,handles)%varargoutcellarrayforreturningoutputargs(seeVARARGOUT);%hObjecthandletofigure%eventdatareserved-tobedefinedinafutureversionofMATLAB%handlesstructurewithhandlesanduserdata(seeGUIDATA)%Getdefaultcommandlineoutputfromhandlesstructurevarargout{1}=handles.output;functionstep_num_Callback(hObject,eventdata,handles)%%計算步數handles.t=str2double(get(hObject,'String'))guidata(hObject,handles);functioninitialize_Callback(hObject,eventdata,handles)%%關節初始化handles.qz=[000000];handles.input_dof4=zeros(1,4);guidata(hObject,handles);functionx_axes_input_Callback(hObject,eventdata,handles)%%X軸輸入%str=get(hObject,'String');%獲取可編輯文本中的文本handles.input_dof4(1)=str2double(get(hObject,'String'))./100;guidata(hObject,handles);functionx_axes_input_CreateFcn(hObject,eventdata,handles)ifispc&&isequal(get(hObject,'BackgroundColor'),get(0,'defaultUicontrolBackgroundColor'))set(hObject,'BackgroundColor','white');endfunctiony_axes_input_Callback(hObject,eventdata,handles)%%Y軸輸入handles.input_dof4(2)=str2double(get(hObject,'String'))./100;guidata(hObject,handles);functionz_axes_input_Callback(hObject,eventdata,handles)%%Z軸輸入handles.input_dof4(3)=str2double(get(hObject,'String'))./100;guidata(hObject,handles);functiongama_axes_input_Callback(hObject,eventdata,handles)%%仰角輸入handles.input_dof4(4)=str2double(get(hObject,'String'))*pi*2/360;guidata(hObject,handles);functiongama_axes_input_CreateFcn(hObject,eventdata,~)ifispc&&isequal(get(hObject,'BackgroundColor'),get(0,'defaultUicontrolBackgroundColor'))set(hObject,'BackgroundColor','white');endfunctioncalculate_jointangle_Callback(hObject,eventdata,handles)%%計算位置和姿態對應的關節角度%反解和笛卡爾直角坐標deg=pi/180;L(1)=Revolute('d',1.1,'a',0.1,'alpha',-pi/2,...'qlim',[-9090]*deg);L(2)=Revolute('d',0.1,'a',1.04,'alpha',0,...'qlim',[-1800]*deg);L(3)=Revolute('d',0,'a',0.97,'alpha',0,...'qlim',[-9090]*deg);L(4)=Revolute('d',0,'a',0,'alpha',0,...'qlim',[-9090]*deg);L(5)=Revolute('d',0,'a',0.01,'alpha',0,...'qlim',[-11]*deg);L(6)=Revolute('d',0,'a',0.8,'alpha',0,...'qlim',[-11]*deg);dof4=SerialLink(L,'name','dof4');qz=[000000];%%輸入參數%handles.input_dof4(1)=str2double(get(handles.x_axes_input,'String'))./100;%handles.input_dof4(2)=str2double(get(handles.y_axes_input,'String'))./100;%handles.input_dof4(3)=str2double(get(handles.z_axes_input,'String'))./100;%handles.input_dof4(4)=str2double(get(handles.gama_axes_input,'String'))./100;input_dof4=handles.input_dof4;input_dof4=double(input_dof4);%%Tr_zaxes=atan2(input_dof4(2),input_dof4(1));%Taim=transl(input(1),input(2),input(3))*trotx(-pi/2)*trotz(Tr_zaxes)*Tv%位置和角度輸入3版,這個是正確的Taim=transl(input_dof4(1),input_dof4(2),input_dof4(3))*trotz(Tr_zaxes)*troty(-input_dof4(4))*trotx(-pi/2)%位置和角度輸入3版,這個是正確的inverse_kinematics=dof4.ikinem(Taim,qz,'qlimits');%最小化反解,theta1=inverse_kinematics(1)theta2=inverse_kinematics(2)theta3=inverse_kinematics(3)theta4=inverse_kinematics(4)theta5=inverse_kinematics(5)theta6=inverse_kinematics(6)thetas=[theta1theta2theta3theta4theta5theta6];%【打開/關閉串口】按鈕的回調函數%打開串口，并初始化相關參數%%若按下【打開串口】按鈕，打開串口ifget(hObject,'value')%%獲取串口的端口名com_n=sprintf('com%d',get(,'value'));%%獲取波特率rates=[30060012002400480096001920038400430005600057600115200];baud_rate=rates(get(handles.rate,'value'));%%獲取校驗位設置switchget(handles.jiaoyan,'value')case1jiaoyan='none';case2jiaoyan='odd';case3jiaoyan='even';end%%創建串口對象scom=serial(com_n);%%配置串口屬性，指定其回調函數set(scom,'BaudRate',baud_rate,'Parity',jiaoyan,...'BytesAvailableFcnCount',10,...'InputBufferSize',8000,...'OutputBufferSize',8000,...'BytesAvailableFcnMode','byte','BytesAvailableFcn',{@bytes,handles},...'TimerPeriod',0.05,'timerfcn',{@dataDisp,handles});%%將串口對象的句柄作為用戶數據，存入窗口對象set(handles.figure1,'UserData',scom);%%嘗試打開串口tryfopen(scom);%打開串口catch%若串口打開失敗，提示“串口不可獲得！”msgbox('串口不可獲得！');set(hObject,'value',0);%彈起本按鈕return;end%%打開串口后，允許串口發送數據，清空接收顯示區，點亮串口狀態指示燈，%%并更改本按鈕文本為“關閉串口”set(handles.period_send,'Enable','on');%啟用【自動發送】按鈕set(handles.manual_send,'Enable','on');%啟用【手動發送】按鈕set(hObject,'String','關閉串口');%設置本按鈕文本為“關閉串口”else%若關閉串口%%停止并刪除定時器t=timerfind;if~isempty(t)stop(t);delete(t);end%%停止并刪除串口對象scoms=instrfind;stopasync(scoms);fclose(scoms);delete(scoms);%%禁用【自動發送】和【手動發送】按鈕，熄滅串口狀態指示燈set(handles.period_send,'Enable','off','value',0);%禁用【自動發送】按鈕set(handles.manual_send,'Enable','off');%禁用【手動發送】按鈕set(hObject,'String','打開串口');%設置本按鈕文本為“關閉串口”endfunctionperiod_send_Callback(hObject,eventdata,handles)%【自動發送】按鈕的Callback回調函數%%若按下【自動發送】按鈕，啟動定時器；否則，停止并刪除定時器%ifget(hObject,'value')t1=0.001*str2double(get(handles.period1,'string'));%獲取定時器周期t=timer('ExecutionMode','fixedrate','Period',t1,'TimerFcn',...{@manual_send_Callback,handles});%{@manual_send});%{@show_animation_Callback,handles})%創建定時器'disp(''HelloWorld!'')');%set(handles.period1,'Enable','off');%禁用設置定時器周期的EditText對象set(handles.sends,'Enable','inactive');%禁用數據發送編輯區start(t);%啟動定時器%else%set(handles.period1,'Enable','on');%啟用設置定時器周期的EditText對象%set(handles.sends,'Enable','on');%啟用數據發送編輯區%t=timerfind;%查找定時器%%stop(t);%停止定時器%delete(t);%刪除定時器%end%Executesonbuttonpressinhex_send.functionjointangle_separate_send(hObject,eventdata,handles)%%關節角度分開發送回調函數%str=get(handles.sends,'string');%%val=get(handles.sends,'UserData');%counts=handles.num_send_counts;%空格鍵的位置%counts=[0counts];%counter=handles.num_send_counter;%temp=str(counts(counter*4+1)+1:counts(counter*4+5));%取得一個位置相應的角度值%handles.num_send_counter=handles.num_send_counter+1;%set(handles.data_sends_buffer,'string',temp);%%guidata(hObject,handles);%data_sends_buffer_Callback(handles.data_sends_buffer,eventdata,handles);%將string轉化為ASC碼str=get(handles.sends,'string');counts=handles.num_send_counts;%空格鍵的位置counts=[0counts];counter=get(handles.send_mode,'UserData');temp=str(counts(counter*4+1)+1:counts(counter*4+5));%取得一個位置相應的角度值counter=counter+1;set(handles.send_mode,'UserData',counter);set(handles.data_sends_buffer,'string',temp);data_sends_buffer_Callback(handles.data_sends_buffer,eventdata,handles);%將string轉化為ASC碼%data_sends_buffer_Callback(hObject,eventdata,handles);functionjointangle_pack_send_Callback(data_sends_buffer,eventdata,handles)%%關節角度打包發送回調函數disp('fu');%Executesonselectionchangeinsend_mode.functionsend_mode_Callback(hObject,eventdata,handles)%%發送方式選擇回調str=get(handles.sends,'string');n=find(str=='');handles.num_send_counts=n;%setappdata(hObject,'num_Send_counts',num_Send_counts);switchget(handles.send_mode,'value')case1%調用分開發送函數set(handles.period_send,'enable','on');%setappdata(hObject,'num_Send_counter',0);handles.isSeparateSend=1;case2%調用打包發送函數set(handles.period_send,'enable','off');handles.isSeparateSend=0;endguidata(hObject,handles);functiondata_sends_buffer_Callback(hObject,eventdata,handles)%數據發送編輯區的Callback回調函數%更新要發送的數據%%獲取數據發送編輯區的字符串str=get(hObject,'string');str=strcat(str,';');%%獲取參數isHexSend的值isHexSend=getappdata(handles.figure1,'isHexSend');if~isHexSend%若為ASCII值形式發送，直接將字符串轉化為對應的數值val=double(str);%val為一維數組，ASC碼形式elseval=double(str);val=dec2hex(val);%轉換為十六進制endset(hObject,'UserData',val);functiondataDisp(obj,event,handles)串口通信及舵機程序：主程序：//#include"led.h"#include"delay.h"#include"key.h"#include"sys.h"#include"usart.h"#include"timer.h"#include"led.h"intmain(void){ u16t; u16len; floatge[4],shifenwei[4],baifenwei[4],qianfenwei[4]; floatangle[4]; delay_init(); NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); uart_init(9600); TIM3_PWM_Init(19999,71); while(1){ if(USART_RX_STA&0x8000) { len=USART_RX_STA&0x3fff; for(t=0;t