



…………………..
DHT11 connect to arduino
Left 1 connect to arduino + 5V,
Left 2 is signal lines connecte to arduino 2,
Right 1 connect arduino GND
IIC LCD1602 to arduino:
GND -GND
VCC – 5V
SDA – A4
SCL – A5
Note:
Arduino code already upload to Arduino, just plug the wire, it will work.
Relate post:
how to find Arduino LCD1602 I2C address is 0x3f or 0x27?
…………………………………
update:2017.09.12
created:2015.12.12
<pre lang="”LANGUAGE”" line="”0″">#include <Servo.h>
Servo myservoA;
Servo myservoB;
Servo myservoC;
Servo myservoD;
Servo myservoE;
Servo myservoF;
int i,pos,myspeed;
int sea,seb,sec,sed,see,sef;
static int v=0;
String mycommand=""; //捕捉串口发来的指令 #auto:自动运行 #com:计算机串口控制 #stop:静止状态
static int mycomflag=2; // #auto:2 自动运行 , #com: 1 计算机控制 #stop:0 静止状态
void myprint()
{
sea=myservoA.read();
seb=myservoB.read();
sec=myservoC.read();
sed=myservoD.read();
see=myservoE.read();
sef=myservoF.read();
Serial.print("A=");
Serial.print(sea);
Serial.print(" B=");
Serial.print(seb);
Serial.print(" C=");
Serial.print(sec);
Serial.print(" D=");
Serial.print(sed);
Serial.print(" E=");
Serial.print(see);
Serial.print(" F=");
Serial.println(sef);
}
void myservosetup() //舵机初始化到等待状态
{
sea=myservoA.read();
seb=myservoB.read();
sec=myservoC.read();
sed=myservoD.read();
see=myservoE.read();
sef=myservoF.read();
myspeed=500;
for(pos=0;pos<=myspeed;pos+=1)
{
myservoA.write(int(map(pos,1,myspeed,sea,66)));
myservoB.write(int(map(pos,1,myspeed,seb,90)));
myservoC.write(int(map(pos,1,myspeed,sec,50)));
myservoD.write(int(map(pos,1,myspeed,sed,90)));
myservoE.write(int(map(pos,1,myspeed,see,120)));
myservoF.write(int(map(pos,1,myspeed,sef,90)));
delay(1);
}
}
void setup()
{
Serial.begin(9600,SERIAL_8N1);
mycomflag=2; // 机械臂默认上电状态为:2 自动运行
myservoA.attach(3); // 控制腰部(A)的端口是~3号
myservoB.attach(5); // 控制大臂(B)的端口是~5号
myservoC.attach(6); // 控制小臂(C)的端口是~6号
myservoD.attach(9); // 控制小臂旋转(D)的端口是~9号
myservoE.attach(10); // 控制腕部(E)的端口是~10号
myservoF.attach(11); // 控制腕部旋转(F)的端口是~11号
myservoA.write(66);
myservoB.write(90);
myservoC.write(55);
myservoD.write(90);
myservoE.write(120);
myservoF.write(90);
}
void loop()
{
while (Serial.available() > 0)
{
mycommand += char(Serial.read());
delay(2);
}
if (mycommand.length() > 0)
{
if(mycommand=="#auto")
{
mycomflag=2;
Serial.println("auto station");
mycommand="";
}
if(mycommand=="#com")
{
mycomflag=1;
Serial.println("computer control station");
mycommand="";
myservosetup();
}
if(mycommand=="#stop")
{
mycomflag=0;
Serial.println("stop station");
mycommand="";
}
}
if(mycomflag==1) //如果是计算机串口控制 1
{
for(int m=0;m<mycommand.length();m++) //
{
char ch = mycommand[m]; //读取串口数据
switch(ch)
{
case '0'...'9':
v = v*10 + ch - '0'; //字符转换成十进制
break;
case 'a': //如果数据后带a,则表示是一号舵机的数据,比如串口发送85a
if(v >= 5 || v <= 175 ) myservoA.write(v); //用于设定舵机旋转角度的语句,可设定的角度范围是0°到180°,“V”得到所输入的值而改变角度,比如85a为85度角
v = 0;
myprint();
break;
case 'b': //如果数据后带b,则表示是二号舵机的数据,比如串口发送85a
myservoB.write(v); //用于设定舵机旋转角度的语句,可设定的角度范围是0°到180°,“V”得到所输入的值而改变角度,比如90b为90度角
v = 0;
myprint();
break;
case 'c':
if(v >= 20 ) myservoC.write(v);
v = 0;
myprint();
break;
case 'd':
myservoD.write(v);
v = 0;
myprint();
break;
case 'e':
myservoE.write(v);
v = 0;
myprint();
break;
case 'f':
myservoF.write(v);
myprint();
v = 0;
break;
}
}
mycommand="";
} // end if(mycomflag=2)
if(mycomflag==2) //如果是自动运行状态2
{
delay(3000);
//Serial.println("auto station");
myservosetup();
myspeed=500;
for(pos = 0; pos <=myspeed; pos += 1)
{
myservoA.write(int(map(pos,1,myspeed,66,90))); // 让A从66度旋转到90度 (可修改角度)
myservoB.write(int(map(pos,1,myspeed,90,70))); //让B从90度旋转到40度 (可修改角度)
delay(1);
}
delay(1000);
myspeed=500;
for(pos = 0; pos <=myspeed; pos += 1)
{
myservoC.write(int(map(pos,1,myspeed,50,65))); //
myservoD.write(int(map(pos,1,myspeed,90,170))); //
myservoE.write(int(map(pos,1,myspeed,90,5)));
delay(1);
}
myspeed=1000;
for(pos = 0; pos <=myspeed; pos += 1)
{
myservoB.write(int(map(pos,1,myspeed,70,90))); //
myservoC.write(int(map(pos,1,myspeed,65,50))); //
delay(1);
}
myspeed=500;
for(pos = 0; pos <=myspeed; pos += 1)
{
myservoC.write(int(map(pos,1,myspeed,50,45))); //
myservoD.write(int(map(pos,1,myspeed,170,90))); //
myservoE.write(int(map(pos,1,myspeed,5,50)));
myservoF.write(int(map(pos,1,myspeed,90,40)));
delay(1);
}
myspeed=1000;
for(pos = 0; pos <=myspeed; pos += 1)
{
myservoA.write(int(map(pos,1,myspeed,90,140))); //
myservoF.write(int(map(pos,1,myspeed,40,130)));
delay(1);
}
myspeed=500;
for(pos = 0; pos <=myspeed; pos += 1)
{
myservoA.write(int(map(pos,1,myspeed,140,90))); //
myservoC.write(int(map(pos,1,myspeed,45,50))); //
myservoB.write(int(map(pos,1,myspeed,90,70))); //
myservoE.write(int(map(pos,1,myspeed,50,120))); //
delay(1);
}
}
if(mycomflag==0) //如果是静止状态0
{
myservosetup();
}
}</pre>
<pre lang="”LANGUAGE”">#include <Servo.h>
Servo myservo1;
Servo myservo2;
Servo myservo3;
Servo myservo4;
int potpin1 = 0;
int potpin2 = 1;
int potpin3 = 2;
int potpin4 = 3;
int val1;
int val2;
int val3;
int val4;
int Value1;
int Value2;
int Value3;
int Value4;
void setup()
{
myservo1.attach(11);
myservo2.attach(10);
myservo3.attach(9);
myservo4.attach(6);
Serial.begin(9600);
}
///////////////////////////////////////////////////
#define FILTER_N 0
int i = 0;
int Filter1() {
int new_value;
new_value = analogRead(potpin1);
if (Value1 != new_value) {
i++;
if (i > FILTER_N) {
i = 0;
Value1 = new_value;
}
}
else
i = 0;
return Value1;
}
/////////////////////////////////////////////////
int j = 0;
int Filter2() {
int new_value;
new_value = analogRead(potpin2);
if (Value2 != new_value) {
j++;
if (j > FILTER_N) {
j = 0;
Value2 = new_value;
}
}
else
j = 0;
return Value2;
}
////////////////////////////////////////////////////
int k = 0;
int Filter3() {
int new_value;
new_value = analogRead(potpin3);
if (Value3 != new_value) {
k++;
if (k > FILTER_N) {
k = 0;
Value3 = new_value;
}
}
else
k = 0;
return Value3;
}
///////////////////////////////////////////////////////
int m = 0;
int Filter4() {
int new_value;
new_value = analogRead(potpin4);
if (Value4 != new_value) {
m++;
if (m > FILTER_N) {
m = 0;
Value4 = new_value;
}
}
else
m = 0;
return Value4;
}
void loop()
{
val1 = Filter1();
val1 = map (val1, 0, 1023, 120, 150);
myservo1.write(val1);
delay(1);
Serial.print("val1=");
Serial.print(val1);
Serial.print(",");
val2 = Filter2();
val2 = map (val2, 0, 1023, 0, 179);
myservo2.write(val2);
delay(1);
Serial.print("val2=");
Serial.print(val2);
Serial.print(",");
val3 = Filter3();
val3 = map (val3, 0, 1023, 0, 179);
myservo3.write(val3);
delay(1);
Serial.print("val3=");
Serial.print(val3);
Serial.print(",");
val4 = Filter4();
val4 = map (val4, 0, 1023, 40, 179);
myservo4.write(val4);
delay(1);
Serial.print("val4=");
Serial.print(val4);
Serial.println(",");
}</pre>
<pre lang="”LANGUAGE”">double Fahrenheit(double celsius)
{
return 1.8 * celsius + 32;
} //摄氏温度度转化为华氏温度
double Kelvin(double celsius)
{
return celsius + 273.15;
} //摄氏温度转化为开氏温度
// 露点(点在此温度时,空气饱和并产生露珠)
// 参考: [url=http://wahiduddin.net/calc/density_algorithms.htm]http://wahiduddin.net/calc/density_algorithms.htm[/url]
double dewPoint(double celsius, double humidity)
{
double A0= 373.15/(273.15 + celsius);
double SUM = -7.90298 * (A0-1);
SUM += 5.02808 * log10(A0);
SUM += -1.3816e-7 * (pow(10, (11.344*(1-1/A0)))-1) ;
SUM += 8.1328e-3 * (pow(10,(-3.49149*(A0-1)))-1) ;
SUM += log10(1013.246);
double VP = pow(10, SUM-3) * humidity;
double T = log(VP/0.61078); // temp var
return (241.88 * T) / (17.558-T);
}
// 快速计算露点,速度是5倍dewPoint()
// 参考: [url=http://en.wikipedia.org/wiki/Dew_point]http://en.wikipedia.org/wiki/Dew_point[/url]
double dewPointFast(double celsius, double humidity)
{
double a = 17.271;
double b = 237.7;
double temp = (a * celsius) / (b + celsius) + log(humidity/100);
double Td = (b * temp) / (a - temp);
return Td;
}
#include <dht11.h>
#include <Wire.h>
#include <LiquidCrystal_I2C.h>
LiquidCrystal_I2C lcd(0x27,16,2); // set the LCD address to 0x27 for a 16 chars and 2 line display
dht11 DHT11;
#define DHT11PIN 2
void setup()
{
lcd.init(); // initialize the lcd
lcd.backlight();
lcd.print("Waiting...");
Serial.begin(9600);
}
void loop()
{
int chk = DHT11.read(DHT11PIN);
switch (chk)
{
case DHTLIB_OK:
lcd.setCursor(0, 0);
lcd.print("Temp:");
lcd.print((float)DHT11.temperature,2);
lcd.write(0xDF);
lcd.print("C");
lcd.setCursor(0, 1);
lcd.print("Humidity:");
lcd.print((float)DHT11.humidity,2);
lcd.print("%");
break;
case DHTLIB_ERROR_CHECKSUM:
lcd.clear();
lcd.print("Checksum error");
delay(1000);
lcd.clear();
break;
case DHTLIB_ERROR_TIMEOUT:
lcd.clear();
lcd.print("Time out error");
delay(1000);
lcd.clear();
break;
default:
lcd.clear();
lcd.print("Unknown error");
delay(1000);
lcd.clear();
break;
}
delay(1000);
}</pre>