2012.11.21

昨天的程序是有问题的,应该是杆8分别带动两侧的杆1,杆2;杆7,杆9分别被动旋转,起因在于杆8,

杆1,杆2随杆8被动旋转在左侧

 

杆7副本,铲斗副本均绕着杆8副本被动旋转

/********************************************************************* Editor: Lauren E-Mail: Lauren.pan@dfrobot.com Date: 2012.11.21 Description Improve the library to work with Oled 2864 and Arduino Uno Modify the display() function This is a library for our Monochrome OLEDs based on SSD1306 drivers Pick one up today in the adafruit shop! ------> http://www.adafruit.com/category/63_98 Oled 2864 from DFRobot ------> http://www.dfrobot.com/index.php?route=product/product&product_id=802#.UKyOjE09ha0 You can also pick up an OLED 2864 Display Module in DFRobot ------> The OLED 2864 Display Module uses IIC to comunicate and this provides great convenience for using. These displays use SPI to communicate, 4 or 5 pins are required to interface Adafruit invests time and resources providing this open source code, please support Adafruit and open-source hardware by purchasing products from Adafruit! Written by Limor Fried/Ladyada for Adafruit Industries. BSD license, check license.txt for more information All text above, and the splash screen must be included in any redistribution *********************************************************************/ #if ARDUINO >= 100 #include "Arduino.h" #else #include "WProgram.h" #endif #include <Adafruit_GFX.h> #define BLACK 0 #define WHITE 1 #define SSD1306_I2C_ADDRESS 0x3C // 011110+SA0+RW - 0x3C or 0x3D // Address for 128x32 is 0x3C // Address for 128x32 is 0x3D (default) or 0x3C (if SA0 is grounded) /*========================================================================= SSD1306 Displays ----------------------------------------------------------------------- The driver is used in multiple displays (128x64, 128x32, etc.). Select the appropriate display below to create an appropriately sized framebuffer, etc. SSD1306_128_64 128x64 pixel display SSD1306_128_32 128x32 pixel display You also need to set the LCDWIDTH and LCDHEIGHT defines to an appropriate size -----------------------------------------------------------------------*/ #define SSD1306_128_64 // #define SSD1306_128_32 /*=========================================================================*/ #if defined SSD1306_128_64 && defined SSD1306_128_32 #error "Only one SSD1306 display can be specified at once in SSD1306.h" #endif #if !defined SSD1306_128_64 && !defined SSD1306_128_32 #error "At least one SSD1306 display must be specified in SSD1306.h" #endif #if defined SSD1306_128_64 #define SSD1306_LCDWIDTH 128 #define SSD1306_LCDHEIGHT 64 #endif #if defined SSD1306_128_32 #define SSD1306_LCDWIDTH 128 #define SSD1306_LCDHEIGHT 32 #endif #define SSD1306_SETCONTRAST 0x81 #define SSD1306_DISPLAYALLON_RESUME 0xA4 #define SSD1306_DISPLAYALLON 0xA5 #define SSD1306_NORMALDISPLAY 0xA6 #define SSD1306_INVERTDISPLAY 0xA7 #define SSD1306_DISPLAYOFF 0xAE #define SSD1306_DISPLAYON 0xAF #define SSD1306_SETDISPLAYOFFSET 0xD3 #define SSD1306_SETCOMPINS 0xDA #define SSD1306_SETVCOMDETECT 0xDB #define SSD1306_SETDISPLAYCLOCKDIV 0xD5 #define SSD1306_SETPRECHARGE 0xD9 #define SSD1306_SETMULTIPLEX 0xA8 #define SSD1306_SETLOWCOLUMN 0x00 #define SSD1306_SETHIGHCOLUMN 0x10 #define SSD1306_SETSTARTLINE 0x40 #define SSD1306_MEMORYMODE 0x20 #define SSD1306_COMSCANINC 0xC0 #define SSD1306_COMSCANDEC 0xC8 #define SSD1306_SEGREMAP 0xA0 #define SSD1306_CHARGEPUMP 0x8D #define SSD1306_EXTERNALVCC 0x1 #define SSD1306_SWITCHCAPVCC 0x2 // Scrolling #defines #define SSD1306_ACTIVATE_SCROLL 0x2F #define SSD1306_DEACTIVATE_SCROLL 0x2E #define SSD1306_SET_VERTICAL_SCROLL_AREA 0xA3 #define SSD1306_RIGHT_HORIZONTAL_SCROLL 0x26 #define SSD1306_LEFT_HORIZONTAL_SCROLL 0x27 #define SSD1306_VERTICAL_AND_RIGHT_HORIZONTAL_SCROLL 0x29 #define SSD1306_VERTICAL_AND_LEFT_HORIZONTAL_SCROLL 0x2A class SSD1306 : public Adafruit_GFX { public: SSD1306(int8_t SID, int8_t SCLK, int8_t DC, int8_t RST, int8_t CS); SSD1306(int8_t RST); void begin(uint8_t switchvcc = SSD1306_SWITCHCAPVCC, uint8_t i2caddr = SSD1306_I2C_ADDRESS); void ssd1306_command(uint8_t c); void ssd1306_data(uint8_t c); void clearDisplay(void); void invertDisplay(uint8_t i); void display(); void startscrollright(uint8_t start, uint8_t stop); void startscrollleft(uint8_t start, uint8_t stop); void startscrolldiagright(uint8_t start, uint8_t stop); void startscrolldiagleft(uint8_t start, uint8_t stop); void stopscroll(void); void drawPixel(int16_t x, int16_t y, uint16_t color); void fill(unsigned char dat); void clearBuffer(); private: int8_t _i2caddr, sid, sclk, dc, rst, cs; void fastSPIwrite(uint8_t c); void slowSPIwrite(uint8_t c); volatile uint8_t *mosiport, *clkport, *csport, *dcport; uint8_t mosipinmask, clkpinmask, cspinmask, dcpinmask; };
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