有需要我這版代碼的，我丟這兒了，把原作者的動作函數(shù)替換一下就好了。不過我這個已經(jīng)微調(diào)過了，每個人的舵機微調(diào)數(shù)據(jù)都不一樣的。

void sleep()

{

pwm.setPWM(4, 0, 340);

delay(100);

pwm.setPWM(5, 0, 370);

delay(100);

pwm.setPWM(6, 0, 260);

delay(100);

pwm.setPWM(7, 0, 410);

delay(100);

pwm.setPWM(0, 0, 370);

delay(100);

pwm.setPWM(1, 0, 190);

delay(100);

pwm.setPWM(2, 0, 180);

delay(100);

pwm.setPWM(3, 0, 390);

}

void normal()

{

pwm.setPWM(0, 0, 280);

delay(100);

pwm.setPWM(1, 0, 280);

delay(100);

pwm.setPWM(2, 0, 270);

delay(100);

pwm.setPWM(3, 0, 300);

delay(100);

pwm.setPWM(4, 0, 600);

delay(100);

pwm.setPWM(5, 0, 120);

delay(100);

pwm.setPWM(6, 0, 530);

delay(100);

pwm.setPWM(7, 0, 160);

}

void left()

{

pwm.setPWM(4, 0, 370);

pwm.setPWM(7, 0, 260);

delay(100);

pwm.setPWM(0, 0, 370);

pwm.setPWM(3, 0, 390);

delay(100);

pwm.setPWM(4, 0, 600);

pwm.setPWM(7, 0, 160);

delay(100);

pwm.setPWM(6, 0, 370);

pwm.setPWM(5, 0, 280);

delay(100);

pwm.setPWM(2, 0, 360);

pwm.setPWM(1, 0, 370);

delay(100);

pwm.setPWM(6, 0, 530);

pwm.setPWM(5, 0, 120);

delay(100);

pwm.setPWM(0, 0, 280);

pwm.setPWM(1, 0, 280);

pwm.setPWM(2, 0, 270);

pwm.setPWM(3, 0, 300);

delay(100);

}

void right()

{

pwm.setPWM(5, 0, 280);

pwm.setPWM(6, 0, 370);

delay(100);

pwm.setPWM(1, 0, 190);

pwm.setPWM(2, 0, 180);

delay(100);

pwm.setPWM(5, 0, 120);

pwm.setPWM(6, 0, 530);

delay(100);

pwm.setPWM(7, 0, 260);

pwm.setPWM(4, 0, 370);

delay(100);

pwm.setPWM(3, 0, 210);

pwm.setPWM(0, 0, 190);

delay(100);

pwm.setPWM(7, 0, 160);

pwm.setPWM(4, 0, 600);

delay(100);

pwm.setPWM(0, 0, 280);

pwm.setPWM(1, 0, 280);

pwm.setPWM(2, 0, 270);

pwm.setPWM(3, 0, 300);

delay(100);

}

void forward()

{

pwm.setPWM(7, 0, 260);

pwm.setPWM(4, 0, 370);

delay(50);

pwm.setPWM(3, 0, 390);

pwm.setPWM(0, 0, 190);

delay(50);

pwm.setPWM(7, 0, 160);

pwm.setPWM(4, 0, 600);

delay(100);

pwm.setPWM(0, 0, 280);

pwm.setPWM(3, 0, 300);

pwm.setPWM(6, 0, 370);

pwm.setPWM(5, 0, 280);

delay(50);

pwm.setPWM(2, 0, 180);

pwm.setPWM(1, 0, 380);

delay(50);

pwm.setPWM(6, 0, 530);

pwm.setPWM(5, 0, 120);

delay(100);

pwm.setPWM(1, 0, 280);

pwm.setPWM(2, 0, 270);

}

void backward()

{

pwm.setPWM(5, 0, 280);

pwm.setPWM(6, 0, 370);

delay(50);

pwm.setPWM(1, 0, 190);

pwm.setPWM(2, 0, 400);

delay(50);

pwm.setPWM(5, 0, 120);

pwm.setPWM(6, 0, 530);

delay(100);

pwm.setPWM(1, 0, 280);

pwm.setPWM(2, 0, 270);

pwm.setPWM(4, 0, 370);

pwm.setPWM(7, 0, 260);

delay(50);

pwm.setPWM(0, 0, 370);

pwm.setPWM(3, 0, 170);

delay(50);

pwm.setPWM(4, 0, 600);

pwm.setPWM(7, 0, 160);

delay(100);

pwm.setPWM(0, 0, 280);

pwm.setPWM(3, 0, 300);

}

void hello()

{

pwm.setPWM(7, 0, 300);

delay(100);

pwm.setPWM(0, 0, 370);

delay(200);

pwm.setPWM(4, 0, 110);

delay(300);

pwm.setPWM(4, 0, 340);

delay(300);

pwm.setPWM(4, 0, 110);

delay(300);

pwm.setPWM(4, 0, 340);

delay(300);

pwm.setPWM(4, 0, 110);

delay(300);

pwm.setPWM(4, 0, 340);

delay(500);

pwm.setPWM(0, 0, 280);

pwm.setPWM(4, 0, 600);

pwm.setPWM(7, 0, 160);

}

void come()

{

pwm.setPWM(7, 0, 300);

delay(100);

pwm.setPWM(0, 0, 130);

pwm.setPWM(4, 0, 280);

delay(500);

pwm.setPWM(4, 0, 110);

delay(200);

pwm.setPWM(4, 0, 340);

delay(400);

pwm.setPWM(4, 0, 110);

delay(200);

pwm.setPWM(4, 0, 340);

delay(400);

pwm.setPWM(0, 0, 280);

pwm.setPWM(4, 0, 600);

pwm.setPWM(7, 0, 160);

}