Thiet ke, che tao va ieu khien tay may Trang 97

13
CHNG TRNH
IEU KHIEN
13.1 GII THIEU VE CHNG TRNH IEU KHIEN
Chng trnh ieu khien chnh cua tay may c soan thao bang ngon ng
Visual Basic 6.0, chay tren moi trng Windows 98, ME, 2000/NT; co giao dien
than thien va de s dung.
Man hnh giao dien cua chng trnh
Giao dien cua chng trnh ieu khien tay may c thiet ke e ngi s
dung co the ieu khien de dang. Hnh sau cho ta mot cai nhn s bo ve giao dien
va cac vung lam viec chnh cua chng trnh.
`hl . !UYL! `!! l!l `h !_.yi !|i| ii!_.yi l .i_

Thiet ke, che tao va ieu khien tay may Trang 98


Menu
Hnh dang
tay may
Vung ve
Mode ve
Kch thc
but ve
Toa o ve
Cac goc Terminal
Trang thai port noi tiep

Hnh 13.1 Giao dien chng trnh chnh
Menu File gom co


Hnh 13.2 Menu File
* New m mot file mi.
* Open m mot file a co san.
* Save lu mot file lai.
* Exit thoat khoi chng trnh.
Menu Terminal
Dung e xac lap cac thong so cua port noi tiep nh:
- Cong (COM1, COM2)
- Toc o BAUD
`hl . !UYL! `!! l!l `h !_.yi !|i| ii!_.yi l .i_

Thiet ke, che tao va ieu khien tay may Trang 99



Hnh 13.3 Giao dien thiet lap cong noi tiep
13.2 CAU TRUC CUA CHNG TRNH
Sau ay la s o cau truc cua chng trnh ieu khien
Arcos.bas
frmSplash.frm
Dialog1.frm
Dialog.frm
Angleconvert.frm
frmAbout.frm
Port.dll
Arcos.dll
Angleconvert.vbp
Cac file nay c lu tren cung mot th muc va c dch ra thanh tap tin
thc thi angleconvert.exe.
Toan bo giai thuat cua chng trnh co the tom tat nh sau:




`hl . !UYL! `!! l!l `h !_.yi !|i| ii!_.yi l .i_

Thiet ke, che tao va ieu khien tay may Trang 100




M mot file
Lu thanh file
Ve iem trong khong gian
Ve iem
Ve t do
Ve ng thang
Ham ve
canh tay ra
man hnh
Ham gi-
nhan d
lieu ra port
noi tiep
Ham tnh
toan cac
goc cua
robot
Khi tao cac gia tr
va port noi tiep
Khai bao cac bien


`hl . !UYL! `!! l!l `h !_.yi !|i| ii!_.yi l .i_

Thiet ke, che tao va ieu khien tay may Trang 101

13.2.1 Chng trnh con ve iem




Goi ham ve minh hoa
robot ra man hnh
Goi ham gi cac d lieu
goc cua robot ra COM1
Goi ham tnh toan cac
goc cua robot
Hien th iem (X, Y)
tren man hnh
Toa o X, Y
Bat s kien click chuot














`hl . !UYL! `!! l!l `h !_.yi !|i| ii!_.yi l .i_

Thiet ke, che tao va ieu khien tay may Trang 102


13.2.2 Ham tnh toan cac goc cua tay may




Cac gia tr goc , , ,
Cac gia tr v tr goc cho
ong c RC Servo hoat ong
Chuyen cac goc nay
thanh v tr goc truyen
cho ong c RC Servo
Tnh toan cac goc
cua tay may
Khi tao gia tr
Gia tr x, y, z












`hl . !UYL! `!! l!l `h !_.yi !|i| ii!_.yi l .i_

Thiet ke, che tao va ieu khien tay may Trang 103



13.2.3 Ham gi cac d lieu ra port noi tiep



ong port noi tiep
M port noi tiep
Gia tr v tr goc
cua cac ong c
RC Servo
Lay cac gia tr, x ly va tuan t
gi ra port noi tiep
Xuat d lieu oc c t port
noi tiep ra man hnh
oc d lieu t port noi tiep
Gi d lieu ra port noi tiep
Khi tao cac gia tr









`hl . !UYL! `!! l!l `h !_.yi !|i| ii!_.yi l .i_

Thiet ke, che tao va ieu khien tay may Trang 104






13.2.4 Ham hien th tay may ra man hnh



Cac kch thc ong
hoc cua tay may
Cac goc ,
, ,
Ve ra man hnh tay
may SERVO ARM
Tnh toan toa o ve
tren man hnh
Khi tao gia tr
















13.3 KET LUAN
chng nay chung ta a tm hieu cac s o giai thuat cho viec ieu khien
tay may va cau truc cua chng trnh dieu khien chnh viet bang ngon ng
Visual Basic 6.0, chay tren nen Windows. Chng sau chung ta se xem xet thiet
ke cac mach ieu khien cho tay may.




`hl . !UYL! `!! l!l `h !_.yi !|i| ii!_.yi l .i_