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robot Puma 365 controlled by PID Fuzzy

本作品以MSP430单片机为核心， 基于DDS原理，通过查表方式输出步进量为10HZ，频率为100HZ~2KHZ的正弦波。两路被测信号通过过零比较、异或和低通滤波整流，实现了对相位差的测量，误差小于(This works with MSP430 microcontroller as the core, based on DDS principle, by look-up table output step sizes for the 10HZ, frequency of 100HZ ~ 2KHZ sine wave. Two by the signal zero-crossing comparator, XOR, rectification and low-pass filtering, the realization of the phase of the measurement error is less than)

单片机开发使用总结(Summing up the development of the use of single-chip microcomputer)

MSP430F169单片机矩阵键盘扫描程序，用一位共阳数码管显示(MSP430F169 microcontroller matrix keyboard scanning procedures, using a common anode LED display)

AT89C51+液晶显示屏，按输入字符输出相应的显示，源代码为C语言编写，希望对大家有帮助。(The LCD of AT89C51+ screen display output according to the input character, the source code is written in C language, we hope to help.)

根据对应的按键值，对应输出相应的电容值，并做掉电检测(According to the corresponding key value, corresponding to the output of the corresponding capacitance values ​ ​ and do brownout detection)

步进电机是将电脉冲信号转变为角位移或线位移的开环控制电机，是现代数字程序控制系统中的主要执行元件，应用极为广泛。。在非超载的情况下，电机的转速、停止的位置只取决于脉冲信号的频率和脉冲数，而不受负载变化的影响，当步进驱动器接收到一个脉冲信号，它就驱动步进电机按设定的方向转动一个固定的角度，称为“步距角”，它的旋转是以固定的角度一步一步运行的。可以通过控制脉冲个数来控制角位移量，从而达到准确定位的目的；同时可以通过控制脉冲频率来控制电机转动的速度和加速度，从而达到调速的目的。(Stepper motor is an open loop control motor which transforms electrical pulse signal into angular displacement or linear displacement. It is the main executive element in modern digital control system, and is widely applied. In the case of non overloaded, the motor speed and stop position depends only on the pulse frequency and pulse number, regardless of load changes, when the stepper driver receives a pulse signal, it drives stepper motor to set the direction of rotation of a fixed angle, called "step", it is the rotation of the fixed point of the operation step by step. We can control the angular displacement by controlling the number of pulses, so as to achieve the goal of accurate positioning. At the same time, we can control the speed and acceleration of motor rotation by controlling the pulse frequency, so as to achieve the purpose of speed regulation.)

说明：  HT32F1755单片机基础程序,LCD,延时，定时器等等(HT32F1755 microcontroller-based program, LCD, delay, timers, etc.)

基于STM32的16位DAC8811驱动程序，亲测可用(STM32-based 16-bit DAC8811 driver, pro-test available)

用循环程序 画用星号* 组成的方框图，可以设置方框的边长大小(Block diagram with an asterisk* cyclic process consisting of paintings, you can set the size of the box side)