调试程序，运行调试程序，舵机会移动两只悬臂分别停留在一只水平另一只垂直的位置上。如果差距非常大，可拆下悬臂调节，如果比较接近了，就修改程序第3~6行的四个参数 SERVOFAKTORLEFT 左悬臂垂直位置，SERVOFAKTORRIGHT 右悬臂垂直位置，SERVOLEFTNULL 左悬臂180度位置，SERVORIGHTNULL 右悬臂0度位置（右侧为0度，逆时针画圆），参数增加摆臂逆时针转动，一般增幅50，才能看到比较明显的变化。
调节参数，直到摆臂停在下图的标准位置上为止。
LIFT0、1、2参数原理相同调试方法略过
如果调试完毕，就可以安装笔擦等附件，开始耍贱了！
标准程序需要时间模块读取时间，如果没有模块，可以修改函数，返回随机数或者从00:00开始计时等办法。
《Plotclock小贱钟程序》
调节参数，直到摆臂停在下图的标准位置上为止。
LIFT0、1、2参数原理相同调试方法略过
《调试摆臂用代码》
//左右悬臂舵机的90度位置
#define SERVOFAKTORLEFT 550
#define SERVOFAKTORRIGHT 630 //此参数650是理论中间位置，需要看实际情况调节//左右悬臂舵机的 0或180度位置
#define SERVOLEFTNULL 1750
#define SERVORIGHTNULL 880//三只舵机的接口
#define SERVOPINLIFT 2
#define SERVOPINLEFT 3
#define SERVOPINRIGHT 4//升举舵机的3个角度
#define LIFT0 1080 // on dr<span style="font-size:12px;">awing surface 写的时候
#define LIFT1 925 // between numbers 字之间
#define LIFT2 725 // going towards sweeper 去笔擦高度</span>// 速度
#define LIFTSPEED 1500// 悬臂的长度，根据图纸测量，无需改变
#define L1 35
#define L2 57.2
#define L3 14.2// 左右舵机轴心的位置
#define O1X 23
#define O1Y -25
#define O2X 49
#define O2Y -25#include <Time.h> // see [url=http://playground.arduino.cc/Code/time]http://playground.arduino.cc/Code/time[/url]
#include <Servo.h>int servoLift = 1500;Servo servo1; // Servo 类 声明
Servo servo2; //
Servo servo3; // volatile double lastX = 75;
volatile double lastY = 47.5;int last_min = 0;void setup()
{ // Set current time only the first to values, hh,mm are neededsetTime(19,38,0,0,0,0);drawTo(38, 24);lift(0);servo1.attach(SERVOPINLIFT); // lifting servoservo2.attach(SERVOPINLEFT); // left servoservo3.attach(SERVOPINRIGHT); // right servodelay(1000);} void loop()
{ // 移动左右悬臂，让两只悬臂分别停留在水平和垂直的位置上。 通过修改 SERVOFAKTORLEFT ， SERVOFAKTORRIGHT， SERVOLEFTNULL ， SERVORIGHTNULL 四个参数来微调drawTo(-3, 29.2);delay(500);drawTo(74.1, 28);delay(500);} // Writing numeral with bx by being the bottom left originpoint. Scale 1 equals a 20 mm high font.
// The structure follows this principle: move to first startpoint of the numeral, lift down, draw numeral, lift up
void number(float bx, float by, int num, float scale) {switch (num) {case 0:drawTo(bx + 12 * scale, by + 6 * scale);lift(0);bogenGZS(bx + 7 * scale, by + 10 * scale, 10 * scale, -0.8, 6.7, 0.5);lift(1);break;case 1:drawTo(bx + 3 * scale, by + 15 * scale);lift(0);drawTo(bx + 10 * scale, by + 20 * scale);drawTo(bx + 10 * scale, by + 0 * scale);lift(1);break;case 2:drawTo(bx + 2 * scale, by + 12 * scale);lift(0);bogenUZS(bx + 8 * scale, by + 14 * scale, 6 * scale, 3, -0.8, 1);drawTo(bx + 1 * scale, by + 0 * scale);drawTo(bx + 12 * scale, by + 0 * scale);lift(1);break;case 3:drawTo(bx + 2 * scale, by + 17 * scale);lift(0);bogenUZS(bx + 5 * scale, by + 15 * scale, 5 * scale, 3, -2, 1);bogenUZS(bx + 5 * scale, by + 5 * scale, 5 * scale, 1.57, -3, 1);lift(1);break;case 4:drawTo(bx + 10 * scale, by + 0 * scale);lift(0);drawTo(bx + 10 * scale, by + 20 * scale);drawTo(bx + 2 * scale, by + 6 * scale);drawTo(bx + 12 * scale, by + 6 * scale);lift(1);break;case 5:drawTo(bx + 2 * scale, by + 5 * scale);lift(0);bogenGZS(bx + 5 * scale, by + 6 * scale, 6 * scale, -2.5, 2, 1);drawTo(bx + 5 * scale, by + 20 * scale);drawTo(bx + 12 * scale, by + 20 * scale);lift(1);break;case 6:drawTo(bx + 2 * scale, by + 10 * scale);lift(0);bogenUZS(bx + 7 * scale, by + 6 * scale, 6 * scale, 2, -4.4, 1);drawTo(bx + 11 * scale, by + 20 * scale);lift(1);break;case 7:drawTo(bx + 2 * scale, by + 20 * scale);lift(0);drawTo(bx + 12 * scale, by + 20 * scale);drawTo(bx + 2 * scale, by + 0);lift(1);break;case 8:drawTo(bx + 5 * scale, by + 10 * scale);lift(0);bogenUZS(bx + 5 * scale, by + 15 * scale, 5 * scale, 4.7, -1.6, 1);bogenGZS(bx + 5 * scale, by + 5 * scale, 5 * scale, -4.7, 2, 1);lift(1);break;case 9:drawTo(bx + 9 * scale, by + 11 * scale);lift(0);bogenUZS(bx + 7 * scale, by + 15 * scale, 5 * scale, 4, -0.5, 1);drawTo(bx + 5 * scale, by + 0);lift(1);break;case 111:lift(0);drawTo(70, 46);drawTo(65, 43);drawTo(65, 49);drawTo(5, 49);drawTo(5, 45);drawTo(65, 45);drawTo(65, 40);drawTo(5, 40);drawTo(5, 35);drawTo(65, 35);drawTo(65, 30);drawTo(5, 30);drawTo(5, 25);drawTo(65, 25);drawTo(65, 20);drawTo(5, 20);drawTo(60, 44);drawTo(75.2, 47);lift(2);break;case 11:drawTo(bx + 5 * scale, by + 15 * scale);lift(0);bogenGZS(bx + 5 * scale, by + 15 * scale, 0.1 * scale, 1, -1, 1);lift(1);drawTo(bx + 5 * scale, by + 5 * scale);lift(0);bogenGZS(bx + 5 * scale, by + 5 * scale, 0.1 * scale, 1, -1, 1);lift(1);break;}
}void lift(char lift) {switch (lift) {// room to optimize !case 0: //850if (servoLift >= LIFT0) {while (servoLift >= LIFT0) {servoLift--;servo1.writeMicroseconds(servoLift); delayMicroseconds(LIFTSPEED);}} else {while (servoLift <= LIFT0) {servoLift++;servo1.writeMicroseconds(servoLift);delayMicroseconds(LIFTSPEED);}}break;case 1: //150if (servoLift >= LIFT1) {while (servoLift >= LIFT1) {servoLift--;servo1.writeMicroseconds(servoLift);delayMicroseconds(LIFTSPEED);}} else {while (servoLift <= LIFT1) {servoLift++;servo1.writeMicroseconds(servoLift);delayMicroseconds(LIFTSPEED);}}break;case 2:if (servoLift >= LIFT2) {while (servoLift >= LIFT2) {servoLift--;servo1.writeMicroseconds(servoLift);delayMicroseconds(LIFTSPEED);}} else {while (servoLift <= LIFT2) {servoLift++;servo1.writeMicroseconds(servoLift); delayMicroseconds(LIFTSPEED);}}break;}
}void bogenUZS(float bx, float by, float radius, int start, int ende, float sqee) {float inkr = -0.05;float count = 0;do {drawTo(sqee * radius * cos(start + count) + bx,radius * sin(start + count) + by);count += inkr;} while ((start + count) > ende);}void bogenGZS(float bx, float by, float radius, int start, int ende, float sqee) {float inkr = 0.05;float count = 0;do {drawTo(sqee * radius * cos(start + count) + bx,radius * sin(start + count) + by);count += inkr;} while ((start + count) <= ende);
}void drawTo(double pX, double pY) {double dx, dy, c;int i;// dx dy of new pointdx = pX - lastX;dy = pY - lastY;//path lenght in mm, times 4 equals 4 steps per mmc = floor(4 * sqrt(dx * dx + dy * dy));if (c < 1) c = 1;for (i = 0; i <= c; i++) {// draw line point by pointset_XY(lastX + (i * dx / c), lastY + (i * dy / c));}lastX = pX;lastY = pY;
}double return_angle(double a, double b, double c) {// cosine rule for angle between c and areturn acos((a * a + c * c - b * b) / (2 * a * c));
}void set_XY(double Tx, double Ty)
{delay(1);double dx, dy, c, a1, a2, Hx, Hy;// calculate triangle between pen, servoLeft and arm joint// cartesian dx/dydx = Tx - O1X;dy = Ty - O1Y;// polar lemgth (c) and angle (a1)c = sqrt(dx * dx + dy * dy); // a1 = atan2(dy, dx); //a2 = return_angle(L1, L2, c);servo2.writeMicroseconds(floor(((a2 + a1 - M_PI) * SERVOFAKTORLEFT) + SERVOLEFTNULL));// calculate joinr arm point for triangle of the right servo arma2 = return_angle(L2, L1, c);Hx = Tx + L3 * cos((a1 - a2 + 0.621) + M_PI); //36,5掳Hy = Ty + L3 * sin((a1 - a2 + 0.621) + M_PI);// calculate triangle between pen joint, servoRight and arm jointdx = Hx - O2X;dy = Hy - O2Y;c = sqrt(dx * dx + dy * dy);a1 = atan2(dy, dx);a2 = return_angle(L1, (L2 - L3), c);servo3.writeMicroseconds(floor(((a1 - a2) * SERVOFAKTORRIGHT) + SERVORIGHTNULL));}</span>如果调试完毕，就可以安装笔擦等附件，开始耍贱了！
标准程序需要时间模块读取时间，如果没有模块，可以修改函数，返回随机数或者从00:00开始计时等办法。
《Plotclock小贱钟程序》
//↓↓↓↓↓↓↓ 以下参数在调试程序中调节好后复制过来 ↓↓↓↓↓↓↓//1.先调节0、180度的位置。调节到位后，再调节90度位置
//左右悬臂舵机的 0或180度位置,，数字增加，左侧舵机逆时针调整，右侧舵机顺时针调整
//【此数值可能需要调节】
#define SERVOLEFTNULL 2030 //数值减小，顺时针旋转，加大则逆时针旋转
//【此数值可能需要调节】
#define SERVORIGHTNULL 1100 //数值减小，顺时针旋转，加大则逆时针旋转//2.调节到位0、180，再调节下面参数
//左右悬臂舵机的90度位置,，数字增加，左侧舵机顺时针调整，右侧舵机逆时针调整
//【此数值可能需要调节】
#define SERVOFAKTORLEFT 580 //数值加大，顺时针旋转，减小则逆时针旋转
//【此数值可能需要调节】
#define SERVOFAKTORRIGHT 610 //数值减小，顺时针旋转，加大则逆时针旋转//升举舵机的3个角度
//【此数值可能需要调节】
#define LIFT0 1620 //落笔写字 on drawing surface
#define LIFT1 1320 //写字时抬臂动作 between numbers
#define LIFT2 580 //高抬笔架 going towards sweeper
//【此数值可能需要调节】//
//以上参数，请运行调试程序 plotclockadj ，调整好位置后，将数据复制过来
////笔擦的坐标位置，如不能对准笔擦可以微调单位毫米
int rubberx=72,rubbery=42; //【此数值可能需要调节】//三只舵机的接口号
#define SERVOPINLIFT 2 //抬臂舵机
#define SERVOPINLEFT 3 //左臂舵机
#define SERVOPINRIGHT 4 //右臂舵机// 速度 数字越小越慢，太快了容易抖 1000~2000
#define LIFTSPEED 1500 // 悬臂的长度，根据图纸测量，无需改变
#define L1 35
#define L2 57.2
#define L3 14.2// 左右舵机轴心的位置，根据图纸测量，无需改变
#define O1X 22
#define O1Y -25
#define O2X 47
#define O2Y -25//需要的库函数 ,如果编译报告 time.h 错误请参考readme文档
#include <Time.h> // see http://playground.arduino.cc/Code/time
#include <Servo.h>int servoLift = LIFT2;Servo servo1; //
Servo servo2; //
Servo servo3; // volatile double lastX = rubberx;
volatile double lastY = rubbery;int last_min = 0;void setup()
{ // 设置一个模拟时间，（小时，分钟，后面全填0）//如果此句编译错误，请将文件包内的libraries库放到Arduino文件夹内，具体操作办法见说明文档setTime(19,38,0,0,0,0); servo1.attach(SERVOPINLIFT); //初始化抬臂舵机 lifting servoservo2.attach(SERVOPINLEFT); //初始化左臂舵机 left servoservo3.attach(SERVOPINRIGHT); //初始化右臂舵机 right servolift(1); //抬笔drawTo(rubberx, rubbery); //停留在笔擦位置delay(1000);} void loop()
{ int i = 0;//下面代码任选一行，进行不同模式的书写//if (last_min != minute()) //每分钟书写一次时间//if (1) //反复不间断的擦写模式if (1) //如需修改请复制上面代码{if (!servo1.attached()) servo1.attach(SERVOPINLIFT);if (!servo2.attached()) servo2.attach(SERVOPINLEFT);if (!servo3.attached()) servo3.attach(SERVOPINRIGHT);lift(0);hour();while ((i+1)*10 <= hour()) //提取19:38时间部分的第一位，也就是19的1{i++;}number(3, 3, 111, 1); //擦黑板number(5, 25, i, 0.9); // 书写19:38的第一位，也就是写1number(19, 25, (hour()-i*10), 0.9); //提取并书写19:38的第二位，也就是写9number(28, 25, 11, 0.9);//书写19:38的点 ：i=0;while ((i+1)*10 <= minute()) //提取19:38时间部分的分钟位，也就是38的3{i++;}number(34, 25, i, 0.9);//书写19:38的第四位，也就是3number(48, 25, (minute()-i*10), 0.9);//提取并书写19:38的第五位，也就是8lift(2);drawTo(70, 44); //移动到70,44lift(1);last_min = minute();servo1.detach();servo2.detach();servo3.detach();}} // Writing numeral with bx by being the bottom left originpoint. Scale 1 equals a 20 mm high font.
// The structure follows this principle: move to first startpoint of the numeral, lift down, draw numeral, lift up
//这里是写字的函数，如果你觉得字写的丑，可以自行修改字体，结果可能是更丑。还可以自行增加其他内容，比如字母甚至是汉字
void number(float bx, float by, int num, float scale) {switch (num) {case 0:drawTo(bx + 12 * scale, by + 6 * scale);lift(0);bogenGZS(bx + 7 * scale, by + 10 * scale, 10 * scale, -0.8, 6.7, 0.5);lift(1);break;case 1:drawTo(bx + 3 * scale, by + 15 * scale);lift(0);drawTo(bx + 10 * scale, by + 20 * scale);drawTo(bx + 10 * scale, by + 0 * scale);lift(1);break;case 2:drawTo(bx + 2 * scale, by + 12 * scale);lift(0);bogenUZS(bx + 8 * scale, by + 14 * scale, 6 * scale, 3, -0.8, 1);drawTo(bx + 1 * scale, by + 0 * scale);drawTo(bx + 12 * scale, by + 0 * scale);lift(1);break;case 3:drawTo(bx + 2 * scale, by + 17 * scale);lift(0);bogenUZS(bx + 5 * scale, by + 15 * scale, 5 * scale, 3, -2, 1);bogenUZS(bx + 5 * scale, by + 5 * scale, 5 * scale, 1.57, -3, 1);lift(1);break;case 4:drawTo(bx + 10 * scale, by + 0 * scale);lift(0);drawTo(bx + 10 * scale, by + 20 * scale);drawTo(bx + 2 * scale, by + 6 * scale);drawTo(bx + 12 * scale, by + 6 * scale);lift(1);break;case 5:drawTo(bx + 2 * scale, by + 5 * scale);lift(0);bogenGZS(bx + 5 * scale, by + 6 * scale, 6 * scale, -2.5, 2, 1);drawTo(bx + 5 * scale, by + 20 * scale);drawTo(bx + 12 * scale, by + 20 * scale);lift(1);break;case 6:drawTo(bx + 2 * scale, by + 10 * scale);lift(0);bogenUZS(bx + 7 * scale, by + 6 * scale, 6 * scale, 2, -4.4, 1);drawTo(bx + 11 * scale, by + 20 * scale);lift(1);break;case 7:drawTo(bx + 2 * scale, by + 20 * scale);lift(0);drawTo(bx + 12 * scale, by + 20 * scale);drawTo(bx + 2 * scale, by + 0);lift(1);break;case 8:drawTo(bx + 5 * scale, by + 10 * scale);lift(0);bogenUZS(bx + 5 * scale, by + 15 * scale, 5 * scale, 4.7, -1.6, 1);bogenGZS(bx + 5 * scale, by + 5 * scale, 5 * scale, -4.7, 2, 1);lift(1);break;case 9:drawTo(bx + 9 * scale, by + 11 * scale);lift(0);bogenUZS(bx + 7 * scale, by + 15 * scale, 5 * scale, 4, -0.5, 1);drawTo(bx + 5 * scale, by + 0);lift(1);break;case 111:lift(0);drawTo(rubberx, rubbery);drawTo(58, 42);drawTo(58, 45);drawTo(2, 45);drawTo(2, 41);drawTo(58, 41);drawTo(60, 37);drawTo(2, 37);drawTo(2, 33);drawTo(60, 33);drawTo(60, 29);drawTo(2, 29);drawTo(2, 25);drawTo(60, 25);drawTo(60, 20);drawTo(2, 20);drawTo(60, rubbery);drawTo(rubberx + 3 , rubbery);lift(2);break;case 11:drawTo(bx + 5 * scale, by + 15 * scale);lift(0);bogenGZS(bx + 5 * scale, by + 15 * scale, 0.1 * scale, 1, -1, 1);lift(1);drawTo(bx + 5 * scale, by + 5 * scale);lift(0);bogenGZS(bx + 5 * scale, by + 5 * scale, 0.1 * scale, 1, -1, 1);lift(1);break;}
}//抬函数，不同的摆臂高度
void lift(char lift) {switch (lift) {// room to optimize !case 0: if (servoLift >= LIFT0) {while (servoLift >= LIFT0) {servoLift--;servo1.writeMicroseconds(servoLift); delayMicroseconds(LIFTSPEED);}} else {while (servoLift <= LIFT0) {servoLift++;servo1.writeMicroseconds(servoLift);delayMicroseconds(LIFTSPEED);}}break;case 1: if (servoLift >= LIFT1) {while (servoLift >= LIFT1) {servoLift--;servo1.writeMicroseconds(servoLift);delayMicroseconds(LIFTSPEED);}} else {while (servoLift <= LIFT1) {servoLift++;servo1.writeMicroseconds(servoLift);delayMicroseconds(LIFTSPEED);}}break;case 2:if (servoLift >= LIFT2) {while (servoLift >= LIFT2) {servoLift--;servo1.writeMicroseconds(servoLift);delayMicroseconds(LIFTSPEED);}} else {while (servoLift <= LIFT2) {servoLift++;servo1.writeMicroseconds(servoLift); delayMicroseconds(LIFTSPEED);}}break;}
}//里面似乎有勾股定理？
void bogenUZS(float bx, float by, float radius, int start, int ende, float sqee) {float inkr = -0.05;float count = 0;do {drawTo(sqee * radius * cos(start + count) + bx,radius * sin(start + count) + by);count += inkr;} while ((start + count) > ende);}//cos？sin？
void bogenGZS(float bx, float by, float radius, int start, int ende, float sqee) {float inkr = 0.05;float count = 0;do {drawTo(sqee * radius * cos(start + count) + bx,radius * sin(start + count) + by);count += inkr;} while ((start + count) <= ende);
}void drawTo(double pX, double pY) {double dx, dy, c;int i;// dx dy of new pointdx = pX - lastX;dy = pY - lastY;//path lenght in mm, times 4 equals 4 steps per mmc = floor(4 * sqrt(dx * dx + dy * dy));if (c < 1) c = 1;for (i = 0; i <= c; i++) {// draw line point by pointset_XY(lastX + (i * dx / c), lastY + (i * dy / c));}lastX = pX;lastY = pY;
}double return_angle(double a, double b, double c) {// cosine rule for angle between c and areturn acos((a * a + c * c - b * b) / (2 * a * c));
}//用各种三角函数把位置坐标换算成舵机的角度，具体咋算的，请参考
//Plotclock by joo - Thingiverse
//http://www.thingiverse.com/thing:248009/
void set_XY(double Tx, double Ty)
{delay(1);double dx, dy, c, a1, a2, Hx, Hy;// calculate triangle between pen, servoLeft and arm joint// cartesian dx/dydx = Tx - O1X;dy = Ty - O1Y;// polar lemgth (c) and angle (a1)c = sqrt(dx * dx + dy * dy); // a1 = atan2(dy, dx); //a2 = return_angle(L1, L2, c);servo2.writeMicroseconds(floor(((a2 + a1 - M_PI) * SERVOFAKTORLEFT) + SERVOLEFTNULL));// calculate joinr arm point for triangle of the right servo arma2 = return_angle(L2, L1, c);Hx = Tx + L3 * cos((a1 - a2 + 0.621) + M_PI); //36,5掳Hy = Ty + L3 * sin((a1 - a2 + 0.621) + M_PI);// calculate triangle between pen joint, servoRight and arm jointdx = Hx - O2X;dy = Hy - O2Y;c = sqrt(dx * dx + dy * dy);a1 = atan2(dy, dx);a2 = return_angle(L1, (L2 - L3), c);servo3.writeMicroseconds(floor(((a1 - a2) * SERVOFAKTORRIGHT) + SERVORIGHTNULL));}
