updata new examples

Author: wxy6655

…Basic/examples/SimpleTest/SimpleTest.ino …Basic/examples/AnglesTest/AnglesTest.inoArduino/MycobotBasic/examples/SimpleTest/SimpleTest.ino renamed to Arduino/MycobotBasic/examples/AnglesTest/AnglesTest.ino Arduino/MycobotBasic/examples/SimpleTest/SimpleTest.ino renamed to Arduino/MycobotBasic/examples/AnglesTest/AnglesTest.ino

@@ -1,39 +1,38 @@
-#include <MycobotBasic.h>
-#include <ParameterList.h>
-
-MycobotBasic myCobot;
-
-//设定容器数量
-Angles angles = { -0.0, -0.0, -0.0, -0.0, -0.0, -0.0 };           
-
-
-void setup() {
-  myCobot.setup();
-  //打开扭矩输出
-  myCobot.powerOn();
-  //赋值容器内部元素
-  for(auto &val : angles)       
-    val = 0.0;
-  //关节回到原点
-  myCobot.WriteAngles(angles, 50);
-  delay(5000);
-}
-
-void loop() {
-  for(int i = 1; i < 7; i++)        //run
-    {
-      myCobot.setLEDRGB(0XFF, 0, 0);       // set RGB show red
-      delay(50);
-      //myCobot.WriteAngle(i,angle,0-100);
-      myCobot.WriteAngle(i, -90, 100);   // set joint angle -90 degree
-      delay(4000);
-      myCobot.setLEDRGB(0, 0XFF, 0);       // set RGB show blue
-      delay(50);
-      myCobot.WriteAngle(i, 90, 100);    // set joint angle 90 degree
-      delay(4000);
-      myCobot.setLEDRGB(0, 0, 0XFF);       // set RGB show green
-      delay(50);
-      myCobot.WriteAngle(i, 0, 100);     // set joint angle 0 degree
-      delay(4000);
-    }
-}
+#include <MycobotBasic.h>
+#include <ParameterList.h>
+
+MycobotBasic myCobot;
+
+//定义一个Angles类型的变量angles，内容如下
+Angles angles = { -0.0, -0.0, -0.0, -0.0, -0.0, -0.0 };           
+
+
+void setup() {
+  
+  //打开通讯串口
+  myCobot.setup();
+  
+  //链接atom
+  myCobot.powerOn();
+  
+  //赋值angles为{ 0, 0, 0, 0, 0, 0 };
+  for(auto &val : angles)       
+    val = 0.0;
+    
+  //关节回到原点
+  myCobot.WriteAngles(angles, 50);
+  delay(5000);
+}
+
+void loop() {
+  for(int i = 1; i < 7; i++)        //依次设定关节正反转90°
+    {
+      //myCobot.WriteAngle(i,angle,0-100);
+      myCobot.WriteAngle(i, -90, 100);   // set joint angle -90 degree
+      delay(4000);
+      myCobot.WriteAngle(i, 90, 100);    // set joint angle 90 degree
+      delay(4000);
+      myCobot.WriteAngle(i, 0, 100);     // set joint angle 0 degree
+      delay(4000);
+    }
+}

Arduino/MycobotBasic/examples/SetEncoders/SetEncoders.ino

@@ -0,0 +1,28 @@
+#include <MycobotBasic.h>
+#include <ParameterList.h>
+
+MycobotBasic myCobot;
+
+void setup() {
+  // 打开Atom链接
+  myCobot.setup();
+  myCobot.powerOn();
+  Serial.begin(9600);
+}
+void loop() {
+  Serial.println("check setEncoder()...");
+  myCobot.SetEncoder(Joint::J1, 2048);
+  delay(5000);
+
+  Serial.println("check getEncoder()...");
+  Serial.print("current J1 encoder is: ");
+  Serial.println(myCobot.GetEncoder(Joint::J1));
+  delay(5000);
+
+  Serial.println("check setEncoders()...");
+  Angles encoders;
+  for(auto &val : encoders)
+    val = 2048;
+  myCobot.SetEncoders(encoders, 50);
+  delay(5000);
+}

Arduino/MycobotBasic/examples/SetRGB/SetRGB.ino

@@ -0,0 +1,18 @@
+#include <MycobotBasic.h>
+#include <ParameterList.h>
+
+MycobotBasic myCobot;   
+ 
+void setup() {
+  myCobot.setup();
+  myCobot.powerOn();
+}
+
+void loop() {
+    myCobot.setLEDRGB(0XFF, 0, 0);       // set RGB show red
+    delay(2000);
+    myCobot.setLEDRGB(0, 0XFF, 0);       // set RGB show blue
+    delay(2000);
+    myCobot.setLEDRGB(0, 0, 0XFF);       // set RGB show green
+    delay(2000);
+}