A06B-6102-H322#H520 編寫程序首先需要一個(gè)能編寫和測(cè)試程序的平臺(tái)。IDE就是這么一類供書寫和編輯程序，并能編譯和調(diào)試程序的軟件。工作室使用的集成IDE是KeilμVision5(STM32)和Arduino IDE。會(huì)使用STM32的同學(xué)還可以下載CubeMX進(jìn)行圖形化的初始配置，簡(jiǎn)單方便易操作。
（2）程序語(yǔ)言
編寫程序其次需要知道編寫的規(guī)則，即計(jì)算機(jī)的「語(yǔ)言」。在Keil上最常用的代碼語(yǔ)言是C、C++。Arduino，是一個(gè)基于開放原始碼的軟硬體平臺(tái)，構(gòu)建于開放原始碼simple I/O介面版，并且具有使用類似Java，C語(yǔ)言的Processing/Wiring開發(fā)環(huán)境。
（3）基本控制原理
PID是一種經(jīng)典的控制算法，根據(jù)系統(tǒng)的偏差來(lái)調(diào)整輸入信號(hào)的線性反饋控制算法，本質(zhì)上是一個(gè)涉及微積分的數(shù)學(xué)公式。通俗地說(shuō)，它能根據(jù)傳感器返回的機(jī)器人當(dāng)前狀態(tài)與目標(biāo)狀態(tài)（值）的偏差，微調(diào)對(duì)機(jī)器人發(fā)出的指令，使之保持穩(wěn)定。這是實(shí)現(xiàn)對(duì)機(jī)器人穩(wěn)定控制，及一些功率和射頻等規(guī)則限制的關(guān)鍵點(diǎn)。除了經(jīng)典PID以外，要想更精確的控制我們的機(jī)器人，還需要去學(xué)習(xí)更為「高深」的控制算法，比如ADRC、專家PID、模糊PID、自適應(yīng)PID等。
（4）處理器
編寫好程序之后，通過(guò)了在電腦上的編譯和調(diào)試，就要將程序輸入接電路板上的處理器——微型計(jì)算機(jī)，也稱單片機(jī)，進(jìn)行運(yùn)行。工作室常用的是AVR和ARM系列。
（5）通信
從電腦端將程序輸入單片機(jī)，需要「通信」。機(jī)器人技術(shù)中的通信，指的是計(jì)算機(jī)和計(jì)算機(jī)之間端到端的數(shù)據(jù)傳輸，涉及通信接口的封裝和通信協(xié)議。通信協(xié)議的類型有很多，一般Arduino采用的是IDE自帶的串口監(jiān)視器，同時(shí)也支持I2C、SPI，CAN等通信方式。
對(duì)于STM32而言，最常使用的是CAN通信，利用CAN通信控制的電調(diào)大大提高了電機(jī)輸出值的精準(zhǔn)度，這是機(jī)器人比賽中做到「指哪打哪」的有力保障。
（6）自動(dòng)控制元件
機(jī)器人是一個(gè)實(shí)現(xiàn)程序與現(xiàn)實(shí)世界交互的橋梁，而建立這座橋梁不可或缺的還有硬件，包括各種各樣的傳感器和電機(jī)。其中最重要的包括保證控制穩(wěn)定的數(shù)據(jù)傳感器——MPU6050，紅外傳感器，超聲波傳感器等等，傳感器和電機(jī)的種類很多，因此選擇合適的傳感器及電機(jī)也是電控需要仔細(xì)斟酌的。
A06B-6102-H322#H520
A16B-1212-0182
A16B-1212-0210
A16B-1212-0211
A16B-1212-0216
A16B-1212-0220
A16B-1212-0221
A16B-1212-0222
A16B-1212-0301
A16B-1212-0301
A16B-1212-0360 A16B-0190-0080
A16B-1000-0010
A16B-1000-0030
A16B-1000-0220
A16B-1010-0040
A16B-1010-0041
A16B-1010-0050
A16B-1010-0150
A16B-1010-0160
A16B-1010-0190
A16B-1010-0200
A16B-1010-0210
A16B-1010-0240
A16B-1010-0283
A16B-1010-0321
A16B-1010-0331
A16B-1010-0430
A16B-1010-0510
A16B-1100-0060
A16B-1100-0080
A16B-1100-0091
A16B-1100-0200
A16B-1100-0220
A16B-1100-0221
A16B-1100-0261
A16B-1100-0280
A16B-1100-0300
A16B-1100-0310
A16B-1100-0310
A16B-1200-0080
A16B-1200-0150
A16B-1200-0160
A16B-1200-0230
A16B-1200-0270
A16B-1200-0310
A16B-1200-0350
A16B-1200-0360
A16B-1200-0660
A16B-1200-0670
A16B-1200-0742
A16B-1200-0744
A16B-1200-0800
A16B-1210-0060
A16B-1210-0070
A16B-1210-0090
A16B-1210-0120
A16B-1210-0130
A16B-1210-0320
A16B-1210-0321
A16B-1210-0322
A16B-1210-0340
A16B-1210-0360
A16B-1210-0370
A16B-1210-0380
A16B-1210-0381
A16B-1210-0430
A16B-1210-0440
A16B-1210-0450
A16B-1210-0460
A16B-1210-0470
A16B-1210-0471
A16B-1210-0480
A16B-1210-0590
A16B-1210-0591
A16B-1210-0800
A16B-1210-0819
A16B-1210-0820
A16B-1210-0839
A16B-1210-0840
A16B-1210-0860
A16B-1210-0971
A16B-1211-0170
A16B-1211-0260
A16B-1211-0271
A16B-1211-0272
A16B-1211-0273
A16B-1211-0280
A16B-1211-0291
A16B-1211-0300
A16B-1211-0301
A16B-1211-0302
A16B-1211-0320
A16B-1211-0320
A16B-1211-0330
A16B-1211-0330
A16B-1211-0331
A16B-1211-0340
A16B-1211-0380
A16B-1211-0390
A16B-1211-0550
A16B-1211-0610
A16B-1211-0630
A16B-1211-0730
A16B-1211-0800
A16B-1211-0801
A16B-1211-0810
A16B-1211-0870
A16B-1211-0900
A16B-1211-0901
A16B-1211-0902
A16B-1211-0903
A16B-1211-0906
A16B-1211-0908
A16B-1211-0909
A16B-1211-0910
A16B-1211-0940
A16B-1211-0941
A16B-1211-0961
A16B-1211-0970
A16B-1212-0030
A16B-1212-0182
A16B-1212-0210
A16B-1212-0211
A16B-1212-0216
A16B-1212-0220
A16B-1212-0221
A16B-1212-0222
A16B-1212-0301
A16B-1212-0301
A16B-1212-0360
A16B-1212-0370
A16B-1212-0450
A16B-1212-0471
A16B-1212-0510
A16B-1212-0531
A16B-1212-0540
A16B-1212-0871
A16B-1212-0901
A16B-1212-0950
A16B-1300-0110
A16B-1310-0300
A16B-1310-0380
A16B-1310-0381
A16B-1600-0020
A16B-1600-0080
A16B-1600-0090
A16B-1600-0280
A16B-1600-0281
A16B-1600-0320
A16B-1600-0440
A16B-1700-0020
A16B-1810-0010
A16B-1810-0040
A16B-2100-0070
A16B-2100-0114
A16B-2200-0020
A16B-2200-0080
A16B-2200-0081
A16B-2200-0090
A16B-2200-0091
A16B-2200-0113
A16B-2200-0120
A16B-2200-0121
A16B-2200-0124
A16B-2200-0127
A16B-2200-0129
A16B-2200-0130
A16B-2200-0131
A16B-2200-0140
A16B-2200-016
A16B-2200-0160
A16B-2200-0172
A16B-2200-0173
A16B-2200-0200
A16B-2200-0210
A16B-2200-0211
A16B-2200-0220
A16B-2200-0240
A16B-2200-0250
A16B-2200-0290
A16B-2200-0292
A16B-2200-0300
A16B-2200-0310
A16B-2200-0341
A16B-2200-0345
A16B-2200-0350
A16B-2200-0360
A16B-2200-0361
A16B-2200-0371
A16B-2200-0390
A16B-2200-0391
A16B-2200-0421
A16B-2200-0451
A16B-2200-0471
A16B-2200-0482
A16B-2200-0483
A16B-2200-0490
A16B-2200-0500
A16B-2200-0520
A16B-2200-0527
A16B-2200-0529
A16B-2200-0650
A16B-2200-0660
A16B-2200-0661
A16B-2200-0680
A16B-2200-0682
A16B-2200-0693
A16B-2200-0776
A16B-2200-0800
A16B-2200-0830
A16B-2200-0841
A16B-2200-0855
A16B-2200-0900
A16B-2200-0901
A16B-2200-0910
A16B-2200-0917
A16B-2200-093
A16B-2200-0930
A16B-2200-0931
A16B-2200-0941
A16B-2200-095
A16B-2200-0950
A16B-2200-0951
A16B-2200-0953
A16B-2200-0955
A16B-2200-0957
A16B-2201-0020
A16B-2201-0071
A16B-2201-0080
A16B-2201-010
A16B-2201-0100
A16B-2201-0101
A16B-2201-0103
A16B-2201-0110
A16B-2201-0134
A16B-2201-0311
A16B-2201-0381
A16B-2201-0391
A16B-2201-0440
A16B-2201-0630
A16B-2201-0811
A16B-2201-0880
A16B-2201-0890
A16B-2201-0922
A16B-2202-0141
A16B-2202-0160
A16B-2202-0400
A16B-2202-0421
A16B-2202-0422
A16B-2202-0431
A16B-2202-0727
A16B-2202-0730
A16B-2202-0832
A16B-2202-0860
A16B-2202-0880
A16B-2202-0980
A16B-2203-0020
A16B-2203-0033
A16B-2203-0070
A16B-2203-0110
A16B-2203-0111
A16B-2203-0331
A16B-2203-0332
A16B-2203-0501
A16B-2203-0502
A16B-2203-0592
A16B-2203-0754
A16B-2300-0020
A16B-2300-0022
A16B-2300-0110
A16B-2400-0010
A16B-3200-0010
A16B-3200-0010
A16B-3200-0020
A16B-3200-0060
A16B-3200-0110
A16B-3200-0170
A16B-3200-0210
A06B-6096-H101 A06B 6096 H101 Fanuc Alpha Drive amplifier
A06B-6096-H102 A06B 6096 H102 Fanuc Alpha Drive amplifier
A06B-6096-H103 A06B 6096 H103 Fanuc Alpha Drive amplifier
A06B-6096-H104 A06B 6096 H104 Fanuc Alpha Drive amplifier
A06B-6096-H105 A06B 6096 H105 Fanuc Alpha Drive amplifiers
A06B-6096-H106 A06B 6096 H106 Fanuc Alpha Drive amplifiers
A06B-6096-H107 A06B 6096 H107 Fanuc Alpha Drive amplifiers
A06B-6096-H108 A06B 6096 H108 GE Fanuc Alpha Drive amplifiers
A06B-6096-H121 A06B 6096 H121 GEFanuc Alpha Drive amplifier
A06B-6096-H116 A06B 6096 H116 Fanuc Alpha Drive amplifier
A06B-6096-H201 A06B 6096 H201 Fanuc Alpha Drive amplifiers
A06B-6096-H202 A06B 6096 H202 Fanuc Alpha Drive amplifier
A06B-6096-H203 A06B 6096 H203 GE Fanuc Alpha Drive amplifier
A06B-6096-H204 A06B 6096 H204 Fanuc Alpha Drive amplifier
A06B-6096-H205 A06B 6096 H205 Fanuc Alpha Drive amplifier
A06B-6096-H206 A06B 6096 H206 GE-Fanuc Alpha Drive amplifier
A06B-6096-H207 A06B 6096 H207 Fanuc Alpha Drive amplifier
A06B-6096-H208 A06B 6096 H208 GEFanuc Alpha Drive amplifier
A06B-6096-H209 A06B 6096 H209 GE Fanuc Alpha Drive amplifier
A06B-6096-H301 A06B 6096 H301 Fanuc Alpha Drive amplifier
A06B-6096-H302 A06B 6096 H302 Fanuc Alpha Drive amplifier
A06B-6096-H303 A06B 6096 H303 Fanuc Alpha Drive amplifier
A06B-6096-H304 A06B 6096 H304 Fanuc Alpha Drive amplifiers
A06B-6096-H305 A06B 6096 H305 Fanuc Alpha Drive amplifier
A06B-6096-H306 A06B 6096 H306 G E Fanuc Alpha Drive amplifier
A06B-6096-H307 A06B 6096 H307 Fanuc Alpha Drive amplifier
A06B-6096-H218 A06B 6096 H218 Fanuc Alpha Drive amplifiers
<>
A06B-6096-H122 A06B 6096 H122 G E Fanuc Alpha Drive amplifier
A06B-6096-H150 A06B 6096 H150 Fanuc Alpha Drive amplifier
A06B-6096-H291 A06B 6096 H291 Fanuc Alpha Drive amplifiers
A16B-1600-0080 A14B-0061-B001 A20B-1000-0470
A16B-1210-0510 A14B-0076-B001 A20B-1000-0191
A16B-1210-0560 A14B-0051-B001 A20B-1001-0160
A16B-1310-0010 A14B-0076-B200 A20B-1000-0770
A16B-1211-0850 A14L-0029-0001 A20B-0007-0340
A16B-1212-0110 A14B-0076-B001 A20B-1004-0960
A16B-1212-0470 A14B-0067-B002 A20B-1004-0410
A16B-1212-0530A14B-0076-B104 A20B-1000-0472 A16B-1212-0471
A14B-0061-B101 A20B-1000-0473 A16B-1212-0531
A14B-0061-B102 A20B-1001-0210 A16B-1212-0840
A14B-0069-B001 A20B-1001-0930 A16B-1210-0660
A14B-0061-B100 A20B-0009-0200
A16B-1212-0871 A14B-0061-B002 A20B-0009-0210
A16B-1212-0901 A14B-0061-B103 A20B-1001-0580
A16B-1212-0100 A20B-1005-0122 A16B-1212-0950
A16B-2203-0370 A16B-1000-0170 A16B-1000-0240
A16B-1000-0210 A16B-1000-0130 A16B-1211-0890
A16B-1213-0160 A16B-1213-0070
A61L-0001-0092, A61L-0001-0076, A61L-0001-0079, A61L-0001-0086, A61L-0001-0072, A61L-0001-0093
Fanuc Mono Monitors
A61L-0001-0072
A61L-0001-0073
A61L-0001-0076
A61L-0001-0079
A61L-0001-0086
A61L-0001-0092
A61L-0001-0093
Fanuc Color Monitors
A61L-0001-0074
A61L-0001-0077
A61L-0001-0087
A61L-0001-0094
A61L-0001-0095
A61L-0001-0090
A13B-0177-C001
A06B-6102-H322#H520
