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/*VR412 * Copyright (C) 2014 Velleman nv * * This software may be modified and distributed under the terms * of the MIT license. See the LICENSE file for details. * */ #include <Servo.h> // The ALLBOT library needs the servo.h library #include <ALLBOT.h> // Do not forget to include the ALLBOT library, download it from the manuals.velleman.eu website ALLBOT BOT(12); // Number of motors enum MotorName { // Giving each motor a name hipFrontLeft, hipFrontRight, hipRearLeft, hipRearRight, kneeFrontLeft, kneeFrontRight, kneeRearLeft, kneeRearRight, ankleFrontLeft, ankleFrontRight, ankleRearLeft, ankleRearRight }; long randNumber0; // This variable is used for random function long randNumber1; // This variable is used for random function int sounderPin = 13; // Declaring what pin the sounder on the VRSSM is connected to String rawcommand; // Global variable that stores the raw received IR command String command; // Global variable that stores part of the decoded IR command int times; // Global variable that stores part the received IR command int speedms; // Global variable that stores part the received IR command boolean IRreceive = false; // Set this to true if you want to use the IR remote boolean receivelog = false; // Set this to true if you want to see the serial messages for debugging the IR commands void setup() { // NAME.attach(motorname, pin, init-angle, flipped, offset-angle); BOT.attach(hipFrontLeft, A5, 45, 0, 0); BOT.attach(hipFrontRight, A2, 45, 1, 0); BOT.attach(hipRearLeft, 10, 45, 1, 0); BOT.attach(hipRearRight, 3, 45, 0, 0); BOT.attach(kneeFrontLeft, A4, 10, 0, 0); BOT.attach(kneeFrontRight, A1, 10, 1, 0); BOT.attach(kneeRearLeft, 9, 10, 0, 0); BOT.attach(kneeRearRight, 4, 10, 1, 0); BOT.attach(ankleFrontLeft, A0, 0, 0, 0); BOT.attach(ankleFrontRight, A3, 0, 1, 0); BOT.attach(ankleRearLeft, 11, 0, 0, 0); BOT.attach(ankleRearRight, 2, 0, 1, 0); // Perform the standup sequence standup(); //INIT sounder pinMode(sounderPin, OUTPUT); // Wait for joints to be initialized delay(500); // Starting the hardware UART, necessary for receiving IR if (IRreceive == true) // Check if required (when Serial is started servo1 connector will not work!) { Serial.begin(2400); Serial.setTimeout(100); Serial.println("serial communication started"); } // INIT the random seed, this is used to create random actions randomSeed(analogRead(5)); // Chirp for ready chirp(1, 50); chirp(1, 255); chirp(3, 0); } void loop() // Main program loop { if (IRreceive == true) // Choose between IR commands or random action { getcommand(); // Listen for IR command executecommand(); // Execute any receveid commands } else { randNumber0 = random(0, 18); randNumber1 = random(0, 20); delay(randNumber1*100); switch (randNumber0) { case 0: randNumber0 = random(10, 255); leanforward(randNumber0); break; case 1: randNumber0 = random(10, 255); leanbackward(randNumber0); break; case 2: randNumber0 = random(10, 255); leanleft(randNumber0); break; case 3: randNumber0 = random(10, 255); leanright(randNumber0); break; case 4: randNumber0 = random(10, 255); lookleft(randNumber0); break; case 5: randNumber0 = random(10, 255); lookright(randNumber0); break; case 6: randNumber0 = random(10, 255); randNumber1 = random(1, 5); turnleft(randNumber1, randNumber0); break; case 7: randNumber0 = random(10, 255); randNumber1 = random(1, 5); turnright(randNumber1, randNumber0); break; case 8: randNumber0 = random(10, 150); randNumber1 = random(2, 10); walkforward(randNumber1, randNumber0); break; case 9: randNumber0 = random(10, 150); randNumber1 = random(2, 10); walkbackward(randNumber1, randNumber0); break; case 10: randNumber0 = random(10, 150); randNumber1 = random(2, 10); walkleft(randNumber1, randNumber0); break; case 11: randNumber0 = random(10, 150); randNumber1 = random(2, 10); walkright(randNumber1, randNumber0); break; case 12: randNumber0 = random(5, 30); randNumber1 = random(2, 10); scared(randNumber1, randNumber0); break; case 13: randNumber0 = random(0, 255); randNumber1 = random(1, 30); chirp(randNumber1, randNumber0); break; case 14: randNumber0 = random(25, 100); randNumber1 = random(1, 5); wavefrontright(randNumber1, randNumber0); break; case 15: randNumber0 = random(25, 100); randNumber1 = random(1, 5); wavefrontleft(randNumber1, randNumber0); break; case 16: randNumber0 = random(25, 100); randNumber1 = random(1, 5); waverearright(randNumber1, randNumber0); break; case 17: randNumber0 = random(25, 100); randNumber1 = random(1, 5); waverearleft(randNumber1, randNumber0); break; } } } //-------------------------------------------------------------- void getcommand (void) // This is the routine that listens and decodes any IR commands. Decodes commands end up in the global vars. { int space1 = 0; int space2 = 0; if (Serial.available()) { rawcommand = Serial.readString(); if (receivelog){ Serial.println("START " + rawcommand + " END" + "\r\n" + "Received string length = " + rawcommand.length() + "\r\n" + "End character > at index = " + rawcommand.indexOf('>')); } //checking and deleting rubbish data at start of received command if ((rawcommand.indexOf('<') != 0) && (rawcommand.indexOf('<') != -1)) { rawcommand.remove(0, rawcommand.indexOf('<')); } //check if received command is correct if ((rawcommand.charAt(0) == '<') && (rawcommand.indexOf('>') <= 12) && (rawcommand.indexOf('>') != -1) && (rawcommand.length() > 7)) { if (receivelog){ Serial.println("Command is VALID"); } //breakdown into chunks //command command = rawcommand.substring(1, 3); //finding the spaces to find the times and speedms for (int i=0; i <= rawcommand.length(); i ++) { if ((rawcommand.charAt(i) == ' ') && (space1 == 0)) { space1 = i; } else if ((rawcommand.charAt(i) == ' ') && (space2 == 0)) { space2 = i; } } //Setting the command variables and checking if they are indeed a number (toInt()). //times times = rawcommand.substring(space1+1, space2).toInt(); //speedms speedms = rawcommand.substring(space2+1, rawcommand.indexOf('>')).toInt(); if (receivelog){ Serial.println("decoded commands are:"); Serial.flush(); Serial.println("command = " + command); Serial.flush(); Serial.println("times = " + times); Serial.flush(); Serial.println("speedms = " + speedms); } } else { if (receivelog){ Serial.println("Command is NOT valid"); } resetserial(); } } } //-------------------------------------------------------------- void resetserial (void) // This clears any received IR commands that where received in the serial buffer while the robot was execution a command. { //resetting all variables rawcommand = ""; command = ""; times = 0; speedms = 0; //flushing the serial buffer (64 byte) so there are no stored movements that need to be handled (annoying)... while (Serial.available()) { Serial.read(); } } //-------------------------------------------------------------- void executecommand (void) // Execute the commands that are stored in the global vars. { if (command == "WF") { walkforward(times, (speedms*5)); resetserial(); } else if (command == "WB") { walkbackward(times, (speedms*5)); resetserial(); } else if (command == "TR") { turnright(times, (speedms*5)); resetserial(); } else if (command == "TL") { turnleft(times, (speedms*5)); resetserial(); } else if (command == "LF") { leanforward(speedms*5); resetserial(); } else if (command == "LB") { leanbackward(speedms*5); resetserial(); } else if (command == "LL") { leanleft(speedms*5); resetserial(); } else if (command == "LR") { leanright(speedms*5); resetserial(); } else if (command == "FR") { wavefrontright(times, speedms*5); resetserial(); } else if (command == "FL") { wavefrontleft(times, speedms*5); resetserial(); } else if (command == "RR") { waverearright(times, speedms*5); resetserial(); } else if (command == "RL") { waverearleft(times, speedms*5); resetserial(); } } //-------------------------------------------------------------- void standup(){ BOT.move(kneeFrontLeft, 110); BOT.move(kneeFrontRight, 110); BOT.animate(500); BOT.move(kneeRearLeft, 110); BOT.move(kneeRearRight, 110); BOT.animate(500); BOT.move(kneeFrontLeft, 90); BOT.animate(100); BOT.move(ankleFrontLeft, 20); BOT.animate(100); BOT.move(kneeFrontLeft, 110); BOT.animate(100); BOT.move(kneeFrontRight, 90); BOT.animate(100); BOT.move(ankleFrontRight, 20); BOT.animate(100); BOT.move(kneeFrontRight, 110); BOT.animate(100); BOT.move(kneeRearLeft, 90); BOT.animate(100); BOT.move(ankleRearLeft, 20); BOT.animate(100); BOT.move(kneeRearLeft, 110); BOT.animate(100); BOT.move(kneeRearRight, 90); BOT.animate(100); BOT.move(ankleRearRight, 20); BOT.animate(100); BOT.move(kneeRearRight, 110); BOT.animate(100); } //-------------------------------------------------------------- void chirp(int beeps, int speedms){ for (int i = 0; i < beeps; i++){ for (int i = 0; i < 255; i++){ digitalWrite(sounderPin, HIGH); delayMicroseconds((355-i)+ (speedms*2)); digitalWrite(sounderPin, LOW); delayMicroseconds((355-i)+ (speedms*2)); } delay(30); } } //-------------------------------------------------------------- void waverearleft(int waves, int speedms){ BOT.move(kneeRearLeft, 150); BOT.move(kneeFrontRight, 60); BOT.move(ankleFrontRight, 0); BOT.animate(speedms); BOT.move(kneeRearLeft, 0); BOT.animate(speedms); for (int i = 0; i < waves; i++){ BOT.move(ankleRearLeft, 90); BOT.animate(speedms/2); BOT.move(ankleRearLeft, 60); BOT.animate(speedms/2); BOT.move(ankleRearLeft, 90); BOT.animate(speedms/2); BOT.move(ankleRearLeft, 60); BOT.animate(speedms/2); } BOT.move(kneeRearLeft, 110); BOT.move(kneeFrontRight, 110); BOT.move(ankleRearLeft, 20); BOT.move(ankleFrontRight, 20); BOT.animate(speedms); } //-------------------------------------------------------------- void waverearright(int waves, int speedms){ BOT.move(kneeRearRight, 150); BOT.move(kneeFrontLeft, 60); BOT.move(ankleFrontLeft, 0); BOT.animate(speedms); BOT.move(kneeRearRight, 0); BOT.animate(speedms); for (int i = 0; i < waves; i++){ BOT.move(ankleRearRight, 90); BOT.animate(speedms/2); BOT.move(ankleRearRight, 60); BOT.animate(speedms/2); BOT.move(ankleRearRight, 90); BOT.animate(speedms/2); BOT.move(ankleRearRight, 60); BOT.animate(speedms/2); } BOT.move(kneeRearRight, 110); BOT.move(kneeFrontLeft, 110); BOT.move(ankleRearRight, 20); BOT.move(ankleFrontLeft, 20); BOT.animate(speedms); } //-------------------------------------------------------------- void wavefrontright(int waves, int speedms){ BOT.move(kneeFrontRight, 150); BOT.move(kneeRearLeft, 60); BOT.move(ankleRearLeft, 0); BOT.animate(speedms); BOT.move(kneeFrontRight, 0); BOT.animate(speedms); for (int i = 0; i < waves; i++){ BOT.move(ankleFrontRight, 90); BOT.animate(speedms/2); BOT.move(ankleFrontRight, 60); BOT.animate(speedms/2); BOT.move(ankleFrontRight, 90); BOT.animate(speedms/2); BOT.move(ankleFrontRight, 60); BOT.animate(speedms/2); } BOT.move(kneeFrontRight, 110); BOT.move(kneeRearLeft, 110); BOT.move(ankleFrontRight, 20); BOT.move(ankleRearLeft, 20); BOT.animate(speedms); } //-------------------------------------------------------------- void wavefrontleft(int waves, int speedms){ BOT.move(kneeFrontLeft, 150); BOT.move(kneeRearRight, 60); BOT.move(ankleRearRight, 0); BOT.animate(speedms); BOT.move(kneeFrontLeft, 0); BOT.animate(speedms); for (int i = 0; i < waves; i++){ BOT.move(ankleFrontLeft, 90); BOT.animate(speedms/2); BOT.move(ankleFrontLeft, 60); BOT.animate(speedms/2); BOT.move(ankleFrontLeft, 90); BOT.animate(speedms/2); BOT.move(ankleFrontLeft, 60); BOT.animate(speedms/2); } BOT.move(kneeFrontLeft, 110); BOT.move(kneeRearRight, 110); BOT.move(ankleFrontLeft, 20); BOT.move(ankleRearRight, 20); BOT.animate(speedms); } //-------------------------------------------------------------- void scared(int shakes, int beeps){ for (int i = 0; i < shakes; i++){ BOT.move(kneeFrontLeft, 80); BOT.move(kneeFrontRight, 80); BOT.move(kneeRearLeft, 80); BOT.move(kneeRearRight, 80); BOT.move(ankleFrontLeft, 0); BOT.move(ankleFrontRight, 0); BOT.move(ankleRearLeft, 0); BOT.move(ankleRearRight, 0); BOT.animate(30); BOT.move(kneeFrontLeft, 110); BOT.move(kneeFrontRight, 110); BOT.move(kneeRearLeft, 110); BOT.move(kneeRearRight, 110); BOT.move(ankleFrontLeft, 20); BOT.move(ankleFrontRight, 20); BOT.move(ankleRearLeft, 20); BOT.move(ankleRearRight, 20); BOT.animate(30); } chirp(beeps, 0); } //-------------------------------------------------------------- void leanright(int speedms){ BOT.move(kneeFrontRight, 80); BOT.move(kneeRearRight, 80); BOT.move(ankleFrontRight, 0); BOT.move(ankleRearRight, 0); BOT.animate(speedms*2); delay(speedms*3); BOT.move(kneeFrontRight, 110); BOT.move(kneeRearRight, 110); BOT.move(ankleFrontRight, 20); BOT.move(ankleRearRight, 20); BOT.animate(speedms*2); } //-------------------------------------------------------------- void leanleft(int speedms){ BOT.move(kneeFrontLeft, 80); BOT.move(kneeRearLeft, 80); BOT.move(ankleFrontLeft, 0); BOT.move(ankleRearLeft, 0); BOT.animate(speedms*2); delay(speedms*3); BOT.move(kneeFrontLeft, 110); BOT.move(kneeRearLeft, 110); BOT.move(ankleFrontLeft, 20); BOT.move(ankleRearLeft, 20); BOT.animate(speedms*2); } //-------------------------------------------------------------- void leanforward(int speedms){ BOT.move(kneeFrontLeft, 80); BOT.move(kneeFrontRight, 80); BOT.move(ankleFrontLeft, 0); BOT.move(ankleFrontRight, 0); BOT.animate(speedms*2); delay(speedms*3); BOT.move(kneeFrontLeft, 110); BOT.move(kneeFrontRight, 110); BOT.move(ankleFrontLeft, 20); BOT.move(ankleFrontRight, 20); BOT.animate(speedms*2); } //-------------------------------------------------------------- void leanbackward(int speedms){ BOT.move(kneeRearLeft, 80); BOT.move(kneeRearRight, 80); BOT.move(ankleRearLeft, 0); BOT.move(ankleRearRight, 0); BOT.animate(speedms*2); delay(speedms*3); BOT.move(kneeRearLeft, 110); BOT.move(kneeRearRight, 110); BOT.move(ankleRearLeft, 20); BOT.move(ankleRearRight, 20); BOT.animate(speedms*2); } //-------------------------------------------------------------- void lookleft(int speedms){ BOT.move(hipRearLeft, 80); BOT.move(hipRearRight, 10); BOT.move(hipFrontLeft, 10); BOT.move(hipFrontRight, 80); BOT.animate(speedms); delay(speedms/2); BOT.move(hipRearRight, 45); BOT.move(hipRearLeft, 45); BOT.move(hipFrontRight, 45); BOT.move(hipFrontLeft, 45); BOT.animate(speedms); } //-------------------------------------------------------------- void lookright(int speedms){ BOT.move(hipRearRight, 80); BOT.move(hipRearLeft, 10); BOT.move(hipFrontRight, 10); BOT.move(hipFrontLeft, 80); BOT.animate(speedms); delay(speedms/2); BOT.move(hipRearRight, 45); BOT.move(hipRearLeft, 45); BOT.move(hipFrontRight, 45); BOT.move(hipFrontLeft, 45); BOT.animate(speedms); } //-------------------------------------------------------------- void walkforward(int steps, int speedms){ for (int i = 0; i < steps; i++){ BOT.move(kneeRearRight, 80); BOT.move(hipRearRight, 80); BOT.animate(speedms); BOT.move(kneeRearRight, 110); BOT.animate(speedms); BOT.move(kneeFrontRight, 80); BOT.move(hipFrontRight, 10); BOT.animate(speedms); BOT.move(kneeFrontRight, 110); BOT.animate(speedms); BOT.move(hipFrontRight, 45); BOT.move(hipRearRight, 45); BOT.animate(speedms); BOT.move(kneeRearLeft, 80); BOT.move(hipRearLeft, 80); BOT.animate(speedms); BOT.move(kneeRearLeft, 110); BOT.animate(speedms); BOT.move(kneeFrontLeft, 80); BOT.move(hipFrontLeft, 10); BOT.animate(speedms); BOT.move(kneeFrontLeft, 110); BOT.animate(speedms); BOT.move(hipFrontLeft, 45); BOT.move(hipRearLeft, 45); BOT.animate(speedms); } } //-------------------------------------------------------------- void walkbackward(int steps, int speedms){ for (int i = 0; i < steps; i++){ BOT.move(kneeFrontRight, 80); BOT.move(hipFrontRight, 80); BOT.animate(speedms); BOT.move(kneeFrontRight, 110); BOT.animate(speedms); BOT.move(kneeRearRight, 80); BOT.move(hipRearRight, 10); BOT.animate(speedms); BOT.move(kneeRearRight, 110); BOT.animate(speedms); BOT.move(hipRearRight, 45); BOT.move(hipFrontRight, 45); BOT.animate(speedms); BOT.move(kneeFrontLeft, 80); BOT.move(hipFrontLeft, 80); BOT.animate(speedms); BOT.move(kneeFrontLeft, 110); BOT.animate(speedms); BOT.move(kneeRearLeft, 80); BOT.move(hipRearLeft, 10); BOT.animate(speedms); BOT.move(kneeRearLeft, 110); BOT.animate(speedms); BOT.move(hipRearLeft, 45); BOT.move(hipFrontLeft, 45); BOT.animate(speedms); } } //-------------------------------------------------------------- void walkleft(int steps, int speedms){ for (int i = 0; i < steps; i++){ BOT.move(kneeRearRight, 80); BOT.move(hipRearRight, 10); BOT.animate(speedms); BOT.move(kneeRearRight, 110); BOT.animate(speedms); BOT.move(kneeRearLeft, 80); BOT.move(hipRearLeft, 80); BOT.animate(speedms); BOT.move(kneeRearLeft, 110); BOT.animate(speedms); BOT.move(hipRearLeft, 45); BOT.move(hipRearRight, 45); BOT.animate(speedms); BOT.move(kneeFrontRight, 80); BOT.move(hipFrontRight, 10); BOT.animate(speedms); BOT.move(kneeFrontRight, 110); BOT.animate(speedms); BOT.move(kneeFrontLeft, 80); BOT.move(hipFrontLeft, 80); BOT.animate(speedms); BOT.move(kneeFrontLeft, 110); BOT.animate(speedms); BOT.move(hipFrontLeft, 45); BOT.move(hipFrontRight, 45); BOT.animate(speedms); } } //-------------------------------------------------------------- void walkright(int steps, int speedms){ for (int i = 0; i < steps; i++){ BOT.move(kneeRearLeft, 80); BOT.move(hipRearLeft, 10); BOT.animate(speedms); BOT.move(kneeRearLeft, 110); BOT.animate(speedms); BOT.move(kneeRearRight, 80); BOT.move(hipRearRight, 80); BOT.animate(speedms); BOT.move(kneeRearRight, 110); BOT.animate(speedms); BOT.move(hipRearLeft, 45); BOT.move(hipRearRight, 45); BOT.animate(speedms); BOT.move(kneeFrontLeft, 80); BOT.move(hipFrontLeft, 10); BOT.animate(speedms); BOT.move(kneeFrontLeft, 110); BOT.animate(speedms); BOT.move(kneeFrontRight, 80); BOT.move(hipFrontRight, 80); BOT.animate(speedms); BOT.move(kneeFrontRight, 110); BOT.animate(speedms); BOT.move(hipFrontLeft, 45); BOT.move(hipFrontRight, 45); BOT.animate(speedms); } } //-------------------------------------------------------------- void turnleft(int steps, int speedms){ for (int i = 0; i < steps; i++){ BOT.move(kneeRearLeft, 80); BOT.move(hipRearLeft, 10); BOT.animate(speedms); BOT.move(kneeRearLeft, 110); BOT.animate(speedms); BOT.move(kneeRearRight, 80); BOT.move(hipRearRight, 80); BOT.animate(speedms); BOT.move(kneeRearRight, 110); BOT.animate(speedms); BOT.move(kneeFrontRight, 80); BOT.move(hipFrontRight, 10); BOT.animate(speedms); BOT.move(kneeFrontRight, 110); BOT.animate(speedms); BOT.move(kneeFrontLeft, 80); BOT.move(hipFrontLeft, 80); BOT.animate(speedms); BOT.move(kneeFrontLeft, 110); BOT.animate(speedms); BOT.move(hipFrontLeft, 45); BOT.move(hipFrontRight, 45); BOT.move(hipRearLeft, 45); BOT.move(hipRearRight, 45); BOT.animate(speedms); } } //-------------------------------------------------------------- void turnright(int steps, int speedms){ for (int i = 0; i < steps; i++){ BOT.move(kneeRearRight, 80); BOT.move(hipRearRight, 10); BOT.animate(speedms); BOT.move(kneeRearRight, 110); BOT.animate(speedms); BOT.move(kneeRearLeft, 80); BOT.move(hipRearLeft, 80); BOT.animate(speedms); BOT.move(kneeRearLeft, 110); BOT.animate(speedms); BOT.move(kneeFrontLeft, 80); BOT.move(hipFrontLeft, 10); BOT.animate(speedms); BOT.move(kneeFrontLeft, 110); BOT.animate(speedms); BOT.move(kneeFrontRight, 80); BOT.move(hipFrontRight, 80); BOT.animate(speedms); BOT.move(kneeFrontRight, 110); BOT.animate(speedms); BOT.move(hipFrontLeft, 45); BOT.move(hipFrontRight, 45); BOT.move(hipRearLeft, 45); BOT.move(hipRearRight, 45); BOT.animate(speedms); } } //-------------------------------------------------------------- |
