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Merge pull request #1 from s00500/master

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Robótica Fácil 2017-12-13 10:50:30 +01:00 committed by GitHub
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4 changed files with 162 additions and 69 deletions
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22
examples/BasicMoves/BasicMoves.ino
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@ -1,7 +1,7 @@
// Example of the LARS Movement library
#include <LARS.h>
LARS robot; // using default ESP32 pinning values for constructor
LARS robot;
boolean walk_forward = false;
boolean walk_backward = false;
@ -19,7 +19,25 @@ boolean PushUp = false;
void setup() {
Serial.begin(115200);
robot.init();
/*
How to wire:
init(FRH, FLH, BRH, BLH, FRL, FLL, BRL, BLL)
Leg Hip Face Hip Leg
__________ __________ _________________
|(FLL)_____)(FLH) (FRH)(______(FRL)|
|__| |left FRONT right| |__|
| |
| |
| |
_________ | | __________
|(BLL)_____)(BLH)______(BRH)(______(BRL)|
|__| |__|
*/
robot.init(26, 25, 17, 16, 27, 5, 23, 13); // Calling init with default values
delay(500);
}

161
examples/WebInterface/WebInterface.ino
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@ -1,9 +1,23 @@
// Example of the LARS Movement library using the ESPUI Webinferface by Lukas Bachschwell
// Example of the LARS Movement library using the ESPUI Webinferface and the SimleExpressions Library by Lukas Bachschwell
#include <SimpleExpressions.h>
#include <WiFi.h>
#include <ESPUI.h>
#include <LARS.h>
LARS robot; // using default ESP32 pinning values for constructor
#define ledDataPin 27 // cannot use
#define beeperPin 17 // cannot use
#define echoPin 5 // cannot use
#define triggerPin 23 //cannot use
#define checkTime 1000
#define warningDistance 20
long oldTime = 0;
bool warning = false;
const char* ssid = "Lars";
LARS robot;
boolean walk_forward = false;
boolean walk_backward = false;
@ -21,8 +35,8 @@ boolean PushUp = false;
void setup() {
Serial.begin(115200);
WiFi.mode(WIFI_AP);
WiFi.setHostname("Lars");
WiFi.softAP("Lars");
WiFi.setHostname(ssid);
WiFi.softAP(ssid);
Serial.println("");
Serial.print("IP address: ");
Serial.println(WiFi.softAPIP());
@ -40,25 +54,73 @@ void setup() {
ESPUI.begin("Crabby Control");
robot.init();
SimpleExpressions.init(ledDataPin, beeperPin);
SimpleExpressions.clearMouth();
SimpleExpressions.writeMouth("happySmall", 0, 0, 80);
SimpleExpressions.playSound(S_SUPER_HAPPY);
SimpleExpressions.writeMouth("happyFull", 0, 60, 100);
/*
How to wire:
init(FRH, FLH, BRH, BLH, FRL, FLL, BRL, BLL)
Leg Hip Face Hip Leg
__________ __________ _________________
|(FLL)_____)(FLH) (FRH)(______(FRL)|
|__| |left FRONT right| |__|
| |
| |
| |
_________ | | __________
|(BLL)_____)(BLH)______(BRH)(______(BRL)|
|__| |__|
*/
robot.init(26, 25, 17, 16, 27, 5, 23, 13); // Calling init with default values
delay(1000);
}
void loop() {
if (millis() - oldTime > checkTime) {
checkDistance();
oldTime = millis();
}
if (walk_forward) robot.walk(0);
else if (walk_backward) robot.walk();
else if (hello) robot.hello();
else if (turn_left) robot.turnL(1, 550);
else if (turn_right) robot.turnR(1, 550);
else if (moonwalk) robot.moonwalk(1, 5000);
else if (audience) robot.wave(1);
else if (dance) robot.dance(1, 600);
else if (omni) robot.omniWalk(1, 600, true, 1);
else if (omni_left) robot.omniWalk(1, 600, false, 1);
else if (PushUp) robot.pushUp(1, 600);
else if (upDown) robot.upDown(1, 5000);
else robot.home();
}
// UI Callbacks
void audienceWaveButton(Control c, int type) {
if (type == B_DOWN) {
audience = true;
}
else {
} else {
audience = false;
}
}
void moonWalkButton(Control c, int type) {
if (type == B_DOWN) {
moonwalk = true;
}
else {
} else {
moonwalk = false;
}
}
@ -66,32 +128,31 @@ void moonWalkButton(Control c, int type) {
void danceButton(Control c, int type) {
if (type == B_DOWN) {
dance = true;
}
else {
} else {
dance = false;
}
}
void pushUpButton(Control c, int type) {
if (type == B_DOWN) {
PushUp = true;
}
else {
} else {
PushUp = false;
}
}
void upDownButton(Control c, int type) {
if (type == B_DOWN) {
upDown = true;
}
else {
} else {
upDown = false;
}
}
void slowTurnRight(Control c, int type) {
if (type == B_DOWN) {
omni = true;
}
else {
} else {
omni = false;
}
}
@ -99,8 +160,7 @@ void slowTurnRight(Control c, int type) {
void slowTurnLeft(Control c, int type) {
if (type == B_DOWN) {
omni_left = true;
}
else {
} else {
omni_left = false;
}
}
@ -157,20 +217,51 @@ void wavePad(Control c, int value) {
}
}
void loop() {
if (walk_forward) robot.walk(0);
else if (walk_backward) robot.walk();
else if (hello) robot.hello();
else if (turn_left) robot.turnL(1, 550);
else if (turn_right) robot.turnR(1, 550);
else if (moonwalk) robot.moonwalk(1, 5000);
else if (audience) robot.wave(1);
else if (dance) robot.dance(1, 600);
else if (omni) robot.omniWalk(1, 600, true, 1);
else if (omni_left) robot.omniWalk(1, 600, false, 1);
else if (PushUp) robot.pushUp(1, 600);
else if (upDown) robot.upDown(1, 5000);
else robot.home();
// Ultrasonic Sensor
void checkDistance() {
int d = distance(triggerPin, echoPin);
ESPUI.print("Distance", String(d));
if (d < warningDistance) {
delay(100);
d = distance(triggerPin, echoPin);
if (d < warningDistance) {
if(!warning) {
SimpleExpressions.writeMouth("sadFull", 100, 0, 0);
SimpleExpressions.writeMouth("sadFull", 100, 0, 0); // only twice please
}
SimpleExpressions.playSound(S_CONFUSED);
warning = true;
}
} else {
if (warning) {
SimpleExpressions.writeMouth("happyFull", 0, 60, 100);
SimpleExpressions.writeMouth("happyFull", 0, 60, 100); // only twice please
warning = false;
}
}
}
long US_init(int trigger_pin, int echo_pin)
{
digitalWrite(trigger_pin, LOW);
delayMicroseconds(2);
digitalWrite(trigger_pin, HIGH);
delayMicroseconds(10);
digitalWrite(trigger_pin, LOW);
return pulseIn(echo_pin, HIGH, 100000);
}
long distance(int trigger_pin, int echo_pin)
{
long microseconds = US_init(trigger_pin, echo_pin);
long distance;
distance = microseconds / 29 / 2;
if (distance == 0) {
distance = 999;
}
return distance;
}

45
src/LARS.cpp
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@ -16,40 +16,23 @@
*/
LARS::LARS(int FRH, int FLH, int BRH, int BLH, int FRL, int FLL, int BRL, int BLL): reverse{0, 0, 0, 0, 0, 0, 0, 0}, trim{0, 0, 0, 0, 0, 0, 0, 0} {
board_pins[FRONT_RIGHT_HIP] = FRH; // front right inner
board_pins[FRONT_LEFT_HIP] = FLH; // front left inner
board_pins[BACK_RIGHT_HIP] = BRH; // back right inner
board_pins[BACK_LEFT_HIP] = BLH; // back left inner
board_pins[FRONT_RIGHT_LEG] = FRL; // front right outer
board_pins[FRONT_LEFT_LEG] = FLL; // front left outer // POSITIONS LOOKING FROM THE MIDDLE OF THE ROBOT!!!!!
board_pins[BACK_RIGHT_LEG] = BRL; // back right outer
board_pins[BACK_LEFT_LEG] = BLL; // back left outer
LARS::LARS(): reverse{0, 0, 0, 0, 0, 0, 0, 0}, trim{0, 0, 0, 0, 0, 0, 0, 0} {
}
void LARS::init() {
/*
trim[] for calibrating servo deviation,
initial posture (home) should like below
in symmetric
\ /
\_____/
| |
|_____|
/ \
/ \
*/
/*
trim[FRONT_LEFT_HIP] = 0;
trim[FRONT_RIGHT_HIP] = -8;
trim[BACK_LEFT_HIP] = 8;
trim[BACK_RIGHT_HIP] = 5;
void LARS::init(){
init(26, 25, 17, 16, 27, 5, 23, 13); // Calling init with default values
}
trim[FRONT_LEFT_LEG] = 2;
trim[FRONT_RIGHT_LEG] = -6;
trim[BACK_LEFT_LEG] = 6;
trim[BACK_RIGHT_LEG] = 5;
*/
void LARS::init(int FRH, int FLH, int BRH, int BLH, int FRL, int FLL, int BRL, int BLL) {
board_pins[FRONT_RIGHT_HIP] = FRH; // front right inner
board_pins[FRONT_LEFT_HIP] = FLH; // front left inner
board_pins[BACK_RIGHT_HIP] = BRH; // back right inner
board_pins[BACK_LEFT_HIP] = BLH; // back left inner
board_pins[FRONT_RIGHT_LEG] = FRL; // front right outer
board_pins[FRONT_LEFT_LEG] = FLL; // front left outer // POSITIONS LOOKING FROM THE MIDDLE OF THE ROBOT!!!!!
board_pins[BACK_RIGHT_LEG] = BRL; // back right outer
board_pins[BACK_LEFT_LEG] = BLL; // back left outer
for (int i = 0; i < 8; i++) {
oscillator[i].start();

3
src/LARS.h
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@ -24,8 +24,9 @@
class LARS {
public:
LARS(int FRH = 26, int FLH = 25, int BRH = 17, int BLH = 16, int FRL = 27, int FLL = 5, int BRL = 23, int BLL = 13);
LARS();
void init();
void init(int FRH = 26, int FLH = 25, int BRH = 17, int BLH = 16, int FRL = 27, int FLL = 5, int BRL = 23, int BLL = 13);
void walk(int dir = 1, float steps = 1, float T = 800); // T initial 400
void omniWalk(float steps, float T, bool side, float turn_factor);
void turnL(float steps, float period);