Cara Membangun Sauron Penguasa Robot

Kode

• Kode Arduino Sauron

Kode Arduino SauronArduino

#define CUSTOM_SETTINGS#define INCLUDE_GAMEPAD_SHIELD#define INCLUDE_MUSIC_PLAYER_SHIELD#define INCLUDE_TERMINAL_SHIELD#define INCLUDE_ORIENTATION_SENSOR_SHIELD/* Sertakan 1 perpustakaan Sheeld. */#include #include Servo rightArm_Motor1;Servo rightArm_Motor2;Servo rightArm_Motor3;Servo leftArm_Motor1;Servo leftArm_Motor2;Servo leftArm_Motor3;Servo neckHorisontal;Servo leherVertikal; int modePin2 =3;volatile int modeState1 =LOW;volatile int modeState2 =LOW;volatile boolean gamepadMode_Enabled =false;volatile boolean imitationMode_Enabled =false;const int ledPin1 =A0;const int ledPin2 =A1;//------- ----------------------------------- batalkan pengaturan ------------- ---------------------------------------void setup(){ // Mulai komunikasi OneSheeld.begin (); // Tetapkan beberapa pin sebagai output pinMode(modePin1, INPUT); pinMode(modePin2, INPUT); // Atur Led sebagai output dan TINGGI "Saurons Eye" pinMode(ledPin1,OUTPUT); pinMode(ledPin2,OUTPUT); digitalWrite(ledPin1, TINGGI); digitalWrite(ledPin2,TINGGI); // Pin Digital Dapat Digunakan Untuk Interupsi saat menggunakan Mega, Mega2560, MegaADK (2, 3, 18, 19, 20, 21) attachInterrupt(digitalPinToInterrupt(modePin1), gampadMode_ChangeISR, CHANGE); attachInterrupt(digitalPinToInterrupt(modePin2), imitationMode_ChangeISR, CHANGE); /* Hubungkan pin sinyal (Oranye) dari motor ke pin mega PWM Arduino secara langsung kemudian nyalakan motor dari catu daya BUKAN dari Arduino kemudian sambungkan kedua ground Arduino dan catu daya satu sama lain */ rightArm_Motor1.attach(4); rightArm_Motor2.attach(5); rightArm_Motor3.attach(6); leftArm_Motor1.attach(7); leftArm_Motor2.attach(8); leftArm_Motor3.attach(9); neckHorizontal.attach(10); neckVertical.attach(11); mulut.attach(12); // posisi awal rightArm_Motor1.write(95); rightArm_Motor2.write(150); rightArm_Motor3.write(20); leftArm_Motor1.write(90); leftArm_Motor2.write(45); leftArm_Motor3.write(180); neckHorizontal.write(105); neckVertical.write(30); mouth.write(100);}//----------------------------------- void loop ---- ---------------------------------------------------- lingkaran kosong ( ){ modeState1 =digitalRead(modePin1); modeState2 =digitalRead(modePin2); // Selalu periksa mode yang diinginkan if (modeState1 ==HIGH) { Terminal.println("Mode GamePad dipilih"); gamePadMode(); } //Pin 12 =Tinggi --> Mode Gamepad else if (modeState2 ==HIGH) { Terminal.println("Mode Imitasi dipilih"); imitasiMode(); } //Pin 13 =Tinggi --> Modus Imitasi else { Terminal.println("Mode Siaga dipilih"); modus siaga(); }}//void loop//----------------------------------------- void Mode Siaga --------------------------------------------- batalkan mode siaga ( ) { // Terminal Mode Siaga.println("Mode Siaga diaktifkan"); // posisi awal Terminal.println("Posisi 1"); rightArm_Motor1.write(95); rightArm_Motor2.write(150); rightArm_Motor3.write(20); leftArm_Motor1.write(90); leftArm_Motor2.write(45); leftArm_Motor3.write(180); neckHorizontal.write(105); neckVertical.write(30); // Atur volume// MusicPlayer.setVolume(10); MusicPlayer.play(); for (int i =0; i <=19; i++) { mulut.tulis(100); OneSheeld.delay(150); mulut.tulis(75); OneSheeld.delay(150); }//untuk MusicPlayer.pause(); mulut.tulis(100); OneSheeld.delay(3000); //------------------------------------------------ ---- // Selalu periksa mode yang diinginkan if (gamepadMode_Enabled ==true) { Terminal.println("Sistem Terganggu Dan Ini Akan Mengaktifkan Mode GamePad Sekarang"); gamePadMode(); } //Pin 12 =Tinggi --> Mode Gamepad else if (imitationMode_Enabled ==true) { Terminal.println("Sistem Terganggu Dan Ini Akan Mengaktifkan Mode Imitasi Sekarang"); imitasiMode(); } //Pin 13 =Tinggi --> Modus Imitasi else { // Selesaikan sisa urutan // Pindahkan kepala 90 --> 0 --> 180 --> 90 Terminal.println("2nd position"); rightArm_Motor1.write(95); rightArm_Motor2.write(150); rightArm_Motor3.write(20); leftArm_Motor1.write(90); leftArm_Motor2.write(45); leftArm_Motor3.write(180); neckHorizontal.write(105); OneSheeld.delay(1500); neckHorizontal.write(65); OneSheeld.delay(1500); neckHorizontal.write(140); OneSheeld.delay(1500); neckHorizontal.write(105); neckVertical.write(30); // Atur volume// MusicPlayer.setVolume(10); MusicPlayer.play(); for (int i =0; i <=19; i++) { mulut.tulis(100); OneSheeld.delay(150); mulut.tulis(75); OneSheeld.delay(150); }//untuk MusicPlayer.pause(); mulut.tulis(100); OneSheeld.delay(3000); }//else --> selesaikan sisa urutan //----------------------------------- ----------------- // Selalu periksa mode yang diinginkan if (gamepadMode_Enabled ==true) { Terminal.println("Sistem Terganggu Dan Ini Akan Mengaktifkan Mode GamePad Sekarang"); gamePadMode(); } //Pin 12 =Tinggi --> Mode Gamepad else if (imitationMode_Enabled ==true) { Terminal.println("Sistem Terganggu Dan Ini Akan Mengaktifkan Mode Imitasi Sekarang"); imitasiMode(); } //Pin 13 =Tinggi --> Modus Imitasi else { // Selesaikan sisa urutan // Gerakkan tangan dan kepala ke 45 derajat Terminal.println("3rd position"); rightArm_Motor1.write(15); rightArm_Motor2.write(180); rightArm_Motor3.write(0); leftArm_Motor1.write(180); leftArm_Motor2.write(30); leftArm_Motor3.write(145); neckHorizontal.write(65); neckVertical.write(30); // Atur volume// MusicPlayer.setVolume(10); MusicPlayer.play(); for (int i =0; i <=19; i++) { mulut.tulis(100); OneSheeld.delay(150); mulut.tulis(75); OneSheeld.delay(150); }//untuk MusicPlayer.pause(); mulut.tulis(100); OneSheeld.delay(3000); }//else --> selesaikan sisa urutan //----------------------------------- -------------- // Selalu periksa mode yang diinginkan if (gamepadMode_Enabled ==true) { Terminal.println("Sistem Terganggu Dan Ini Akan Mengaktifkan Mode GamePad Sekarang"); gamePadMode(); } //Pin 12 =Tinggi --> Mode Gamepad else if (imitationMode_Enabled ==true) { Terminal.println("Sistem Terganggu Dan Ini Akan Mengaktifkan Mode Imitasi Sekarang"); imitasiMode(); } //Pin 13 =Tinggi --> Modus Imitasi else { // Selesaikan sisa urutan // Gerakkan tangan kanan dan menuju ke 135 derajat Terminal.println("4th position"); rightArm_Motor1.write(15); rightArm_Motor2.write(150); rightArm_Motor3.write(30); leftArm_Motor1.write(180); leftArm_Motor2.write(30); leftArm_Motor3.write(145); neckHorizontal.write(140); neckVertical.write(30); // Set the volume// MusicPlayer.setVolume(10); MusicPlayer.play(); for (int i =0; i <=19; i++) { mouth.write(100); OneSheeld.delay(150); mouth.write(75); OneSheeld.delay(150); }//for MusicPlayer.pause(); mouth.write(100); OneSheeld.delay(3000); }//else --> complete the rest of the sequence //--------------------------------------------------- // Always check the desired mode if (gamepadMode_Enabled ==true) { Terminal.println("System Was Interrupted And It Will Activate GamePad Mode Now"); gamePadMode(); } //Pin 12 =High --> Gamepad mode else if (imitationMode_Enabled ==true) { Terminal.println("System Was Interrupted And It Will Activate Imitation Mode Now"); imitationMode(); } //Pin 13 =High --> Imitation Mode else { // Complete the rest of the sequence // Move head to the center Terminal.println("5th position"); rightArm_Motor1.write(15); rightArm_Motor2.write(150); rightArm_Motor3.write(30); leftArm_Motor1.write(180); leftArm_Motor2.write(30); leftArm_Motor3.write(145); neckHorizontal.write(105); neckVertical.write(30); // Set the volume// MusicPlayer.setVolume(10); MusicPlayer.play(); for (int i =0; i <=19; i++) { mouth.write(100); OneSheeld.delay(150); mouth.write(75); OneSheeld.delay(150); }//for MusicPlayer.pause(); mouth.write(100); OneSheeld.delay(3000); }//else --> complete the rest of the sequence //---------------------------------------------------- // Always check the desired mode if (gamepadMode_Enabled ==true) { Terminal.println("System Was Interrupted And It Will Activate GamePad Mode Now"); gamePadMode(); } //Pin 12 =High --> Gamepad mode else if (imitationMode_Enabled ==true) { Terminal.println("System Was Interrupted And It Will Activate Imitation Mode Now"); imitationMode(); } //Pin 13 =High --> Imitation Mode else { // Complete the rest of the sequence // Move hands up Terminal.println("6th position"); rightArm_Motor1.write(110); rightArm_Motor2.write(0); rightArm_Motor3.write(45); leftArm_Motor1.write(90); leftArm_Motor2.write(180); leftArm_Motor3.write(145); neckHorizontal.write(105); neckVertical.write(30); // Set the volume// MusicPlayer.setVolume(10); MusicPlayer.play(); for (int i =0; i <=19; i++) { mouth.write(100); OneSheeld.delay(150); mouth.write(75); OneSheeld.delay(150); }//for MusicPlayer.pause(); mouth.write(100); OneSheeld.delay(3000); }//else --> complete the rest of the sequence //------------------------------------------------- // Always check the desired mode if (gamepadMode_Enabled ==true) { Terminal.println("System Was Interrupted And It Will Activate GamePad Mode Now"); gamePadMode(); } //Pin 12 =High --> Gamepad mode else if (imitationMode_Enabled ==true) { Terminal.println("System Was Interrupted And It Will Activate Imitation Mode Now"); imitationMode(); } //Pin 13 =High --> Imitation Mode else { // Complete the rest of the sequence /* Move hands to sides o -- | -- ^ */ Terminal.println("7th position"); rightArm_Motor1.write(110); rightArm_Motor2.write(80); rightArm_Motor3.write(60); leftArm_Motor1.write(90); leftArm_Motor2.write(115); leftArm_Motor3.write(140); neckHorizontal.write(105); neckVertical.write(30); // Set the volume// MusicPlayer.setVolume(10); MusicPlayer.play(); for (int i =0; i <=19; i++) { mouth.write(100); OneSheeld.delay(150); mouth.write(75); OneSheeld.delay(150); }//for MusicPlayer.pause(); mouth.write(100); OneSheeld.delay(3000); }//else --> complete the rest of the sequence //--------------------------------------------------- // Always check the desired mode if (gamepadMode_Enabled ==true) { Terminal.println("System Was Interrupted And It Will Activate GamePad Mode Now"); gamePadMode(); } //Pin 12 =High --> Gamepad mode else if (imitationMode_Enabled ==true) { Terminal.println("System Was Interrupted And It Will Activate Imitation Mode Now"); imitationMode(); } //Pin 13 =High --> Imitation Mode else { // Complete the rest of the sequence // Strike right hand Terminal.println("8th position"); rightArm_Motor1.write(0); rightArm_Motor2.write(0); rightArm_Motor3.write(45); leftArm_Motor1.write(90); leftArm_Motor2.write(45); leftArm_Motor3.write(180); OneSheeld.delay(500); rightArm_Motor1.write(180); rightArm_Motor2.write(0); rightArm_Motor3.write(45); OneSheeld.delay(1000); rightArm_Motor1.write(95); rightArm_Motor2.write(150); rightArm_Motor3.write(20); neckHorizontal.write(105); neckVertical.write(30); // Set the volume// MusicPlayer.setVolume(10); MusicPlayer.play(); for (int i =0; i <=19; i++) { mouth.write(100); OneSheeld.delay(150); mouth.write(75); OneSheeld.delay(150); }//for MusicPlayer.pause(); mouth.write(100); OneSheeld.delay(3000); }//else --> complete the rest of the sequence //-------------------------------------------------- // Always check the desired mode if (gamepadMode_Enabled ==true) { Terminal.println("System Was Interrupted And It Will Activate GamePad Mode Now"); gamePadMode(); } //Pin 12 =High --> Gamepad mode else if (imitationMode_Enabled ==true) { Terminal.println("System Was Interrupted And It Will Activate Imitation Mode Now"); imitationMode(); } //Pin 13 =High --> Imitation Mode else { // Complete the rest of the sequence // Strike left hand Terminal.println("9th position"); rightArm_Motor1.write(95); rightArm_Motor2.write(150); rightArm_Motor3.write(20); leftArm_Motor1.write(90); leftArm_Motor2.write(180); leftArm_Motor3.write(110); OneSheeld.delay(500); leftArm_Motor1.write(0); leftArm_Motor2.write(180); leftArm_Motor3.write(110); OneSheeld.delay(1000); leftArm_Motor1.write(90); leftArm_Motor2.write(45); leftArm_Motor3.write(180); neckHorizontal.write(105); neckVertical.write(30); // Set the volume// MusicPlayer.setVolume(10); MusicPlayer.play(); for (int i =0; i <=19; i++) { mouth.write(100); OneSheeld.delay(150); mouth.write(75); OneSheeld.delay(150); }//for MusicPlayer.pause(); mouth.write(100); OneSheeld.delay(3000); }//else --> complete the rest of the sequence //----------------------------------------------------- // Always check the desired mode if (gamepadMode_Enabled ==true) { Terminal.println("System Was Interrupted And It Will Activate GamePad Mode Now"); gamePadMode(); } //Pin 12 =High --> Gamepad mode else if (imitationMode_Enabled ==true) { Terminal.println("System Was Interrupted And It Will Activate Imitation Mode Now"); imitationMode(); } //Pin 13 =High --> Imitation Mode else { // Complete the rest of the sequence // Play Music Player and move the robot's mouth Terminal.println("Return to the home position"); rightArm_Motor1.write(95); rightArm_Motor2.write(150); rightArm_Motor3.write(20); leftArm_Motor1.write(90); leftArm_Motor2.write(45); leftArm_Motor3.write(180); neckHorizontal.write(105); neckVertical.write(30); // Set the volume// MusicPlayer.setVolume(10); MusicPlayer.play(); for (int i =0; i <=49; i++) { mouth.write(100); OneSheeld.delay(150); mouth.write(75); OneSheeld.delay(150); }//for MusicPlayer.pause(); mouth.write(100); Terminal.println("Done"); }//else --> complete the rest of the sequence}// void standby mode//----------------------------------------- void Gamepad Mode ---------------------------------------------void gamePadMode() { Terminal.println("Gamepad mode activated"); // Always check the status of gamepad buttons if (GamePad.isUpPressed()) { // Move both hands up Terminal.println("Up is pressed"); rightArm_Motor1.write(110); rightArm_Motor2.write(0); rightArm_Motor3.write(45); leftArm_Motor1.write(90); leftArm_Motor2.write(180); leftArm_Motor3.write(145); neckHorizontal.write(105); neckVertical.write(30); mouth.write(100); }//Up is pressed if (GamePad.isDownPressed()) { // Move both hands up Terminal.println("Down is pressed"); rightArm_Motor1.write(110); rightArm_Motor2.write(170); rightArm_Motor3.write(45); leftArm_Motor1.write(90); leftArm_Motor2.write(20); leftArm_Motor3.write(145); neckHorizontal.write(105); neckVertical.write(30); mouth.write(100); }//Down is pressed if (GamePad.isRightPressed()) { // Move right hand side Terminal.println("Right is pressed"); rightArm_Motor1.write(110); rightArm_Motor2.write(80); rightArm_Motor3.write(60); leftArm_Motor1.write(90); leftArm_Motor2.write(20); leftArm_Motor3.write(145); neckHorizontal.write(105); neckVertical.write(30); mouth.write(100); }//Right is pressed if (GamePad.isLeftPressed()) { // Move left hand side Terminal.println("Left is pressed"); rightArm_Motor1.write(110); rightArm_Motor2.write(170); rightArm_Motor3.write(45); leftArm_Motor1.write(90); leftArm_Motor2.write(115); leftArm_Motor3.write(140); neckHorizontal.write(105); neckVertical.write(30); mouth.write(100); }//Left is pressed if (GamePad.isRedPressed()) { // Combo 1 Terminal.println("Red is pressed"); rightArm_Motor1.write(180); rightArm_Motor2.write(45); rightArm_Motor3.write(100); leftArm_Motor1.write(90); leftArm_Motor2.write(180); leftArm_Motor3.write(110); neckHorizontal.write(105); neckVertical.write(30); mouth.write(100); }//Red is pressed if (GamePad.isOrangePressed()) { // Combo 2 Terminal.println("Orange is pressed"); rightArm_Motor1.write(15); rightArm_Motor2.write(100); rightArm_Motor3.write(0); leftArm_Motor1.write(180); leftArm_Motor2.write(100); leftArm_Motor3.write(180); neckHorizontal.write(105); neckVertical.write(30); mouth.write(100); }//Orange is pressed if (GamePad.isGreenPressed()) { // Combo 3 Terminal.println("Green is pressed"); rightArm_Motor1.write(95); rightArm_Motor2.write(45); rightArm_Motor3.write(120); leftArm_Motor1.write(90); leftArm_Motor2.write(135); leftArm_Motor3.write(60); neckHorizontal.write(105); neckVertical.write(10); mouth.write(100); }//Green is pressed if (GamePad.isBluePressed()) { // Combo 4 Terminal.println("Blue is pressed"); rightArm_Motor1.write(90); rightArm_Motor2.write(0); rightArm_Motor3.write(90); leftArm_Motor1.write(180); leftArm_Motor2.write(45); leftArm_Motor3.write(180); neckHorizontal.write(105); neckVertical.write(30); mouth.write(100); }//Blue is pressed}// Gamepad mode//----------------------------------------- void Imitation Mode -------------------------------------------void imitationMode() { // Imitation mode Terminal.println("Imitation mode activated"); if (OrientationSensor.getY()> -90 &&OrientationSensor.getY() <=90) { leftArm_Motor1.write(map(OrientationSensor.getY(), -90, 90, 0, 180)); } if (OrientationSensor.getZ()> -70 &&abs(OrientationSensor.getZ()) <=70) { leftArm_Motor2.write(map(OrientationSensor.getZ(), 0, 60, 100, 160)); leftArm_Motor3.write(map(OrientationSensor.getZ(), 0, 60, 160, 100)); }}// void imitation mode//-----------------------------------------------------------------------------------------------------------//-------------------------------------------- Modes ISR ----------------------------------------------------//-----------------------------------------------------------------------------------------------------------void gampadMode_ChangeISR() { if (gamepadMode_Enabled &&!imitationMode_Enabled) { gamepadMode_Enabled =false; imitationMode_Enabled =false; } else { gamepadMode_Enabled =true; imitationMode_Enabled =false; }}//gampadMode_ChangeISR//------------------------------------------------------------------------------------------------------------void imitationMode_ChangeISR() { if (imitationMode_Enabled &&!gamepadMode_Enabled) { gamepadMode_Enabled =false; imitationMode_Enabled =false; } else { gamepadMode_Enabled =false; imitationMode_Enabled =true; }}//imitationMode_ChangeISR

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