MobBob:Robot Arduino DIY Dikendalikan oleh Smartphone Android

Kode

• kode

kodeArduino

/* * =============================================================* MobBob Control Program - Software Serial Bluetooth Version * oleh Kevin Chan (alias Cevinius) * =============================================================* * Program ini memungkinkan MobBob dikendalikan menggunakan perintah serial. Dalam versi kode ini, perintah * diterima melalui port serial perangkat lunak, dengan pin yang ditentukan di #define di dekat bagian atas. * Ini berarti Anda dapat menggunakan papan Arduino apa pun yang kompatibel, dan mencolokkan kartu bluetooth ke pin yang disetel untuk * serial perangkat lunak. (Berbeda dengan versi lain dari ini yang dirancang untuk papan Bluno dari DFRobot.) * * Program ini panjang dan berisi 2 komponen utama - program animasi servo yang halus dan program pengurai perintah * serial. * * Sistem Animasi * ================* Program animasi dirancang untuk menganimasikan array keyframe servo dengan lancar. Kode mencoba melakukan * yang terbaik agar mudah digunakan. * * Sistem animasi hanya akan mengantri 1 perintah. yaitu Satu perintah dapat dijalankan, * dan satu perintah dapat diantrekan. Jika Anda mengirim lebih banyak perintah, mereka akan menimpa perintah yang diantrekan. * * Sistem animasi secara default akan menunggu untuk menyelesaikan animasi saat ini sebelum memulai yang berikutnya. Ini * berarti bahwa jika data animasi diakhiri dengan robot dalam pose dasarnya, semuanya akan bergabung dengan lancar. Untuk *mendukung hal tersebut, sistem animasi juga memiliki fitur dimana suatu animasi dapat memiliki “finish sequence”* untuk menempatkan robot kembali ke pose dasar. Fitur ini digunakan untuk animasi berjalan maju/mundur. * Animasi tersebut memiliki urutan akhir yang menempatkan robot kembali ke pose dasar. * * Saat animasi selesai diputar, sistem animasi akan menampilkan string respons ke port Serial. * Ini memungkinkan penelepon untuk mengetahui kapan animasi yang mereka minta telah selesai diputar. Ini berguna * bagi pengguna untuk mengurutkan animasi - menunggu satu selesai sebelum memulai yang lain. * * Kode animasi memiliki banyak variabel untuk memungkinkan hal-hal yang akan di-tweak. Misalnya. Perbarui frekuensi, pin arduino, dll. * * Format array data animasi juga dirancang agar mudah diedit dengan tangan. * * Command Parser * ==============* Sistem ini mem-parsing perintah yang diterima melalui serial, dan memprosesnya. Perintah termasuk satu untuk secara langsung * mengatur posisi servo, serta perintah untuk memicu animasi dan jalan yang telah ditentukan sebelumnya. * * Jadi, pengguna yang tidak ingin khawatir tentang detail berjalan cukup menggunakan jalan/animasi yang telah ditentukan. * Dan, pengguna yang ingin kontrol penuh atas servos (untuk membuat animasi baru dengan cepat) dapat melakukannya juga. * * Seperti disebutkan di atas, perintah ini dapat digunakan secara interaktif dari Arduino Serial Monitor. Mereka juga dapat * dikirim menggunakan Bluetooth LE (bila Bluno digunakan). Aplikasi telepon akan mengirimkan perintah melalui Bluetooth LE ke * Bluno. * * Perintah Umum:* ----------------- * Siap/OK Periksa: * Pemeriksaan status. Respons segera dikembalikan untuk memeriksa apakah pengontrol berfungsi. * * Atur Servo: * waktu - waktu untuk tween ke sudut yang ditentukan, 0 akan langsung melompat ke sudut * LeftHip - mikrodetik dari pusat. -ve adalah pinggul masuk, +ve adalah pinggul keluar * Kaki kiri - mikrodetik dari datar. -ve adalah kaki ke bawah, +ve adalah kaki ke atas * rightHip - mikrodetik dari pusat. -ve adalah pinggul masuk, +ve adalah pinggul keluar * RightFoot - mikrodetik dari datar. -ve adalah kaki ke bawah, +ve adalah kaki ke atas * Perintah ini digunakan untuk mendapatkan kontrol penuh atas servos. Anda dapat mengubah robot dari * pose saat ini ke pose yang ditentukan selama durasi yang ditentukan. * * Stop/Reset: * Menghentikan robot setelah animasi saat ini. Dapat digunakan untuk menghentikan animasi yang disetel ke loop * tanpa batas. Ini juga dapat digunakan untuk menempatkan robot ke dalam pose dasarnya (berdiri tegak) * * Berhenti Segera: * Menghentikan robot segera tanpa menunggu untuk menyelesaikan animasi saat ini. Ini * menginterupsi animasi robot saat ini. Berpotensi robot bisa menjadi mid-animation* dan dalam pose yang tidak stabil, jadi berhati-hatilah saat menggunakan ini. * * Perintah Berjalan Standar:* ----------------------- * Maju:, -1 berarti kontinu, 0 atau tidak ada param sama dengan 1 kali. * Mundur:, -1 artinya kontinu, 0 atau tidak ada param sama dengan 1 kali. * Belok Kiri:, -1 artinya kontinu, 0 atau tidak ada param sama dengan 1 kali. * Belok Kanan:, -1 artinya terus menerus, 0 atau tidak ada param sama dengan 1 kali. * * Perintah Animasi Menyenangkan:* ----------------------- * Shake Head:, -1 berarti kontinu, 0 atau tanpa param sama dengan 1 kali. * * Bounce:, -1 artinya kontinu, 0 atau tidak ada param sama dengan 1 kali. * * Goyangan:, -1 artinya kontinu, 0 atau tidak ada param sama dengan 1 kali. * Goyangan Kiri:, -1 artinya kontinu, 0 atau tidak ada param sama dengan 1 kali. * Goyangan Kanan:, -1 artinya kontinu, 0 atau tidak ada param sama dengan 1 kali. * * Tap Feet:, -1 artinya terus menerus, 0 atau tidak ada param sama dengan 1 kali. * Tap Left Foot:, -1 artinya terus menerus, 0 atau tidak ada param sama dengan 1 kali. * Tap Right Foot:, -1 artinya terus menerus, 0 atau tidak ada param sama dengan 1 kali. * * Goyangkan Kaki:, -1 artinya terus menerus, 0 atau tidak ada param sama dengan 1 kali. * Goyangkan Kaki Kiri:, -1 artinya terus menerus, 0 atau tidak ada param sama dengan 1 kali. * Goyangkan Kaki Kanan:, -1 artinya terus menerus, 0 atau tidak ada param sama dengan 1 kali. * * Juga, kode akan mengirim string respons kembali melalui Serial ketika perintah telah selesai * dijalankan. * * Jika perintah selesai secara normal, string respons adalah kode perintah tanpa parameter *. Misalnya. Setelah selesai bergerak maju, ia akan mengirimkan respons "". * * Jika sebuah perintah diinterupsi dengan , animasi saat ini mungkin telah dihentikan di tengah jalan. * Dalam hal ini, robot mungkin berada dalam pose tengah jalan yang aneh, dan finishAnims mungkin tidak * dimainkan. Untuk memberi tahu pengguna bahwa ini telah terjadi, string respons akan memiliki parameter * -1. Misalnya, jika suatu jalan dihentikan di tengah jalan menggunakan , string responsnya adalah *  untuk menunjukkan bahwa jalan tersebut telah berhenti, tetapi dihentikan di tengah jalan. * (Catatan:Jika Anda menggunakan  untuk berhenti, itu akan menunggu siklus animasi saat ini selesai * sebelum berhenti. Jadi, animasi tidak akan berhenti di tengah jalan dalam kasus itu.) * * Karena tanggapan dikirim setelah animasi selesai, pengirim perintah dapat * mencari string respons untuk menentukan kapan robot siap untuk perintah baru. * Misalnya Jika Anda menggunakan perintah , string respons tidak akan dikirim sampai semua 3 langkah * (dan selesai anim) selesai. Jadi, pengirim perintah dapat menunggu string respons * sebelum memberi tahu robot untuk melakukan hal berikutnya. */ #include #include //-------------------------------- -------------------------------------------------- // Kecepatan komunikasi serial - Atur ini untuk kartu serial (bluetooth) Anda.//------------------------------- -------------------------------------------------- -// Kecepatan komunikasi serial dengan papan bluetooth.// Beberapa papan default ke 9600. Papan yang saya miliki memiliki nilai default 115200.#define SERIAL_SPEED 115200// Siapkan port Serial Perangkat Lunak pada pin ini.const int rxPin =11; // pin yang digunakan untuk menerima dataconst int txPin =12; // pin digunakan untuk mengirim dataSoftwareSerial softwareSerial(rxPin, txPin);//---------------------------------- ------------------------------------------------// Setup Pin Arduino - Atur ini untuk robot khusus Anda.//------------------------------------------------ --------------------------------------------- const int SERVO_LEFT_HIP =5;const int SERVO_LEFT_FOOT =2;const int SERVO_RIGHT_HIP =3;const int SERVO_RIGHT_FOOT =4;// Saya ingin kode ini dapat digunakan pada semua biped 4-servo! (Seperti Bob, MobBob)// Saya perhatikan bahwa beberapa build memasang servos pinggul menghadap ke cara yang berbeda// seperti yang saya lakukan pada MobBob, jadi, pengaturan ini memungkinkan Anda mengonfigurasi kode// untuk salah satu gaya build.// 1 untuk gaya MobBob pinggul menghadap ke depan (sendi ke depan)// -1 untuk gaya Bob pinggul menghadap ke belakang (sendi ke belakang)#define FRONT_JOINT_HIPS 1//------------------- -------------------------------------------------- -------------// Konstanta Servo Max/Min/Centre - Tetapkan ini untuk robot khusus Anda.//------------------ -------------------------------------------------- --------------const int LEFT_HIP_CENTRE =1580;const int LEFT_HIP_MIN =LEFT_HIP_CENTRE - 500;const int LEFT_HIP_MAX =LEFT_HIP_CENTRE + 500;const int LEFT_FOOT_CENTRE =1410;const_FOOTRE_FOOT_CENTRE LEFT; const int LEFT_FOOT_MAX =LEFT_FOOT_CENTRE + 500;const int RIGHT_HIP_CENTRE =1500;const int RIGHT_HIP_MIN =RIGHT_HIP_CENTRE - 500;const int RIGHT_HIP_MAX =RIGHT_HIP_CENTRE + 500;const int RIGHT_FO 465;const int RIGHT_FOOT_MIN =RIGHT_FOOT_CENTRE - 500;const int RIGHT_FOOT_MAX =RIGHT_FOOT_CENTRE + 500;//------------------------------ ------------------------------------------------// Helper berfungsi untuk membantu menghitung nilai gabungan dengan cara yang lebih mudah digunakan.// Anda dapat menyesuaikan tanda di sini jika servos diatur dengan cara yang berbeda.// Memperbarui di sini berarti data animasi tidak perlu diubah jika // servo diatur secara berbeda.// (Misalnya Servo pinggul Bob asli mundur ke MobBob.)//// (Juga, saya merasa sulit untuk mengingat tanda-tanda yang digunakan untuk setiap servo karena mereka // berbeda untuk pinggul kiri/kanan, dan untuk kaki kiri/kanan.) //------------------------------------------------ ------------------------------int LeftHipCentre() { kembalikan LEFT_HIP_CENTRE; }int LeftHipIn(int milidetik) { kembali LEFT_HIP_CENTRE + (FRONT_JOINT_HIPS * milidetik); }int LeftHipOut(int milidetik) { kembali LEFT_HIP_CENTRE - (FRONT_JOINT_HIPS * milidetik); }int RightHipCentre() { kembalikan RIGHT_HIP_CENTRE; }int RightHipIn(int milidetik) { return RIGHT_HIP_CENTRE - (FRONT_JOINT_HIPS * milidetik); }int RightHipOut(int milidetik) { return RIGHT_HIP_CENTRE + (FRONT_JOINT_HIPS * milidetik); }int LeftFootFlat() { kembali LEFT_FOOT_CENTRE; }int LeftFootUp(int milidetik) { kembali LEFT_FOOT_CENTRE - milidetik; }int LeftFootDown(int milidetik) { kembali LEFT_FOOT_CENTRE + milidetik; }int RightFootFlat() { kembalikan RIGHT_FOOT_CENTRE; }int RightFootUp(int milidetik) { return RIGHT_FOOT_CENTRE + milidetik; }int RightFootDown(int milidetik) { return RIGHT_FOOT_CENTRE - milidetik; }//----------------------------------------------------------- -----------------------------------// Data animasi keyframe untuk gaya berjalan standar dan animasi servo lainnya// // Formatnya adalah { , ​​, , ,  }// milidetik - waktu untuk tween ke posisi keyframe ini. Misalnya. 500 berarti butuh 500 ms untuk berpindah dari// posisi robot di awal bingkai ini ke posisi yang ditentukan dalam bingkai ini// leftHipMicros - posisi pinggul kiri dalam mikrodetik servo.// LeftFootMicros - posisi pinggul kiri di servo microsecs.// rightHipMicros - posisi pinggul kiri dalam mikrodetik servo.// RightFootMicros - posisi pinggul kiri dalam mikrodetik servo.// // Nilai mikro servo, mendukung nilai khusus -1. Jika nilai ini diberikan, ia memberitahu// kode animasi untuk mengabaikan servo ini di keyframe ini. yaitu Servo itu akan// tetap pada posisinya di awal keyframe ini.//// Juga, elemen pertama dalam data animasi adalah khusus. Ini adalah elemen metadata.// Elemen pertama adalah { , 0, 0, 0, 0 }, yang memberitahu kita jumlah frame// dalam animasi. Jadi, keyframe pertama sebenarnya ada di animData[1], dan keyframe terakhir// ada di animData[]. (Di mana  adalah nilai dalam animData[0][0].)//----------------------------- -------------------------------------------------- ---// Konstanta untuk membuat pengaksesan array keyframe lebih mudah dibaca manusia.const int TWEEN_TIME_VALUE =0;const int LEFT_HIP_VALUE =1;const int LEFT_FOOT_VALUE =2;const int RIGHT_HIP_VALUE =3;const int RIGHT_FOOT_VALUE =4;// Konstanta yang digunakan dalam animasi kiprah berjalan data.const int FOOT_DELTA =150;const int HIP_DELTA =FRONT_JOINT_HIPS * 120;// Beralih ke posisi berdiri tegak default. Digunakan oleh stopAnim().int standStraightAnim[][5] ={ // Metadata. Elemen pertama adalah jumlah frame. { 1, 0, 0, 0, 0 }, // Feet flat, Feet even { 300, LeftHipCentre(), LeftFootFlat(), RightHipCentre(), RightFootFlat() }};// Sebelum ini, perintahkan robot untuk Kaki Rata, Kaki Rata (yaitu standStraightAnim).int walkForwardAnim[][5] ={ // Metadata. Elemen pertama adalah jumlah frame. { 8, 0, 0, 0, 0 }, // Miringkan ke kiri, Kaki genap { 300, LeftHipCentre(), LeftFootUp(FOOT_DELTA), RightHipCentre(), RightFootDown(FOOT_DELTA) }, // Miringkan ke kiri, Kaki kanan maju { 300, LeftHipIn(HIP_DELTA), LeftFootUp(FOOT_DELTA), RightHipOut(HIP_DELTA), RightFootDown(FOOT_DELTA) }, // Kaki rata, Kaki kanan ke depan { 300, LeftHipIn(HIP_DELTA), LeftFootFlat(), RightHipOut(HIP_DELTA), RightFootFlat() }, // Miringkan ke kanan, Kaki kanan ke depan { 300, LeftHipIn(HIP_DELTA), LeftFootDown(FOOT_DELTA), RightHipOut(HIP_DELTA), RightFootUp(FOOT_DELTA) }, // Miringkan ke kanan, Kaki genap { 300, LeftHipCentre (), LeftFootDown(FOOT_DELTA), RightHipCentre(), RightFootUp(FOOT_DELTA) }, // Miringkan ke kanan, Kaki kiri ke depan { 300, LeftHipOut(HIP_DELTA), LeftFootDown(FOOT_DELTA), RightHipIn(HIP_DELTA), RightFootUp(FOOT_DELTA) , // Kaki rata, Kaki kiri ke depan { 300, LeftHipOut(HIP_DELTA), LeftFootFlat(), RightHipIn(HIP_DELTA), RightFootFlat() }, // Miringkan ke kiri, Kaki kiri ke depan { 300, LeftHipOut(HIP_DEL TA), LeftFootUp(FOOT_DELTA), RightHipIn(HIP_DELTA), RightFootDown(FOOT_DELTA) }};// Sebelum ini, buat robot ke Kaki Rata, Kaki Genap (mis. standStraightAnim).int walkBackwardAnim[][5] ={ // Metadata. Elemen pertama adalah jumlah frame. { 8, 0, 0, 0, 0 }, // Miringkan ke kiri, Kaki genap { 300, LeftHipCentre(), LeftFootUp(FOOT_DELTA), RightHipCentre(), RightFootDown(FOOT_DELTA) }, // Miringkan ke kiri, Kaki kiri maju { 300, LeftHipOut(HIP_DELTA), LeftFootUp(FOOT_DELTA), RightHipIn(HIP_DELTA), RightFootDown(FOOT_DELTA) }, // Kaki rata, Kaki kiri ke depan { 300, LeftHipOut(HIP_DELTA), LeftFootFlat(), RightHipIn(HIP_DELTA), RightFootFlat() }, // Miringkan ke kanan, Kaki kiri ke depan { 300, LeftHipOut(HIP_DELTA), LeftFootDown(FOOT_DELTA), RightHipIn(HIP_DELTA), RightFootUp(FOOT_DELTA) }, // Miringkan ke kanan, Kaki genap { 300, LeftHipCentre (), LeftFootDown(FOOT_DELTA), RightHipCentre(), RightFootUp(FOOT_DELTA) }, // Miringkan ke kanan, Kaki kanan ke depan { 300, LeftHipIn(HIP_DELTA), LeftFootDown(FOOT_DELTA), RightHipOut(HIP_DELTA), RightFootUp(FOOT_DELTA) , // Kaki rata, Kaki kanan ke depan { 300, LeftHipIn(HIP_DELTA), LeftFootFlat(), RightHipOut(HIP_DELTA), RightFootFlat() }, // Miringkan ke kiri, Kaki kanan ke depan { 300, LeftHipIn(HIP_DELTA ), LeftFootUp(FOOT_DELTA), RightHipOut(HIP_DELTA), RightFootDown(FOOT_DELTA) }};// Finish walk anim membawa robot dari ujung walkForwardAnim/walkBackwardAnim kembali ke standStraightAnim.int walkEndAnim[][5] ={ // Metadata . Elemen pertama adalah jumlah frame. { 2, 0, 0, 0, 0 }, // Miringkan ke kiri, Kaki genap { 300, LeftHipCentre(), LeftFootUp(FOOT_DELTA), RightHipCentre(), RightFootDown(FOOT_DELTA) }, // Feet flat, Feet even { 300, LeftHipCentre(), LeftFootFlat(), RightHipCentre(), RightFootFlat() }};// Sebelum ini, bawa robot ke Feet Flat, Feet Even (yaitu standStraightAnim).int turnLeftAnim[][5] ={ / / Metadata. Elemen pertama adalah jumlah frame. { 6, 0, 0, 0, 0 }, // Miringkan ke kiri, Kaki genap { 300, LeftHipCentre(), LeftFootUp(FOOT_DELTA), RightHipCentre(), RightFootDown(FOOT_DELTA) }, // Miringkan ke kiri, Belok kiri pinggul, Belok pinggul kanan { 300, LeftHipIn(HIP_DELTA), LeftFootUp(FOOT_DELTA), RightHipIn(HIP_DELTA), RightFootDown(FOOT_DELTA) }, // Kaki rata, Belok kiri pinggul, Belok pinggul kanan { 300, LeftHipIn(HIP_DELTA), LeftFootFlat (), RightHipIn(HIP_DELTA), RightFootFlat() }, // Miringkan ke kanan, Belok kiri pinggul, Belok pinggul kanan { 300, LeftHipIn(HIP_DELTA), LeftFootDown(FOOT_DELTA), RightHipIn(HIP_DELTA), RightFootUp(FOOT_DELTA) }, // Miringkan ke kanan, Kaki genap { 300, LeftHipCentre(), LeftFootDown(FOOT_DELTA), RightHipCentre(), RightFootUp(FOOT_DELTA) }, // Feet flat, Feet even { 300, LeftHipCentre(), LeftFootFlat(), RightHipCentre( ), RightFootFlat() }};// Sebelum ini, buat robot ke Feet Flat, Feet Even (yaitu standStraightAnim).int turnRightAnim[][5] ={ // Metadata. Elemen pertama adalah jumlah frame. { 6, 0, 0, 0, 0 }, // Miringkan ke kanan, Kaki genap { 300, LeftHipCentre(), LeftFootDown(FOOT_DELTA), RightHipCentre(), RightFootUp(FOOT_DELTA) }, // Miringkan ke kanan, Belok kiri pinggul, Belok pinggul kanan { 300, LeftHipIn(HIP_DELTA), LeftFootDown(FOOT_DELTA), RightHipIn(HIP_DELTA), RightFootUp(FOOT_DELTA) }, // Kaki rata, Belok kiri pinggul, Belok pinggul kanan { 300, LeftHipIn(HIP_DELTA), LeftFootFlat (), RightHipIn(HIP_DELTA), RightFootFlat() }, // Miringkan ke kiri, Belok kiri pinggul, Belok pinggul kanan { 300, LeftHipIn(HIP_DELTA), LeftFootUp(FOOT_DELTA), RightHipIn(HIP_DELTA), RightFootDown(FOOT_DELTA) }, // Miringkan ke kiri, Kaki genap { 300, LeftHipCentre(), LeftFootUp(FOOT_DELTA), RightHipCentre(), RightFootDown(FOOT_DELTA) }, // Feet flat, Feet even { 300, LeftHipCentre(), LeftFootFlat(), RightHipCentre( ), RightFootFlat() }};// Goyangan kepala animasi. Kiri kanan dengan cepat untuk meniru shakehead.int shakeHeadAnim[][5] ={ // Metadata. Elemen pertama adalah jumlah frame. { 4, 0, 0, 0, 0 }, // Kaki rata, Putar ke kiri { 150, LeftHipOut(HIP_DELTA), LeftFootFlat(), RightHipIn(HIP_DELTA), RightFootFlat() }, // Feet flat, Feet even { 150 , LeftHipCentre(), LeftFootFlat(), RightHipCentre(), RightFootFlat() }, // Kaki rata, Putar ke kanan { 150, LeftHipIn(HIP_DELTA), LeftFootFlat(), RightHipOut(HIP_DELTA), RightFootFlat() }, // Kaki datar, Kaki genap { 150, LeftHipCentre(), LeftFootFlat(), RightHipCentre(), RightFootFlat() } };// Wobble anim. Miringkan ke kiri dan ke kanan untuk melakukan wobble.int wobbleAnim[][5] ={ // Metadata. Elemen pertama adalah jumlah frame. { 4, 0, 0, 0, 0 }, // Miringkan ke kiri, Kaki genap { 300, LeftHipCentre(), LeftFootUp(FOOT_DELTA), RightHipCentre(), RightFootDown(FOOT_DELTA) }, // Feet flat, Feet even { 300 , LeftHipCentre(), LeftFootFlat(), RightHipCentre(), RightFootFlat() }, // Miringkan ke kanan, Kaki genap { 300, LeftHipCentre(), LeftFootDown(FOOT_DELTA), RightHipCentre(), RightFootUp(FOOT_DELTA) }, // Kaki datar, Kaki genap { 300, LeftHipCentre(), LeftFootFlat(), RightHipCentre(), RightFootFlat() } };// Goyangan kiri anim. Miringkan ke kiri dan ke belakang.int wobbleLeftAnim[][5] ={ // Metadata. Elemen pertama adalah jumlah frame. { 2, 0, 0, 0, 0 }, // Miringkan ke kiri, Kaki genap { 300, LeftHipCentre(), LeftFootUp(FOOT_DELTA), RightHipCentre(), RightFootDown(FOOT_DELTA) }, // Feet flat, Feet even { 300 , LeftHipCentre(), LeftFootFlat(), RightHipCentre(), RightFootFlat() },};// Goyangan animasi kanan. Miringkan ke kanan dan ke belakang.int wobbleRightAnim[][5] ={ // Metadata. Elemen pertama adalah jumlah frame. { 2, 0, 0, 0, 0 }, // Miringkan ke kanan, Kaki genap { 300, LeftHipCentre(), LeftFootDown(FOOT_DELTA), RightHipCentre(), RightFootUp(FOOT_DELTA) }, // Feet flat, Feet even { 300 , LeftHipCentre(), LeftFootFlat(), RightHipCentre(), RightFootFlat() } };// Ketuk kaki anim. Ketuk kedua kaki.int tapFeetAnim[][5] ={ // Metadata. Elemen pertama adalah jumlah frame. { 2, 0, 0, 0, 0 }, // Angkat kedua kaki, Kaki genap { 500, LeftHipCentre(), LeftFootUp(FOOT_DELTA), RightHipCentre(), RightFootUp(FOOT_DELTA) }, // Kaki rata, Kaki genap { 500, LeftHipCentre(), LeftFootFlat(), RightHipCentre(), RightFootFlat() },};// Ketuk kaki kiri anim.int tapLeftFootAnim[][5] ={ // Metadata. Elemen pertama adalah jumlah frame. { 2, 0, 0, 0, 0 }, // Angkat kaki kiri, Kaki genap { 500, LeftHipCentre(), LeftFootUp(FOOT_DELTA), RightHipCentre(), RightFootFlat() }, // Kaki rata, Kaki genap { 500 , LeftHipCentre(), LeftFootFlat(), RightHipCentre(), RightFootFlat() },};// Ketuk kaki kanan anim.int tapRightFootAnim[][5] ={ // Metadata. Elemen pertama adalah jumlah frame. { 2, 0, 0, 0, 0 }, // Angkat kaki kanan, Kaki genap { 500, LeftHipCentre(), LeftFootFlat(), RightHipCentre(), RightFootUp(FOOT_DELTA) }, // Kaki rata, Kaki genap { 500 , LeftHipCentre(), LeftFootFlat(), RightHipCentre(), RightFootFlat() },};// Memantul ke atas dan ke bawah anim.int bounceAnim[][5] ={ // Metadata. Elemen pertama adalah jumlah frame. { 2, 0, 0, 0, 0 }, // Angkat kedua kaki, Kaki genap { 500, LeftHipCentre(), LeftFootDown(300), RightHipCentre(), RightFootDown(300) }, // Kaki rata, Kaki genap { 500, LeftHipCentre(), LeftFootFlat(), RightHipCentre(), RightFootFlat() },};// Shake Legs Animation.int shakeLegsAnim[][5] ={ // Metadata. Elemen pertama adalah jumlah frame. { 14, 0, 0, 0, 0 }, // Miringkan ke kiri, Kaki genap { 300, LeftHipCentre(), LeftFootUp(FOOT_DELTA), RightHipCentre(), RightFootDown(FOOT_DELTA) }, // Miringkan ke kiri, Pinggul kanan di { 100, LeftHipCentre(), LeftFootUp(FOOT_DELTA), RightHipIn(HIP_DELTA), RightFootDown(FOOT_DELTA) }, // Miringkan ke kiri, Kaki genap { 100, LeftHipCentre(), LeftFootUp(FOOT_DELTA), RightHipCentre(), RightFootDELTA(FOOT_DELTA) , // Miringkan ke kiri, Pinggul kanan keluar { 100, LeftHipCentre(), LeftFootUp(FOOT_DELTA), RightHipOut(HIP_DELTA), RightFootDown(FOOT_DELTA) }, // Miringkan ke kiri, Kaki genap { 100, LeftHipCentre(), LeftFootUp(FOOT_DELTA) , RightHipCentre(), RightFootDown(FOOT_DELTA) }, // Miringkan ke kiri, Pinggul kanan di { 100, LeftHipCentre(), LeftFootUp(FOOT_DELTA), RightHipIn(HIP_DELTA), RightFootDown(FOOT_DELTA) }, // Miringkan ke kiri, Kaki genap { 100, LeftHipCentre(), LeftFootUp(FOOT_DELTA), RightHipCentre(), RightFootDown(FOOT_DELTA) }, // Feet flat, Feet even { 300, LeftHipCentre(), LeftFootFlat(), RightHipCentre(), RightFootFlat() }, // rig miring ht, Kaki genap { 300, LeftHipCentre(), LeftFootDown(FOOT_DELTA), RightHipCentre(), RightFootUp(FOOT_DELTA) }, // Miringkan ke kanan, Pinggul kiri di { 100, LeftHipIn(HIP_DELTA), LeftFootDown(FOOT_DELTA), RightHipCentre() , RightFootUp(FOOT_DELTA) }, // Miringkan ke kanan, Kaki genap { 100, LeftHipCentre(), LeftFootDown(FOOT_DELTA), RightHipCentre(), RightFootUp(FOOT_DELTA) }, // Miringkan ke kanan, Pinggul kiri keluar { 100, LeftHipOut(HIP_DELTA) ), LeftFootDown(FOOT_DELTA), RightHipCentre(), RightFootUp(FOOT_DELTA) }, // Miringkan ke kanan, Kaki genap { 100, LeftHipCentre(), LeftFootDown(FOOT_DELTA), RightHipCentre(), RightFootUp(FOOT_DELTA) }, // Kaki datar , Kaki genap { 300, LeftHipCentre(), LeftFootFlat(), RightHipCentre(), RightFootFlat() } };// Shake Left Leg Animation.int shakeLeftLegAnim[][5] ={ // Metadata. Elemen pertama adalah jumlah frame. { 12, 0, 0, 0, 0 }, // Miringkan ke kanan, Kaki genap { 300, LeftHipCentre(), LeftFootDown(FOOT_DELTA), RightHipCentre(), RightFootUp(FOOT_DELTA) }, // Miringkan ke kanan, Pinggul kiri di { 100, LeftHipIn(HIP_DELTA), LeftFootDown(FOOT_DELTA), RightHipCentre(), RightFootUp(FOOT_DELTA) }, // Miringkan ke kanan, Kaki genap { 100, LeftHipCentre(), LeftFootDown(FOOT_DELTA), RightHipCentre(), RightFootUp(FOOT_DELTA) , // Miringkan ke kanan, Pinggul kiri keluar { 100, LeftHipOut(HIP_DELTA), LeftFootDown(FOOT_DELTA), RightHipCentre(), RightFootUp(FOOT_DELTA) }, // Miringkan ke kanan, Kaki genap { 100, LeftHipCentre(), LeftFootDown(FOOT_DELTA) , RightHipCentre(), RightFootUp(FOOT_DELTA) }, // Miringkan ke kanan, Pinggul kiri di { 100, LeftHipIn(HIP_DELTA), LeftFootDown(FOOT_DELTA), RightHipCentre(), RightFootUp(FOOT_DELTA) }, // Miringkan ke kanan, Kaki genap { 100, LeftHipCentre(), LeftFootDown(FOOT_DELTA), RightHipCentre(), RightFootUp(FOOT_DELTA) }, // Miringkan ke kanan, Pinggul kiri keluar { 100, LeftHipOut(HIP_DELTA), LeftFootDown(FOOT_DELTA), RightHipCentre(), RightFo otUp(FOOT_DELTA) }, // Miringkan ke kanan, Kaki genap { 100, LeftHipCentre(), LeftFootDown(FOOT_DELTA), RightHipCentre(), RightFootUp(FOOT_DELTA) }, // Miringkan ke kanan, Pinggul kiri di { 100, LeftHipIn(HIP_DELTA) , LeftFootDown(FOOT_DELTA), RightHipCentre(), RightFootUp(FOOT_DELTA) }, // Miringkan ke kanan, Kaki genap { 100, LeftHipCentre(), LeftFootDown(FOOT_DELTA), RightHipCentre(), RightFootUp(FOOT_DELTA) }, // Kaki datar, Kaki genap { 300, LeftHipCentre(), LeftFootFlat(), RightHipCentre(), RightFootFlat() } };// Shake Right Leg Animation.int shakeRightLegAnim[][5] ={ // Metadata. Elemen pertama adalah jumlah frame. { 12, 0, 0, 0, 0 }, // Miringkan ke kiri, Kaki genap { 300, LeftHipCentre(), LeftFootUp(FOOT_DELTA), RightHipCentre(), RightFootDown(FOOT_DELTA) }, // Miringkan ke kiri, Pinggul kanan di { 100, LeftHipCentre(), LeftFootUp(FOOT_DELTA), RightHipIn(HIP_DELTA), RightFootDown(FOOT_DELTA) }, // Miringkan ke kiri, Kaki genap { 100, LeftHipCentre(), LeftFootUp(FOOT_DELTA), RightHipCentre(), RightFootDELTA(FOOT_DELTA) , // Miringkan ke kiri, Pinggul kanan keluar { 100, LeftHipCentre(), LeftFootUp(FOOT_DELTA), RightHipOut(HIP_DELTA), RightFootDown(FOOT_DELTA) }, // Miringkan ke kiri, Kaki genap { 100, LeftHipCentre(), LeftFootUp(FOOT_DELTA) , RightHipCentre(), RightFootDown(FOOT_DELTA) }, // Miringkan ke kiri, Pinggul kanan di { 100, LeftHipCentre(), LeftFootUp(FOOT_DELTA), RightHipIn(HIP_DELTA), RightFootDown(FOOT_DELTA) }, // Miringkan ke kiri, Kaki genap { 100, LeftHipCentre(), LeftFootUp(FOOT_DELTA), RightHipCentre(), RightFootDown(FOOT_DELTA) }, // Miringkan ke kiri, Pinggul kanan keluar { 100, LeftHipCentre(), LeftFootUp(FOOT_DELTA), RightHipOut(HIP_DELTA), RightFootDown (FOOT_DELTA) }, // Miringkan ke kiri, Kaki genap { 100, LeftHipCentre(), LeftFootUp(FOOT_DELTA), RightHipCentre(), RightFootDown(FOOT_DELTA) }, // Miringkan ke kiri, Pinggul kanan di { 100, LeftHipCentre(), LeftFootUp (FOOT_DELTA), RightHipIn(HIP_DELTA), RightFootDown(FOOT_DELTA) }, // Miringkan ke kiri, Kaki genap { 100, LeftHipCentre(), LeftFootUp(FOOT_DELTA), RightHipCentre(), RightFootDown(FOOT_DELTA) }, // Kaki rata, Kaki bahkan { 300, LeftHipCentre(), LeftFootFlat(), RightHipCentre(), RightFootFlat() }, };//------------------------- -------------------------------------------------- -------// Data animasi dinamis khusus untuk pengaturan/tweening posisi servo.//---------------------------- -------------------------------------------------- ----// Ini adalah 2 data anim khusus yang kami gunakan untuk fungsi SetServos(). Mereka memiliki// satu bingkai. Mereka akan mengubah data dalam data anim ini dan memutarnya ke // memindahkan servos.int setServosAnim1[][5] ={ // Metadata. Elemen pertama adalah jumlah frame. { 1, 0, 0, 0, 0 }, // Tilt left, Feet even { 0, LeftHipCentre(), LeftFootFlat(), RightHipCentre(), RightFootFlat() }};int setServosAnim2[][5] ={ // Metadata. First element is number of frames. { 1, 0, 0, 0, 0 }, // Tilt left, Feet even { 0, LeftHipCentre(), LeftFootFlat(), RightHipCentre(), RightFootFlat() }};//----------------------------------------------------------------------------------// Servo Variables//----------------------------------------------------------------------------------Servo servoLeftHip;Servo servoLeftFoot;Servo servoRightHip;Servo servoRightFoot;//----------------------------------------------------------------------------------// State variables for playing animations.//----------------------------------------------------------------------------------// Milliseconds between animation updates.const int millisBetweenAnimUpdate =20;// Time when we did the last animation update.long timeAtLastAnimUpdate;// Related to currently playing anim.int (*currAnim)[5]; // Current animation we're playing.int (*finishAnim)[5]; // Animation to play when the currAnim finishes or is stopped.long timeAtStartOfFrame; // millis() at last keyframe - frame we're lerping fromint targetFrame; // Frame we are lerping toint animNumLoops; // Number of times to play the animation. -1 means loop forever.char animCompleteStr[3] ="--"; // This is a 2 character string. When the anim is complete, // we print out the status as "<" + animComplereStr + ">".// Related to anim queue. I.e. Next anim to play.bool animInProgress; // Whether an animation is playingint (*nextAnim)[5]; // This is the next animation to play once the current one is done. // i.e. It's like a queue of size 1! // If curr is non-looping, we play this at the end of the current anim. // If curr is looping, this starts at the end of the current loop, // replacing curr anim. // If nothing is playing, this starts right away. int (*nextFinishAnim)[5]; // This is the finish animation for the queued animation.int nextAnimNumLoops; // Number of times to play the animation. -1 means loop forever.char nextAnimCompleteStr[3] ="--"; // This is a 2 character string. When the anim is complete, // we print out the status as "<" + animComplereStr + ">".bool interruptInProgressAnim; // Whether to change anim immediately, interrupting the current one.// Curr servo positionsint currLeftHip;int currLeftFoot;int currRightHip;int currRightFoot;// Servo positions at start of current keyframeint startLeftHip;int startLeftFoot;int startRightHip;int startRightFoot;//-------------------------------------------------------------------------------// Parser Variables//-------------------------------------------------------------------------------// Constant delimiter tag charsconst char START_CHAR ='<';const char END_CHAR ='>';const char SEP_CHAR =',';// Constants and a variable for the parser state.const int PARSER_WAITING =0; // Waiting for '<' to start parsing.const int PARSER_COMMAND =1; // Reading the command string.const int PARSER_PARAM1 =2; // Reading param 1.const int PARSER_PARAM2 =3; // Reading param 2.const int PARSER_PARAM3 =4; // Reading param 3.const int PARSER_PARAM4 =5; // Reading param 3.const int PARSER_PARAM5 =6; // Reading param 3.const int PARSER_EXECUTE =7; // Finished parsing a command, so execute it.// Current parser state.int currParserState =PARSER_WAITING; // String for storing the command. 2 chars for the command and 1 char for '\0'.// We store the command here as we're parsing.char currCmd[3] ="--";// For tracking which letter we are in the command.int currCmdIndex;// Max command length.const int CMD_LENGTH =2;// Current param values. Store them here after we parse them.int currParam1Val;int currParam2Val;int currParam3Val;int currParam4Val;int currParam5Val;// Variable for tracking which digit we're parsing in a param.// We use this to convert the single digits back into a decimal value.int currParamIndex;// Whether the current param is negative.boolean currParamNegative;// Max parameter length. Stop parsing if it exceeds this.const int MAX_PARAM_LENGTH =6;//===============================================================================// Arduino setup() and loop().//===============================================================================void setup() { // Setup the main serial port softwareSerial.begin(SERIAL_SPEED); // Setup the Servos servoLeftHip.attach( SERVO_LEFT_HIP, LEFT_HIP_MIN, LEFT_HIP_MAX); servoLeftFoot.attach( SERVO_LEFT_FOOT, LEFT_FOOT_MIN, LEFT_FOOT_MAX); servoRightHip.attach( SERVO_RIGHT_HIP, RIGHT_HIP_MIN, RIGHT_HIP_MAX); servoRightFoot.attach(SERVO_RIGHT_FOOT, RIGHT_FOOT_MIN, RIGHT_FOOT_MAX); // Set things up for the parser. setup_Parser(); // Set things up for the animation code. setup_Animation();}void loop() { // Update the parser. loop_Parser(); // Update the animation. loop_Animation();}//===============================================================================// Related to the parser//===============================================================================// Sets up the parser stuff. Called in setup(). Should not be called elsewhere.void setup_Parser(){ // Wait for first command. currParserState =PARSER_WAITING; // Print this response to say we've booted and are ready. softwareSerial.println("");}// Loop() for the parser stuff. Called in loop(). Should not be called elsewhere.void loop_Parser(){ //--------------------------------------------------------- // PARSER // // If there is data, parse it and process it. //--------------------------------------------------------- // Read from pin serial port and write it out on USB port. if (softwareSerial.available()> 0) { char c =softwareSerial.read(); // If we're in WAITING state, look for the START_CHAR. if (currParserState ==PARSER_WAITING) { // If it's the START_CHAR, move out of this state... if (c ==START_CHAR) { // Start parsing the command. currParserState =PARSER_COMMAND; // Reset thing ready for parsing currCmdIndex =0; currCmd[0] ='-'; currCmd[1] ='-'; currParam1Val =0; currParam2Val =0; currParam3Val =0; currParam4Val =0; currParam5Val =0; } // Otherwise, stay in this state. } // In the state to look for the command. else if (currParserState ==PARSER_COMMAND) { // Else if it's a separator, parse parameter 1. But make sure it's not // empty, or else it's a parse error. if (c ==SEP_CHAR) { if (currCmdIndex ==CMD_LENGTH) { currParserState =PARSER_PARAM1; currParamIndex =0; currParamNegative =false; } else { currParserState =PARSER_WAITING; } } // Else if it's the end char, there are no parameters, so we're ready to // process. But make sure it's not empty. Otherwise, it's a parse error. else if (c ==END_CHAR) { if (currCmdIndex ==CMD_LENGTH) { currParserState =PARSER_EXECUTE; } else { currParserState =PARSER_WAITING; } } // If we've got too many letters here, we have a parse error, // so abandon and go back to PARSER_WAITING else if ( (currCmdIndex>=CMD_LENGTH) || (c <'A') || (c> 'Z') ) { currParserState =PARSER_WAITING; } // Store the current character. else { currCmd[currCmdIndex] =c; currCmdIndex++; } } // In the state to parse param 1. else if (currParserState ==PARSER_PARAM1) { // Else if it's a separator, parse parameter 1. if (c ==SEP_CHAR) { if (currParamNegative) { currParam1Val =-1 * currParam1Val; } currParserState =PARSER_PARAM2; currParamIndex =0; currParamNegative =false; } // Else if it's the end char, there are no parameters, so we're ready to // process. else if (c ==END_CHAR) { if (currParamNegative) { currParam1Val =-1 * currParam1Val; } currParserState =PARSER_EXECUTE; } // Check for negative at the start. else if ( (currParamIndex ==0) &&(c =='-') ) { currParamNegative =true; currParamIndex++; } // If it's too long, or the character is not a digit, then it's // a parse error, so abandon and go back to PARSER_WAITING. else if ( (currParamIndex>=MAX_PARAM_LENGTH) || (c <'0') || (c> '9') ) { currParserState =PARSER_WAITING; } // It's a valid character, so process it. else { // Shift existing value across and add new digit at the bottom. int currDigitVal =c - '0'; currParam1Val =(currParam1Val * 10) + currDigitVal; currParamIndex++; } } // In the state to parse param 2. else if (currParserState ==PARSER_PARAM2) { // Else if it's a separator, parse parameter 2. if (c ==SEP_CHAR) { if (currParamNegative) { currParam2Val =-1 * currParam2Val; } currParserState =PARSER_PARAM3; currParamIndex =0; currParamNegative =false; } // Else if it's the end char, there are no parameters, so we're ready to // process. else if (c ==END_CHAR) { if (currParamNegative) { currParam2Val =-1 * currParam2Val; } currParserState =PARSER_EXECUTE; } // Check for negative at the start. else if ( (currParamIndex ==0) &&(c =='-') ) { currParamNegative =true; currParamIndex++; } // If it's too long, or the character is not a digit, then it's // a parse error, so abandon and go back to PARSER_WAITING. else if ( (currParamIndex>=MAX_PARAM_LENGTH) || (c <'0') || (c> '9') ) { currParserState =PARSER_WAITING; } // It's a valid character, so process it. else { // Shift existing value across and add new digit at the bottom. int currDigitVal =c - '0'; currParam2Val =(currParam2Val * 10) + currDigitVal; currParamIndex++; } } // In the state to parse param 3. else if (currParserState ==PARSER_PARAM3) { // Else if it's a separator, parse parameter 2. if (c ==SEP_CHAR) { if (currParamNegative) { currParam3Val =-1 * currParam3Val; } currParserState =PARSER_PARAM4; currParamIndex =0; currParamNegative =false; } // Else if it's the end char, there are no parameters, so we're ready to // process. else if (c ==END_CHAR) { if (currParamNegative) { currParam3Val =-1 * currParam3Val; } currParserState =PARSER_EXECUTE; } // Check for negative at the start. else if ( (currParamIndex ==0) &&(c =='-') ) { currParamNegative =true; currParamIndex++; } // If it's too long, or the character is not a digit, then it's // a parse error, so abandon and go back to PARSER_WAITING. else if ( (currParamIndex>=MAX_PARAM_LENGTH) || (c <'0') || (c> '9') ) { currParserState =PARSER_WAITING; } // It's a valid character, so process it. else { // Shift existing value across and add new digit at the bottom. int currDigitVal =c - '0'; currParam3Val =(currParam3Val * 10) + currDigitVal; currParamIndex++; } } // In the state to parse param 4. else if (currParserState ==PARSER_PARAM4) { // Else if it's a separator, parse parameter 2. if (c ==SEP_CHAR) { if (currParamNegative) { currParam4Val =-1 * currParam4Val; } currParserState =PARSER_PARAM5; currParamIndex =0; currParamNegative =false; } // Else if it's the end char, there are no parameters, so we're ready to // process. else if (c ==END_CHAR) { if (currParamNegative) { currParam4Val =-1 * currParam4Val; } currParserState =PARSER_EXECUTE; } // Check for negative at the start. else if ( (currParamIndex ==0) &&(c =='-') ) { currParamNegative =true; currParamIndex++; } // If it's too long, or the character is not a digit, then it's // a parse error, so abandon and go back to PARSER_WAITING. else if ( (currParamIndex>=MAX_PARAM_LENGTH) || (c <'0') || (c> '9') ) { currParserState =PARSER_WAITING; } // It's a valid character, so process it. else { // Shift existing value across and add new digit at the bottom. int currDigitVal =c - '0'; currParam4Val =(currParam4Val * 10) + currDigitVal; currParamIndex++; } } // In the state to parse param 5. else if (currParserState ==PARSER_PARAM5) { // If it's the end char, there are no parameters, so we're ready to // process. if (c ==END_CHAR) { if (currParamNegative) { currParam5Val =-1 * currParam5Val; } currParserState =PARSER_EXECUTE; } // Check for negative at the start. else if ( (currParamIndex ==0) &&(c =='-') ) { currParamNegative =true; currParamIndex++; } // If it's too long, or the character is not a digit, then it's // a parse error, so abandon and go back to PARSER_WAITING. else if ( (currParamIndex>=MAX_PARAM_LENGTH) || (c <'0') || (c> '9') ) { currParserState =PARSER_WAITING; } // It's a valid character, so process it. else { // Shift existing value across and add new digit at the bottom. int currDigitVal =c - '0'; currParam5Val =(currParam5Val * 10) + currDigitVal; currParamIndex++; } } //--------------------------------------------------------- // PARSER CODE HANDLER (Still part of Parser, but section that // processes completed commands) // // If the most recently read char completes a command, // then process the command, and clear the state to // go back to looking for a new command. // // The parsed items are stored in:// currCmd, currParam1Val, currParam2Val, currParam3Val, // currParam4Val, currParam5Val //--------------------------------------------------------- if (currParserState ==PARSER_EXECUTE) { // Ready/OK Check: if ((currCmd[0] =='O') &&(currCmd[1] =='K')) { softwareSerial.println(""); } // Set Servo: // time - time to tween to specified angles // leftHip - microsecs from centre. -ve is hip in, +ve is hip out // leftFoot - microsecs from flat. -ve is foot down, +ve is foot up // rightHip - microsecs from centre. -ve is hip in, +ve is hip out // rightFoot - microsecs from flat. -ve is foot down, +ve is foot up else if ((currCmd[0] =='S') &&(currCmd[1] =='V')) { int tweenTime =currParam1Val; if (currParam1Val <0) { tweenTime =0; } SetServos(tweenTime, currParam2Val, currParam3Val, currParam4Val, currParam5Val, "SV"); } // Stop/Reset:, Stops current anim. Also can be used to put robot into reset position. else if ((currCmd[0] =='S') &&(currCmd[1] =='T')) { StopAnim("ST"); } // Stop Immediate: else if ((currCmd[0] =='S') &&(currCmd[1] =='I')) { StopAnimImmediate("SI"); } // Forward:, -1 means continuous, 0 or no param is the same as 1 time. else if ((currCmd[0] =='F') &&(currCmd[1] =='W')) { int numTimes =currParam1Val; if (currParam1Val <0) { numTimes =-1; } PlayAnimNumTimes(walkForwardAnim, walkEndAnim, numTimes, "FW"); } // Backward:, -1 means continuous, 0 or no param is the same as 1 time. else if ((currCmd[0] =='B') &&(currCmd[1] =='W')) { int numTimes =currParam1Val; if (currParam1Val <0) { numTimes =-1; } PlayAnimNumTimes(walkBackwardAnim, walkEndAnim, numTimes, "BW"); } // Turn Left:, -1 means continuous, 0 or no param is the same as 1 time. else if ((currCmd[0] =='L') &&(currCmd[1] =='T')) { int numTimes =currParam1Val; if (currParam1Val <0) { numTimes =-1; } PlayAnimNumTimes(turnLeftAnim, NULL, numTimes, "LT"); } // Turn Right:, -1 means continuous, 0 or no param is the same as 1 time. else if ((currCmd[0] =='R') &&(currCmd[1] =='T')) { int numTimes =currParam1Val; if (currParam1Val <0) { numTimes =-1; } PlayAnimNumTimes(turnRightAnim, NULL, numTimes, "RT"); } // Shake Head:, -1 means continuous, 0 or no param is the same as 1 time. else if ((currCmd[0] =='S') &&(currCmd[1] =='X')) { int numTimes =currParam1Val; if (currParam1Val <0) { numTimes =-1; } PlayAnimNumTimes(shakeHeadAnim, NULL, numTimes, "SX"); } // Bounce:, -1 means continuous, 0 or no param is the same as 1 time. else if ((currCmd[0] =='B') &&(currCmd[1] =='X')) { int numTimes =currParam1Val; if (currParam1Val <0) { numTimes =-1; } PlayAnimNumTimes(bounceAnim, NULL, numTimes, "BX"); } // Wobble:, -1 means continuous, 0 or no param is the same as 1 time. else if ((currCmd[0] =='W') &&(currCmd[1] =='X')) { int numTimes =currParam1Val; if (currParam1Val <0) { numTimes =-1; } PlayAnimNumTimes(wobbleAnim, NULL, numTimes, "WX"); } // Wobble Left:, -1 means continuous, 0 or no param is the same as 1 time. else if ((currCmd[0] =='W') &&(currCmd[1] =='Y')) { int numTimes =currParam1Val; if (currParam1Val <0) { numTimes =-1; } PlayAnimNumTimes(wobbleLeftAnim, NULL, numTimes, "WY"); } // Wobble Right:, -1 means continuous, 0 or no param is the same as 1 time. else if ((currCmd[0] =='W') &&(currCmd[1] =='Z')) { int numTimes =currParam1Val; if (currParam1Val <0) { numTimes =-1; } PlayAnimNumTimes(wobbleRightAnim, NULL, numTimes, "WZ"); } // Tap Feet:, -1 means continuous, 0 or no param is the same as 1 time. else if ((currCmd[0] =='T') &&(currCmd[1] =='X')) { int numTimes =currParam1Val; if (currParam1Val <0) { numTimes =-1; } PlayAnimNumTimes(tapFeetAnim, NULL, numTimes, "TX"); } // Tap Left Foot:, -1 means continuous, 0 or no param is the same as 1 time. else if ((currCmd[0] =='T') &&(currCmd[1] =='Y')) { int numTimes =currParam1Val; if (currParam1Val <0) { numTimes =-1; } PlayAnimNumTimes(tapLeftFootAnim, NULL, numTimes, "TY"); } // Tap Right Foot:, -1 means continuous, 0 or no param is the same as 1 time. else if ((currCmd[0] =='T') &&(currCmd[1] =='Z')) { int numTimes =currParam1Val; if (currParam1Val <0) { numTimes =-1; } PlayAnimNumTimes(tapRightFootAnim, NULL, numTimes, "TZ"); } // Shake Legs:, -1 means continuous, 0 or no param is the same as 1 time. else if ((currCmd[0] =='L') &&(currCmd[1] =='X')) { int numTimes =currParam1Val; if (currParam1Val <0) { numTimes =-1; } PlayAnimNumTimes(shakeLegsAnim, NULL, numTimes, "LX"); } // Shake Left Leg:, -1 means continuous, 0 or no param is the same as 1 time. else if ((currCmd[0] =='L') &&(currCmd[1] =='Y')) { int numTimes =currParam1Val; if (currParam1Val <0) { numTimes =-1; } PlayAnimNumTimes(shakeLeftLegAnim, NULL, numTimes, "LY"); } // Shake Right Leg:, -1 means continuous, 0 or no param is the same as 1 time. else if ((currCmd[0] =='L') &&(currCmd[1] =='Z')) { int numTimes =currParam1Val; if (currParam1Val <0) { numTimes =-1; } PlayAnimNumTimes(shakeRightLegAnim, NULL, numTimes, "LZ"); } //-------------------------------------------------- // Clear the state and wait for the next command! // This must be done! //-------------------------------------------------- currParserState =PARSER_WAITING; } }}//===============================================================================// Related to playing servo animations.//===============================================================================// Call this to play the given animation once. Pass in NULL if there is no finishAnim.void PlayAnim(int animToPlay[][5], int finishAnim[][5], const char *completeStr){ // Put this in the queue. PlayAnimNumTimes(animToPlay, finishAnim, 1, completeStr);}// Call this to loop the given animation. Pass in NULL if there is no finishAnim.void LoopAnim(int animToPlay[][5], int finishAnim[][5], const char *completeStr){ // Put this in the queue. PlayAnimNumTimes(animToPlay, finishAnim, -1, completeStr);}// Call this to play the given animation the specified number of times. // -1 number of times will make it loop forever.// Pass in NULL if there is no finishAnim.void PlayAnimNumTimes(int animToPlay[][5], int finishAnim[][5], int numTimes, const char *completeStr){ // Put this in the queue. nextAnim =animToPlay; nextFinishAnim =finishAnim; nextAnimNumLoops =numTimes; // Save the completeStr if (completeStr ==NULL) { nextAnimCompleteStr[0] ='-'; nextAnimCompleteStr[1] ='-'; } else { nextAnimCompleteStr[0] =completeStr[0]; nextAnimCompleteStr[1] =completeStr[1]; }}// Stop after the current animation.void StopAnim(const char *completeStr){ // Put this in the queue. PlayAnimNumTimes(standStraightAnim, NULL, 1, completeStr);}// Stop immediately and lerp robot to zero position, interrupting // any animation that is in progress.void StopAnimImmediate(const char *completeStr){ // Put this in the queue. interruptInProgressAnim =true; PlayAnimNumTimes(standStraightAnim, NULL, 1, completeStr);}// Moves servos to the specified positions. Time 0 will make it immediate. Otherwise,// it'll tween it over a specified time.// For positions, 0 means centered.// For hips, -ve is hip left, +ve is hip right// For feet, -ve is foot down, +ve is foot upvoid SetServos(int tweenTime, int leftHip, int leftFoot, int rightHip, int rightFoot, const char* completeStr){ // Save the completeStr if (completeStr ==NULL) { nextAnimCompleteStr[0] ='-'; nextAnimCompleteStr[1] ='-'; } else { nextAnimCompleteStr[0] =completeStr[0]; nextAnimCompleteStr[1] =completeStr[1]; } // Decide which tween data we use. We don't want to over-write the one that is // in progress. We have and reuse these to keep memory allocation fixed. int (*tweenServoData)[5]; if (currAnim !=setServosAnim1) { tweenServoData =setServosAnim1; } else { tweenServoData =setServosAnim2; } // Set the tween information into the animation data. tweenServoData[1][TWEEN_TIME_VALUE] =tweenTime; tweenServoData[1][LEFT_HIP_VALUE] =LeftHipIn(leftHip); tweenServoData[1][LEFT_FOOT_VALUE] =LeftFootUp(leftFoot); tweenServoData[1][RIGHT_HIP_VALUE] =RightHipIn(rightHip); tweenServoData[1][RIGHT_FOOT_VALUE] =RightFootUp(rightFoot); // Queue this tween to be played next. PlayAnim(tweenServoData, NULL, completeStr);}// Set up variables for animation. This is called in setup(). Should be not called by anywhere else.void setup_Animation(){ // Set the servos to the feet flat, feet even position. currLeftHip =LEFT_HIP_CENTRE; currLeftFoot =LEFT_FOOT_CENTRE; currRightHip =RIGHT_HIP_CENTRE; currRightFoot =RIGHT_FOOT_CENTRE; UpdateServos(); // Set the "start" positions to the current ones. So, when // we pay the next anim, we will tween from the current positions. startLeftHip =currLeftHip; startLeftFoot =currLeftFoot; startRightHip =currRightHip; startRightFoot =currRightFoot; // No animation is playing yet, and nothing in the queue yet. timeAtLastAnimUpdate =millis(); animInProgress =false; interruptInProgressAnim =false; currAnim =NULL; finishAnim =NULL; nextAnim =NULL; nextFinishAnim =NULL;}// Loop function for processing animation. This is called in every loop(). Should be be called by anywhere else.//// NOTE:The way looping animations work is that they basically add themselves back to the queue// when a cycle is done, and if there's nothing already queued up! This way, looping animations// work in a similar way to single-play animations, and fits into the queueing system.void loop_Animation(){ // Get the time at the start of this frame. long currTime =millis(); //-------------------------------------------------------------------------------------- // Decide if we want to perform the animation update. We don't execute this every frame. //-------------------------------------------------------------------------------------- if (timeAtLastAnimUpdate + millisBetweenAnimUpdate> currTime) { // Not yet time to do an anim update, so jump out. kembali; } else { // We reset the timer, and then proceed below to handle the current anim update. timeAtLastAnimUpdate =currTime; } //-------------------------------------------------------------------------------------- // Decide if we need to setup and start a new animation. We do if there's no anim // playing or we've been asked to interrupt the anim. //-------------------------------------------------------------------------------------- if ( (nextAnim !=NULL) &&(!animInProgress || interruptInProgressAnim) ) { // If this was an interrupt, we also set the "start" servo positions // to the current ones. This way, the animation system will tween from the // current positions. if (interruptInProgressAnim) { // This is the place to notify someone of an animation finishing after getting interrupted // Print the command string we just finished. -1 parameter indicates it was interrupted. softwareSerial.print("<"); softwareSerial.print(animCompleteStr); softwareSerial.println(",-1>"); // Set the "start" positions to the current ones. So, when // we pay the next anim, we will tween from the current positions. startLeftHip =currLeftHip; startLeftFoot =currLeftFoot; startRightHip =currRightHip; startRightFoot =currRightFoot; // We've handled any interrupt request, so clear the flag. interruptInProgressAnim =false; } // Store the animation we are now playing. currAnim =nextAnim; finishAnim =nextFinishAnim; animCompleteStr[0] =nextAnimCompleteStr[0]; animCompleteStr[1] =nextAnimCompleteStr[1]; nextAnim =NULL; // Queue is cleared. nextFinishAnim =NULL; nextAnimCompleteStr[0] ='-'; nextAnimCompleteStr[1] ='-'; // Record the number of times to play the animation. animNumLoops =nextAnimNumLoops; // Treat current time as start of frame for the initial lerp to the first frame. timeAtStartOfFrame =currTime; // Set the frame counters. targetFrame =1; // First frame we are lerping to. Index 0 is metadata, so skip. // An animation is now in progress animInProgress =true; } //-------------------------------------------------------------------------------------- // If we are currently playing an animation, then update the animation state and the // servo positions. //-------------------------------------------------------------------------------------- if (animInProgress) { // Determine if we need to switch to the next frame. int timeInCurrFrame =currTime - timeAtStartOfFrame; if (timeInCurrFrame> currAnim[targetFrame][TWEEN_TIME_VALUE]) { // Set the servo positions to the targetFrame's values. // We only set this if the value is> 0. -ve values means that // the current target keyframe did not alter that servos position. if (currAnim[targetFrame][LEFT_HIP_VALUE]>=0) { currLeftHip =currAnim[targetFrame][LEFT_HIP_VALUE]; } if (currAnim[targetFrame][LEFT_FOOT_VALUE]>=0) { currLeftFoot =currAnim[targetFrame][LEFT_FOOT_VALUE]; } if (currAnim[targetFrame][RIGHT_HIP_VALUE]>=0) { currRightHip =currAnim[targetFrame][RIGHT_HIP_VALUE]; } if (currAnim[targetFrame][RIGHT_FOOT_VALUE]>=0) { currRightFoot =currAnim[targetFrame][RIGHT_FOOT_VALUE]; } UpdateServos(); // These current values are now the start of frame values. startLeftHip =currLeftHip; startLeftFoot =currLeftFoot; startRightHip =currRightHip; startRightFoot =currRightFoot; // Now, we try to move to the next frame. // - If there is a next frame, set that as the new target, and proceed. // - If there's no next frame, but it's looping, we re-add this animation // to the queue. // - If there's no next frame, and this is not looping, we stop animating. // (Remember that targetFrame is 1-based since the first element of the animation // data array is metadata) // Increment targetFrame, and reset time in the current frame. targetFrame++; timeAtStartOfFrame =currTime; // If there is no next frame, we stop this current animation. // If it is looping, then we re-queue the current animation if the queue is empty. if (targetFrame> NumOfFrames(currAnim)) { // Stop the current animation. animInProgress =false; // If we're looping forever, and there's no next anim, re-queue the // animation if the queue is empty. if ((animNumLoops <0) &&(nextAnim ==NULL)) { LoopAnim(currAnim, finishAnim, animCompleteStr); } // If we're looping forever, and there is something in the queue, then // finish the animation and proceed. else if ((animNumLoops <0) &&(nextAnim !=NULL)) { if (finishAnim !=NULL) { // Switch to the finish anim. currAnim =finishAnim; finishAnim =NULL; // Record the number of times to play the animation. animNumLoops =1; // Treat current time as start of frame for the initial lerp to the first frame. timeAtStartOfFrame =currTime; // Set the frame counters. targetFrame =1; // First frame we are lerping to. Index 0 is metadata, so skip. // An animation is now in progress animInProgress =true; } else { // We've stopped, so can notify if needed. // Print the command string we just finished. softwareSerial.print("<"); softwareSerial.print(animCompleteStr); softwareSerial.println(">"); } } // If we're looping a limited number of times, and there's no next anim, // re-queue the animation if the queue is empty. else if ((animNumLoops> 1) &&(nextAnim ==NULL)) { PlayAnimNumTimes(currAnim, finishAnim, animNumLoops-1, animCompleteStr); } // In this case, numAnimLoops is 1, this is the last loop through, so // we're done. We play the finishAnim first if needed. else { // If there is a finish animation, switch to that animation. if (finishAnim !=NULL) { // Switch to the finish anim. currAnim =finishAnim; finishAnim =NULL; // Record the number of times to play the animation. animNumLoops =1; // Treat current time as start of frame for the initial lerp to the first frame. timeAtStartOfFrame =currTime; // Set the frame counters. targetFrame =1; // First frame we are lerping to. Index 0 is metadata, so skip. // An animation is now in progress animInProgress =true; } // Otherwise, we're done! We've played the finishAnim if there was one. else { // Print the command string we just finished. softwareSerial.print("<"); softwareSerial.print(animCompleteStr); softwareSerial.println(">"); } } } } // If we're still animating (i.e. the previous check didn't find that // we've finished the current animation), then proceed. if (animInProgress) { // Set the servos per data in the current frame. We only update the servos that have target // microsecond values> 0. This is to support the feature where we leave a servo at its // existing position if an animation data item is -1. float frameTimeFraction =(currTime - timeAtStartOfFrame) / ((float) currAnim[targetFrame][TWEEN_TIME_VALUE]); if (currAnim[targetFrame][LEFT_HIP_VALUE]>=0) { currLeftHip =startLeftHip + ((currAnim[targetFrame][LEFT_HIP_VALUE] - startLeftHip) * frameTimeFraction); } if (currAnim[targetFrame][LEFT_FOOT_VALUE]>=0) { currLeftFoot =startLeftFoot + ((currAnim[targetFrame][LEFT_FOOT_VALUE] - startLeftFoot) * frameTimeFraction); } if (currAnim[targetFrame][RIGHT_HIP_VALUE]>=0) { currRightHip =startRightHip + ((currAnim[targetFrame][RIGHT_HIP_VALUE] - startRightHip) * frameTimeFraction); } if (currAnim[targetFrame][RIGHT_FOOT_VALUE]>=0) { currRightFoot =startRightFoot + ((currAnim[targetFrame][RIGHT_FOOT_VALUE] - startRightFoot) * frameTimeFraction); } UpdateServos(); } }}// Move all the servo to the positions set in the curr... variables.// In the code, we update those variables and then call this to set the servos.void UpdateServos(){ servoLeftHip.writeMicroseconds(currLeftHip); servoLeftFoot.writeMicroseconds(currLeftFoot); servoRightHip.writeMicroseconds(currRightHip); servoRightFoot.writeMicroseconds(currRightFoot);}// Return the number of frames in the given animation data.// Have this helper function to avoid the "magic number" reference of animData[0][0].int NumOfFrames(int animData[][5]){ return animData[0][0];}

Skema