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十美元的Robotarakan Petya

认识六腿三舵手Petya


我继续发表Arduino Brain系列文章。Petya是一种非常便宜（约合十美元）的六足动物。对于下雨天来说，这可能是一个不错的项目，它将使成年人和儿童都开心。既然我们在谈论娱乐，那么以下是佩蒂娅跳舞跳舞音乐的视频：



当然，我没有做任何声音分析，我只是给Petya编程以一定的节奏跳舞。这是另一个视频，其中Petya显示了他对玩杂耍球的蔑视：



以他目前的形式，佩蒂娅只能走路，但同时他也可以看到（测量到附近）障碍物的距离。但是，他的大脑足够有生产力，能够从许多其他传感器中提取数据，并发送您的建议！


如何克隆Petya


购物清单


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OCR1A = 1500;    // left servo
OCR1B = 1500;    // right servo
OCR2  = 1500/16; // center servo


-, :


const uint8_t  zero[3] = {45, 50, 40};     // zero position of the servo (degrees)
const uint8_t range[3] = {25, 25, 20};     // the servos are allowed to move in the zero[i] +- range[i] interval

zero[3] , (. ). , 45° ( ), 45° , . , range[3] . , i zero[i]-range[i] zero[i]+range[i].



( , 0°-90°) uint8_t pos[3]. update_servo_timers() - . pos[i]=zero[i]+range[i] i=0,1,2.


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movement_planner(), pos[] , update_servo_timers(), - pos[].



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  • 1: {zero[0]-range[0], zero[1]-range[1], zero[2]+range[2]}
  • 2: {zero[0]-range[0], zero[1]-range[1], zero[2]-range[2]}
  • 3: {zero[0]+range[0], zero[1]+range[1], zero[2]-range[2]}
  • 4: {zero[0]+range[0], zero[1]+range[1], zero[2]+range[2]}

2 ( ):


const int8_t advance_sequence[4][3] = {{-1, -1,  1}, {-1, -1, -1}, { 1,  1, -1}, { 1,  1,  1}};

, i step zero[i] + range[i]*advance_sequence[step][i].
:


    uint8_t step = steps_per_sequence-1; // at the initialization stage the (previous) movement is considered to be complete, thus the next movement will be planned starting from the step 0
    while (1) {
        if (is_movement_finished()) {
            step = (step + 1) % 4; // if previous movement is complete, then perform the next step; this variable loops as 0,1,2,3.
            plan_next_movement(step, advance_sequence); // execute next movement
        }
        movement_planner(); // update the servos position according to the planning
        _delay_ms(1);
    }


, , 4 5 . , ( , ), adc_left_eye adc_right_eye , :


        adc_left_eye  = adc_left_eye *.99 + adc_read(5)*.01; // low-pass filter on the ADC readings
        adc_right_eye = adc_right_eye*.99 + adc_read(4)*.01;

_delay_ms() , .99 1-.99 .


:


        uint8_t lobst = adc_left_eye  < distance_threshold; // obstacle on the left?
        uint8_t robst = adc_right_eye < distance_threshold; // obstacle on the right?

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        if (is_movement_finished()) {
            if (!lobst && !robst) {
                sequence = advance_sequence; // no obstacles => go forward
            } else if (lobst && robst) {
                sequence = retreat_sequence; // obstacles left and right => go backwards
            } else if (lobst && !robst) {
                sequence = turn_right_sequence; // obstacle on the left => turn right
            } else if (!lobst && robst) {
                sequence = turn_left_sequence; // obstacle on the right => turn left
            }
            step = (step + 1) % steps_per_sequence; // if previous movement is complete, then perform the next step
            plan_next_movement(step, sequence); // execute next movement
        }

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  • 稍微移动电解液。我不得不倾斜它，因为 否则，左中腿会伤到他；
  • 通过示波器轻松添加测试站点；
  • 添加一对调试LED，无需示波器即可进行调试；
  • 为所有未使用的微处理器支腿添加焊盘，以进行调试和进一步扩展机器人。

结论


佩蒂亚非常有趣！


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