├── CAD ├── DMX2.stp ├── HumanV3.stp ├── HumanV4.stp └── puppet01.stp ├── Hands ├── Hands_CAD │ └── ArmLower_hand01.stp ├── Hands_left02 │ └── Hands_left02.ino └── Hands_right02 │ └── Hands_right02.ino ├── Head02 ├── Clear.ino ├── Eyes.ino ├── Head02.ino ├── Leds.xlsx └── Mouth.ino ├── LICENSE ├── PRobot03 ├── ODriveInit.ino ├── ODrivePositions.ino ├── PRobot03.ino └── readEncoders.ino └── Puppet01_Orange └── Puppet01_Orange.ino /Hands/Hands_left02/Hands_left02.ino: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | Servo servo1; // hand 5 | Servo servo2; // wrist 6 | 7 | int ch11; 8 | int ch12; 9 | int hall; 10 | int hallStartup; 11 | int flag = 0; 12 | int hand = 0; 13 | float wrist = 90; 14 | float wristFiltered = 90; 15 | 16 | unsigned long currentMillis; 17 | long previousMillis = 0; // set up timers 18 | 19 | void setup () { 20 | 21 | DMXSerial.init(DMXReceiver); 22 | 23 | pinMode(A0, INPUT); 24 | 25 | servo1.attach(5); // hand 26 | servo2.attach(6); // wrist 27 | 28 | servo1.write(hand); // hand 29 | servo2.write(90); // wrist 30 | 31 | hallStartup = analogRead(A0); 32 | 33 | pinMode(13, OUTPUT); 34 | 35 | } 36 | 37 | void loop() { 38 | 39 | currentMillis = millis(); 40 | if (currentMillis - previousMillis >= 10) { // start timed event 41 | previousMillis = currentMillis; // reset the clock 42 | 43 | /* // serial test code 44 | if (Serial.available()) { 45 | char c = Serial.read(); 46 | if (c == 'a') { 47 | flag = 1; 48 | } 49 | if (c == 'b') { 50 | flag = 2; 51 | } 52 | } 53 | */ 54 | 55 | ch11 = DMXSerial.read(11); // read DMX channels 56 | ch12 = DMXSerial.read(12); 57 | 58 | // operate gripper 59 | 60 | if (ch11 < 100) { 61 | flag = 2; // hand is open 62 | digitalWrite(13, LOW); 63 | } 64 | 65 | else if (ch11 > 100) { 66 | flag = 1; // hand is closed 67 | digitalWrite(13, HIGH); 68 | } 69 | 70 | hall = analogRead(A0) - hallStartup; 71 | 72 | if (flag == 1 && hall > -300) { 73 | hand = hand + 1; 74 | hand = constrain(hand, 0,180); 75 | } 76 | else if (flag == 2) { 77 | hand = 0; 78 | } 79 | 80 | servo1.write(hand); // hand servo write 81 | 82 | // operate wrist 83 | 84 | wrist = map(ch12,0,255,2000,1000); 85 | wristFiltered = filter(wrist, wristFiltered, 20); 86 | 87 | servo2.writeMicroseconds(wristFiltered); // wrist servo write 88 | 89 | 90 | 91 | } // end of timed event 92 | 93 | } 94 | 95 | float filter(float prevValue, float currentValue, int filter) { 96 | float lengthFiltered = (prevValue + (currentValue * filter)) / (filter + 1); 97 | return lengthFiltered; 98 | } 99 | 100 | -------------------------------------------------------------------------------- /Hands/Hands_right02/Hands_right02.ino: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | Servo servo1; // hand 5 | Servo servo2; // wrist 6 | 7 | int ch13; 8 | int ch14; 9 | int hall; 10 | int hallStartup; 11 | int flag = 0; 12 | int hand = 0; 13 | float wrist = 90; 14 | float wristFiltered = 90; 15 | 16 | unsigned long currentMillis; 17 | long previousMillis = 0; // set up timers 18 | 19 | void setup () { 20 | 21 | DMXSerial.init(DMXReceiver); 22 | 23 | pinMode(A0, INPUT); 24 | 25 | servo1.attach(5); // hand 26 | servo2.attach(6); // wrist 27 | 28 | servo1.write(hand); // hand 29 | servo2.write(90); // wrist 30 | 31 | hallStartup = analogRead(A0); 32 | 33 | pinMode(13, OUTPUT); 34 | 35 | } 36 | 37 | void loop() { 38 | 39 | currentMillis = millis(); 40 | if (currentMillis - previousMillis >= 10) { // start timed event 41 | previousMillis = currentMillis; // reset the clock 42 | 43 | /* // serial test code 44 | if (Serial.available()) { 45 | char c = Serial.read(); 46 | if (c == 'a') { 47 | flag = 1; 48 | } 49 | if (c == 'b') { 50 | flag = 2; 51 | } 52 | } 53 | */ 54 | 55 | ch13 = DMXSerial.read(13); // read DMX channels 56 | ch14 = DMXSerial.read(14); 57 | 58 | // operate gripper 59 | 60 | if (ch13 < 100) { 61 | flag = 2; // hand is open 62 | digitalWrite(13, LOW); 63 | } 64 | 65 | else if (ch13 > 100) { 66 | flag = 1; // hand is closed 67 | digitalWrite(13, HIGH); 68 | } 69 | 70 | hall = analogRead(A0) - hallStartup; 71 | 72 | if (flag == 1 && hall > -300) { 73 | hand = hand + 1; 74 | hand = constrain(hand, 0,180); 75 | } 76 | else if (flag == 2) { 77 | hand = 0; 78 | } 79 | 80 | servo1.write(hand); // hand servo write 81 | 82 | // operate wrist 83 | 84 | wrist = map(ch14,0,255,1000,2000); 85 | wristFiltered = filter(wrist, wristFiltered, 20); 86 | 87 | servo2.writeMicroseconds(wristFiltered); // wrist servo write 88 | 89 | 90 | 91 | } // end of timed event 92 | 93 | } 94 | 95 | float filter(float prevValue, float currentValue, int filter) { 96 | float lengthFiltered = (prevValue + (currentValue * filter)) / (filter + 1); 97 | return lengthFiltered; 98 | } 99 | 100 | -------------------------------------------------------------------------------- /Head02/Clear.ino: -------------------------------------------------------------------------------- 1 | void black() { 2 | 3 | for(int blackLed = 0; blackLed < NUM_LEDS; blackLed = blackLed + 1) { 4 | 5 | leds[blackLed] = CRGB::Black; 6 | FastLED.show(); 7 | 8 | 9 | } 10 | 11 | } 12 | -------------------------------------------------------------------------------- /Head02/Eyes.ino: -------------------------------------------------------------------------------- 1 | void eyes(int level) { 2 | 3 | if (level == 0) { 4 | for(int blackLed = 0; blackLed < 120; blackLed = blackLed + 1) { 5 | leds[blackLed] = CRGB::Black; 6 | } 7 | } 8 | 9 | if (level == 1) { 10 | leds[48] = CRGB::Blue; 11 | leds[49] = CRGB::Blue; 12 | leds[50] = CRGB::Blue; 13 | leds[51] = CRGB::Blue; 14 | leds[52] = CRGB::Blue; 15 | leds[53] = CRGB::Blue; 16 | leds[54] = CRGB::Blue; 17 | leds[55] = CRGB::Blue; 18 | leds[64] = CRGB::Blue; 19 | leds[65] = CRGB::Blue; 20 | leds[66] = CRGB::Blue; 21 | leds[67] = CRGB::Blue; 22 | leds[68] = CRGB::Blue; 23 | leds[69] = CRGB::Blue; 24 | leds[70] = CRGB::Blue; 25 | leds[71] = CRGB::Blue; 26 | } 27 | 28 | else if (level == 2) { 29 | leds[47] = CRGB::Blue; 30 | leds[46] = CRGB::Blue; 31 | leds[45] = CRGB::Blue; 32 | leds[44] = CRGB::Blue; 33 | leds[43] = CRGB::Blue; 34 | leds[42] = CRGB::Blue; 35 | leds[41] = CRGB::Blue; 36 | leds[40] = CRGB::Blue; 37 | leds[31] = CRGB::Blue; 38 | leds[30] = CRGB::Blue; 39 | leds[29] = CRGB::Blue; 40 | leds[28] = CRGB::Blue; 41 | leds[27] = CRGB::Blue; 42 | leds[26] = CRGB::Blue; 43 | leds[25] = CRGB::Blue; 44 | leds[24] = CRGB::Blue; 45 | 46 | leds[48] = CRGB::Blue; 47 | leds[51] = CRGB::White; 48 | leds[52] = CRGB::White; 49 | leds[55] = CRGB::Blue; 50 | leds[64] = CRGB::Blue; 51 | leds[67] = CRGB::White; 52 | leds[68] = CRGB::White; 53 | leds[71] = CRGB::Blue; 54 | 55 | leds[95] = CRGB::Blue; 56 | leds[94] = CRGB::Blue; 57 | leds[93] = CRGB::Blue; 58 | leds[92] = CRGB::Blue; 59 | leds[91] = CRGB::Blue; 60 | leds[90] = CRGB::Blue; 61 | leds[89] = CRGB::Blue; 62 | leds[88] = CRGB::Blue; 63 | leds[79] = CRGB::Blue; 64 | leds[78] = CRGB::Blue; 65 | leds[77] = CRGB::Blue; 66 | leds[76] = CRGB::Blue; 67 | leds[75] = CRGB::Blue; 68 | leds[74] = CRGB::Blue; 69 | leds[73] = CRGB::Blue; 70 | leds[72] = CRGB::Blue; 71 | } 72 | 73 | else if (level == 3) { 74 | leds[0] = CRGB::Blue; 75 | leds[1] = CRGB::Blue; 76 | leds[2] = CRGB::Blue; 77 | leds[3] = CRGB::Blue; 78 | leds[4] = CRGB::Blue; 79 | leds[5] = CRGB::Blue; 80 | leds[6] = CRGB::Blue; 81 | leds[7] = CRGB::Blue; 82 | leds[16] = CRGB::Blue; 83 | leds[17] = CRGB::Blue; 84 | leds[18] = CRGB::Blue; 85 | leds[19] = CRGB::Blue; 86 | leds[20] = CRGB::Blue; 87 | leds[21] = CRGB::Blue; 88 | leds[22] = CRGB::Blue; 89 | leds[23] = CRGB::Blue; 90 | 91 | leds[47] = CRGB::Blue; 92 | leds[40] = CRGB::Blue; 93 | leds[31] = CRGB::Blue; 94 | leds[24] = CRGB::Blue; 95 | 96 | leds[48] = CRGB::Blue; 97 | leds[51] = CRGB::White; 98 | leds[52] = CRGB::White; 99 | leds[55] = CRGB::Blue; 100 | leds[64] = CRGB::Blue; 101 | leds[67] = CRGB::White; 102 | leds[68] = CRGB::White; 103 | leds[71] = CRGB::Blue; 104 | 105 | leds[95] = CRGB::Blue; 106 | leds[88] = CRGB::Blue; 107 | leds[79] = CRGB::Blue; 108 | leds[72] = CRGB::Blue; 109 | 110 | leds[96] = CRGB::Blue; 111 | leds[97] = CRGB::Blue; 112 | leds[98] = CRGB::Blue; 113 | leds[99] = CRGB::Blue; 114 | leds[100] = CRGB::Blue; 115 | leds[101] = CRGB::Blue; 116 | leds[102] = CRGB::Blue; 117 | leds[103] = CRGB::Blue; 118 | leds[112] = CRGB::Blue; 119 | leds[113] = CRGB::Blue; 120 | leds[114] = CRGB::Blue; 121 | leds[115] = CRGB::Blue; 122 | leds[116] = CRGB::Blue; 123 | leds[117] = CRGB::Blue; 124 | leds[118] = CRGB::Blue; 125 | leds[119] = CRGB::Blue; 126 | } 127 | 128 | else if (level == 4) { 129 | leds[47] = CRGB::Blue; 130 | leds[46] = CRGB::Blue; 131 | leds[45] = CRGB::Blue; 132 | leds[44] = CRGB::Blue; 133 | leds[43] = CRGB::Blue; 134 | leds[42] = CRGB::Blue; 135 | leds[41] = CRGB::Blue; 136 | leds[40] = CRGB::Blue; 137 | leds[31] = CRGB::Blue; 138 | leds[30] = CRGB::Blue; 139 | leds[29] = CRGB::Blue; 140 | leds[28] = CRGB::Blue; 141 | leds[27] = CRGB::Blue; 142 | leds[26] = CRGB::Blue; 143 | leds[25] = CRGB::Blue; 144 | leds[24] = CRGB::Blue; 145 | 146 | leds[48] = CRGB::Blue; 147 | leds[51] = CRGB::White; 148 | leds[52] = CRGB::White; 149 | leds[55] = CRGB::Blue; 150 | leds[64] = CRGB::Blue; 151 | leds[67] = CRGB::White; 152 | leds[68] = CRGB::White; 153 | leds[71] = CRGB::Blue; 154 | 155 | leds[95] = CRGB::Blue; 156 | leds[94] = CRGB::Blue; 157 | leds[93] = CRGB::Blue; 158 | leds[92] = CRGB::Blue; 159 | leds[91] = CRGB::Blue; 160 | leds[90] = CRGB::Blue; 161 | leds[89] = CRGB::Blue; 162 | leds[88] = CRGB::Blue; 163 | leds[79] = CRGB::Blue; 164 | leds[78] = CRGB::Blue; 165 | leds[77] = CRGB::Blue; 166 | leds[76] = CRGB::Blue; 167 | leds[75] = CRGB::Blue; 168 | leds[74] = CRGB::Blue; 169 | leds[73] = CRGB::Blue; 170 | leds[72] = CRGB::Blue; 171 | } 172 | 173 | // *************** larson scanner********************** 174 | 175 | else if (level == 20) { 176 | leds[0] = CRGB::Red; 177 | leds[47] = CRGB::Red; 178 | leds[48] = CRGB::Red; 179 | leds[95] = CRGB::Red; 180 | leds[96] = CRGB::Red; 181 | } 182 | 183 | else if (level == 21) { 184 | leds[1] = CRGB::Red; 185 | leds[46] = CRGB::Red; 186 | leds[49] = CRGB::Red; 187 | leds[94] = CRGB::Red; 188 | leds[97] = CRGB::Red; 189 | } 190 | 191 | else if (level == 22) { 192 | leds[2] = CRGB::Red; 193 | leds[45] = CRGB::Red; 194 | leds[50] = CRGB::Red; 195 | leds[93] = CRGB::Red; 196 | leds[98] = CRGB::Red; 197 | } 198 | 199 | else if (level == 23) { 200 | leds[3] = CRGB::Red; 201 | leds[44] = CRGB::Red; 202 | leds[51] = CRGB::Red; 203 | leds[92] = CRGB::Red; 204 | leds[99] = CRGB::Red; 205 | } 206 | 207 | else if (level == 24) { 208 | leds[4] = CRGB::Red; 209 | leds[43] = CRGB::Red; 210 | leds[52] = CRGB::Red; 211 | leds[91] = CRGB::Red; 212 | leds[100] = CRGB::Red; 213 | } 214 | 215 | else if (level == 25) { 216 | leds[5] = CRGB::Red; 217 | leds[42] = CRGB::Red; 218 | leds[53] = CRGB::Red; 219 | leds[90] = CRGB::Red; 220 | leds[101] = CRGB::Red; 221 | } 222 | 223 | else if (level == 26) { 224 | leds[6] = CRGB::Red; 225 | leds[41] = CRGB::Red; 226 | leds[54] = CRGB::Red; 227 | leds[89] = CRGB::Red; 228 | leds[102] = CRGB::Red; 229 | } 230 | 231 | else if (level == 27) { 232 | leds[7] = CRGB::Red; 233 | leds[40] = CRGB::Red; 234 | leds[55] = CRGB::Red; 235 | leds[88] = CRGB::Red; 236 | leds[103] = CRGB::Red; 237 | } 238 | 239 | else if (level == 28) { 240 | leds[8] = CRGB::Red; 241 | leds[39] = CRGB::Red; 242 | leds[56] = CRGB::Red; 243 | leds[87] = CRGB::Red; 244 | leds[104] = CRGB::Red; 245 | } 246 | 247 | else if (level == 29) { 248 | leds[9] = CRGB::Red; 249 | leds[38] = CRGB::Red; 250 | leds[57] = CRGB::Red; 251 | leds[86] = CRGB::Red; 252 | leds[105] = CRGB::Red; 253 | } 254 | 255 | else if (level == 30) { 256 | leds[10] = CRGB::Red; 257 | leds[37] = CRGB::Red; 258 | leds[58] = CRGB::Red; 259 | leds[85] = CRGB::Red; 260 | leds[106] = CRGB::Red; 261 | } 262 | 263 | else if (level == 31) { 264 | leds[11] = CRGB::Red; 265 | leds[36] = CRGB::Red; 266 | leds[59] = CRGB::Red; 267 | leds[84] = CRGB::Red; 268 | leds[107] = CRGB::Red; 269 | } 270 | 271 | else if (level == 32) { 272 | leds[12] = CRGB::Red; 273 | leds[35] = CRGB::Red; 274 | leds[60] = CRGB::Red; 275 | leds[83] = CRGB::Red; 276 | leds[108] = CRGB::Red; 277 | } 278 | 279 | else if (level == 33) { 280 | leds[13] = CRGB::Red; 281 | leds[34] = CRGB::Red; 282 | leds[61] = CRGB::Red; 283 | leds[82] = CRGB::Red; 284 | leds[109] = CRGB::Red; 285 | } 286 | 287 | else if (level == 34) { 288 | leds[14] = CRGB::Red; 289 | leds[33] = CRGB::Red; 290 | leds[62] = CRGB::Red; 291 | leds[81] = CRGB::Red; 292 | leds[110] = CRGB::Red; 293 | } 294 | 295 | else if (level == 35) { 296 | leds[15] = CRGB::Red; 297 | leds[32] = CRGB::Red; 298 | leds[63] = CRGB::Red; 299 | leds[80] = CRGB::Red; 300 | leds[111] = CRGB::Red; 301 | } 302 | 303 | else if (level == 36) { 304 | leds[16] = CRGB::Red; 305 | leds[31] = CRGB::Red; 306 | leds[64] = CRGB::Red; 307 | leds[79] = CRGB::Red; 308 | leds[112] = CRGB::Red; 309 | } 310 | 311 | else if (level == 37) { 312 | leds[17] = CRGB::Red; 313 | leds[30] = CRGB::Red; 314 | leds[65] = CRGB::Red; 315 | leds[78] = CRGB::Red; 316 | leds[113] = CRGB::Red; 317 | } 318 | 319 | else if (level == 38) { 320 | leds[18] = CRGB::Red; 321 | leds[29] = CRGB::Red; 322 | leds[66] = CRGB::Red; 323 | leds[77] = CRGB::Red; 324 | leds[114] = CRGB::Red; 325 | } 326 | 327 | else if (level == 39) { 328 | leds[19] = CRGB::Red; 329 | leds[28] = CRGB::Red; 330 | leds[67] = CRGB::Red; 331 | leds[76] = CRGB::Red; 332 | leds[115] = CRGB::Red; 333 | } 334 | 335 | else if (level == 40) { 336 | leds[20] = CRGB::Red; 337 | leds[27] = CRGB::Red; 338 | leds[68] = CRGB::Red; 339 | leds[75] = CRGB::Red; 340 | leds[116] = CRGB::Red; 341 | } 342 | 343 | else if (level == 41) { 344 | leds[21] = CRGB::Red; 345 | leds[26] = CRGB::Red; 346 | leds[69] = CRGB::Red; 347 | leds[74] = CRGB::Red; 348 | leds[117] = CRGB::Red; 349 | } 350 | 351 | else if (level == 42) { 352 | leds[22] = CRGB::Red; 353 | leds[25] = CRGB::Red; 354 | leds[70] = CRGB::Red; 355 | leds[73] = CRGB::Red; 356 | leds[118] = CRGB::Red; 357 | } 358 | 359 | else if (level == 43) { 360 | leds[23] = CRGB::Red; 361 | leds[24] = CRGB::Red; 362 | leds[71] = CRGB::Red; 363 | leds[72] = CRGB::Red; 364 | leds[119] = CRGB::Red; 365 | } 366 | 367 | FastLED.show(); 368 | } 369 | 370 | 371 | -------------------------------------------------------------------------------- /Head02/Head02.ino: -------------------------------------------------------------------------------- 1 | #include // fast LED library 2 | #include 3 | #include 4 | 5 | Servo servo1; 6 | Servo servo2; 7 | Servo servo3; 8 | 9 | // How many leds are in the strip? 10 | #define NUM_LEDS 132 11 | 12 | // Data pin that led data will be written out over 13 | #define DATA_PIN 3 14 | 15 | // Clock pin only needed for SPI based chipsets when not using hardware SPI 16 | #define CLOCK_PIN 13 17 | 18 | // This is an array of leds. One item for each led in your strip. 19 | CRGB leds[NUM_LEDS]; 20 | 21 | unsigned long currentMillis; 22 | long previousMillis = 0; // set up timers 23 | long interval = 10; // time constant for timers 24 | 25 | int ch19 = 0; // mouth 26 | int mouthLevelPrev = 0; 27 | int mouthLevel = 0; 28 | 29 | int ch18 = 0; // eyes 30 | int eyesLevelPrev = 0; 31 | int eyesLevel = 0; 32 | 33 | int ch17; 34 | int ch16; 35 | int ch15; 36 | int ch17Filtered; 37 | int ch16Filtered; 38 | int ch15Filtered; 39 | 40 | 41 | void setup() { 42 | FastLED.addLeds(leds, NUM_LEDS); 43 | 44 | DMXSerial.init(DMXReceiver); 45 | pinMode(6, OUTPUT); // has to be enabled for the library to work for some reason 46 | 47 | servo1.attach(37); 48 | servo2.attach(39); 49 | servo3.attach(41); 50 | 51 | servo1.writeMicroseconds(1500); 52 | servo2.writeMicroseconds(1500); 53 | servo3.writeMicroseconds(1500); 54 | 55 | Serial.begin(115200); 56 | 57 | } 58 | 59 | 60 | void loop() { 61 | 62 | currentMillis = millis(); 63 | if (currentMillis - previousMillis >= 10) { // start timed event 64 | 65 | previousMillis = currentMillis; 66 | 67 | //**** MOUTH **** 68 | 69 | ch19 = DMXSerial.read(19); 70 | 71 | if (ch19 == 0) { 72 | mouthLevel = 0; 73 | } 74 | if (ch19 > 0 && ch19 <= 42 ) { 75 | mouthLevel = 1; 76 | } 77 | else if (ch19 > 42 && ch19 <= 84 ) { 78 | mouthLevel = 2; 79 | } 80 | else if (ch19 > 84 && ch19 <= 126 ) { 81 | mouthLevel = 3; 82 | } 83 | else if (ch19 > 126 && ch19 <= 168 ) { 84 | mouthLevel = 4; 85 | } 86 | else if (ch19 > 168 && ch19 <= 210 ) { 87 | mouthLevel = 5; 88 | } 89 | else if (ch19 > 210) { 90 | mouthLevel = 6; 91 | } 92 | 93 | //********************************* 94 | 95 | if (mouthLevel != mouthLevelPrev) { // check the level is different 96 | 97 | if (mouthLevel == 0){ 98 | mouth(0); 99 | } 100 | else if (mouthLevel == 1){ 101 | mouth(0); //clear 102 | mouth(1); 103 | } 104 | else if (mouthLevel == 2){ 105 | mouth(0); // clear 106 | mouth(2); 107 | } 108 | else if (mouthLevel == 3){ 109 | mouth(0); // clear 110 | mouth(3); 111 | } 112 | else if (mouthLevel == 4){ 113 | mouth(0); // clear 114 | mouth(4); 115 | } 116 | else if (mouthLevel == 5){ 117 | mouth(0); // clear 118 | mouth(5); 119 | } 120 | else if (mouthLevel == 6){ 121 | mouth(0); // clear 122 | mouth(6); 123 | } 124 | } 125 | 126 | mouthLevelPrev = mouthLevel; // bookmark the level so we can see if it's different 127 | 128 | //*** EYES *** 129 | 130 | ch18 = DMXSerial.read(18); 131 | 132 | if (ch18 == 0) { 133 | eyesLevel = 0; 134 | } 135 | else if (ch18 >= 1 && ch18 <=5){ 136 | eyesLevel = 1; 137 | } 138 | else if (ch18 >= 6 && ch18 <=10){ 139 | eyesLevel = 2; 140 | } 141 | else if (ch18 >= 11 && ch18 <=15){ 142 | eyesLevel = 3; 143 | } 144 | 145 | //**** 146 | 147 | else if (ch18 >= 96 && ch18 <=100){ 148 | eyesLevel = 20; 149 | } 150 | else if (ch18 >= 101 && ch18 <=105){ 151 | eyesLevel = 21; 152 | } 153 | else if (ch18 >= 106 && ch18 <=110){ 154 | eyesLevel = 22; 155 | } 156 | else if (ch18 >= 111 && ch18 <=115){ 157 | eyesLevel = 23; 158 | } 159 | else if (ch18 >= 116 && ch18 <=120){ 160 | eyesLevel = 24; 161 | } 162 | else if (ch18 >= 121 && ch18 <=125){ 163 | eyesLevel = 25; 164 | } 165 | else if (ch18 >= 126 && ch18 <=130){ 166 | eyesLevel = 26; 167 | } 168 | else if (ch18 >= 131 && ch18 <=135){ 169 | eyesLevel = 27; 170 | } 171 | else if (ch18 >= 136 && ch18 <=140){ 172 | eyesLevel = 28; 173 | } 174 | else if (ch18 >= 141 && ch18 <=145){ 175 | eyesLevel = 29; 176 | } 177 | else if (ch18 >= 146 && ch18 <=150){ 178 | eyesLevel = 30; 179 | } 180 | else if (ch18 >= 151 && ch18 <=155){ 181 | eyesLevel = 31; 182 | } 183 | else if (ch18 >= 156 && ch18 <=160){ 184 | eyesLevel = 32; 185 | } 186 | else if (ch18 >= 161 && ch18 <=165){ 187 | eyesLevel = 33; 188 | } 189 | else if (ch18 >= 166 && ch18 <=170){ 190 | eyesLevel = 34; 191 | } 192 | else if (ch18 >= 174 && ch18 <=175){ 193 | eyesLevel = 35; 194 | } 195 | else if (ch18 >= 176 && ch18 <=180){ 196 | eyesLevel = 36; 197 | } 198 | else if (ch18 >= 181 && ch18 <=185){ 199 | eyesLevel = 37; 200 | } 201 | else if (ch18 >= 186 && ch18 <=190){ 202 | eyesLevel = 38; 203 | } 204 | else if (ch18 >= 191 && ch18 <=195){ 205 | eyesLevel = 39; 206 | } 207 | else if (ch18 >= 196 && ch18 <=200){ 208 | eyesLevel = 40; 209 | } 210 | else if (ch18 >= 202 && ch18 <=205){ 211 | eyesLevel = 41; 212 | } 213 | else if (ch18 >= 206 && ch18 <=210){ 214 | eyesLevel = 42; 215 | } 216 | else if (ch18 >= 211 && ch18 <=215){ 217 | eyesLevel = 43; 218 | } 219 | 220 | 221 | //****************************** 222 | 223 | if (eyesLevel != eyesLevelPrev) { // the eye level is different, clear the screen and output the new data 224 | 225 | if (eyesLevel == 0) { 226 | eyes(0); 227 | } 228 | else if (eyesLevel == 1) { 229 | eyes(0); 230 | eyes(1); 231 | } 232 | else if (eyesLevel == 2) { 233 | eyes(0); 234 | eyes(2); 235 | } 236 | else if (eyesLevel == 3) { 237 | eyes(0); 238 | eyes(3); 239 | } 240 | //****************** 241 | else if (eyesLevel == 20) { 242 | eyes(0); 243 | eyes(20); 244 | } 245 | else if (eyesLevel == 21) { 246 | eyes(0); 247 | eyes(21); 248 | } 249 | else if (eyesLevel == 22) { 250 | eyes(0); 251 | eyes(22); 252 | } 253 | else if (eyesLevel == 23) { 254 | eyes(0); 255 | eyes(23); 256 | } 257 | else if (eyesLevel == 24) { 258 | eyes(0); 259 | eyes(24); 260 | } 261 | else if (eyesLevel == 25) { 262 | eyes(0); 263 | eyes(25); 264 | } 265 | else if (eyesLevel == 26) { 266 | eyes(0); 267 | eyes(26); 268 | } 269 | else if (eyesLevel == 27) { 270 | eyes(0); 271 | eyes(27); 272 | } 273 | else if (eyesLevel == 28) { 274 | eyes(0); 275 | eyes(28); 276 | } 277 | else if (eyesLevel == 29) { 278 | eyes(0); 279 | eyes(29); 280 | } 281 | else if (eyesLevel == 30) { 282 | eyes(0); 283 | eyes(30); 284 | } 285 | else if (eyesLevel == 31) { 286 | eyes(0); 287 | eyes(31); 288 | } 289 | else if (eyesLevel == 32) { 290 | eyes(0); 291 | eyes(32); 292 | } 293 | else if (eyesLevel == 33) { 294 | eyes(0); 295 | eyes(33); 296 | } 297 | else if (eyesLevel == 34) { 298 | eyes(0); 299 | eyes(34); 300 | } 301 | else if (eyesLevel == 35) { 302 | eyes(0); 303 | eyes(35); 304 | } 305 | else if (eyesLevel == 36) { 306 | eyes(0); 307 | eyes(36); 308 | } 309 | else if (eyesLevel == 37) { 310 | eyes(0); 311 | eyes(37); 312 | } 313 | else if (eyesLevel == 38) { 314 | eyes(0); 315 | eyes(38); 316 | } 317 | else if (eyesLevel == 39) { 318 | eyes(0); 319 | eyes(39); 320 | } 321 | else if (eyesLevel == 40) { 322 | eyes(0); 323 | eyes(40); 324 | } 325 | else if (eyesLevel == 41) { 326 | eyes(0); 327 | eyes(41); 328 | } 329 | else if (eyesLevel == 42) { 330 | eyes(0); 331 | eyes(42); 332 | } 333 | else if (eyesLevel == 43) { 334 | eyes(0); 335 | eyes(43); 336 | } 337 | } 338 | 339 | eyesLevelPrev = eyesLevel; // bookmark the previous level to check it's different 340 | 341 | //*** SERVOS **** 342 | 343 | ch17 = DMXSerial.read(17); 344 | ch16 = DMXSerial.read(16); 345 | ch15 = DMXSerial.read(15); 346 | 347 | ch17 = map(ch17,0,255,700,2300); 348 | ch16 = map(ch16,0,255,700,2300); 349 | ch15 = map(ch15,0,255,2600,700); 350 | 351 | ch15Filtered = (float) filter(ch15, ch15Filtered, 30); 352 | ch16Filtered = (float) filter(ch16, ch16Filtered, 30); 353 | ch17Filtered = (float) filter(ch17, ch17Filtered, 30); 354 | 355 | servo3.writeMicroseconds(ch17Filtered); 356 | servo2.writeMicroseconds(ch16Filtered); 357 | servo1.writeMicroseconds(ch15Filtered); 358 | 359 | } // end of timed event 360 | 361 | 362 | } 363 | 364 | // filter function 365 | 366 | float filter(float lengthOrig, float currentValue, int filter) { 367 | float lengthFiltered = (lengthOrig + (currentValue * filter)) / (filter + 1); 368 | return lengthFiltered; 369 | } 370 | 371 | 372 | 373 | 374 | 375 | 376 | 377 | 378 | 379 | 380 | 381 | 382 | 383 | 384 | 385 | 386 | 387 | 388 | 389 | -------------------------------------------------------------------------------- /Head02/Leds.xlsx: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/XRobots/PerformanceRobots/c53d764fb8fd95630fdffdac38d941844a7ee4a8/Head02/Leds.xlsx -------------------------------------------------------------------------------- /Head02/Mouth.ino: -------------------------------------------------------------------------------- 1 | void mouth(int level) { 2 | 3 | if (level == 0) { 4 | for(int blackLed = 120; blackLed < 132; blackLed = blackLed + 1) { 5 | leds[blackLed] = CRGB::Black; 6 | } 7 | } 8 | 9 | else if (level == 1) { 10 | leds[125] = CRGB::White; 11 | leds[126] = CRGB::White; 12 | } 13 | 14 | else if (level == 2) { 15 | leds[124] = CRGB::White; 16 | leds[126] = CRGB::White; 17 | leds[125] = CRGB::White; 18 | leds[127] = CRGB::White; 19 | } 20 | 21 | else if (level == 3) { 22 | leds[124] = CRGB::White; 23 | leds[126] = CRGB::White; 24 | leds[125] = CRGB::White; 25 | leds[127] = CRGB::White; 26 | leds[123] = CRGB::White; 27 | leds[128] = CRGB::White; 28 | } 29 | 30 | else if (level == 4) { 31 | leds[124] = CRGB::White; 32 | leds[126] = CRGB::White; 33 | leds[125] = CRGB::White; 34 | leds[127] = CRGB::White; 35 | leds[123] = CRGB::White; 36 | leds[128] = CRGB::White; 37 | leds[122] = CRGB::White; 38 | leds[129] = CRGB::White; 39 | } 40 | 41 | else if (level == 5) { 42 | leds[124] = CRGB::White; 43 | leds[126] = CRGB::White; 44 | leds[125] = CRGB::White; 45 | leds[127] = CRGB::White; 46 | leds[123] = CRGB::White; 47 | leds[128] = CRGB::White; 48 | leds[122] = CRGB::White; 49 | leds[129] = CRGB::White; 50 | leds[121] = CRGB::White; 51 | leds[130] = CRGB::White; 52 | } 53 | 54 | else if (level == 6) { 55 | leds[124] = CRGB::White; 56 | leds[126] = CRGB::White; 57 | leds[125] = CRGB::White; 58 | leds[127] = CRGB::White; 59 | leds[123] = CRGB::White; 60 | leds[128] = CRGB::White; 61 | leds[122] = CRGB::White; 62 | leds[129] = CRGB::White; 63 | leds[121] = CRGB::White; 64 | leds[130] = CRGB::White; 65 | leds[120] = CRGB::White; 66 | leds[131] = CRGB::White; 67 | } 68 | 69 | 70 | 71 | FastLED.show(); 72 | 73 | 74 | } 75 | 76 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. 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If the Program does not specify a version number of the 576 | GNU General Public License, you may choose any version ever published 577 | by the Free Software Foundation. 578 | 579 | If the Program specifies that a proxy can decide which future 580 | versions of the GNU General Public License can be used, that proxy's 581 | public statement of acceptance of a version permanently authorizes you 582 | to choose that version for the Program. 583 | 584 | Later license versions may give you additional or different 585 | permissions. However, no additional obligations are imposed on any 586 | author or copyright holder as a result of your choosing to follow a 587 | later version. 588 | 589 | 15. Disclaimer of Warranty. 590 | 591 | THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY 592 | APPLICABLE LAW. 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Interpretation of Sections 15 and 16. 613 | 614 | If the disclaimer of warranty and limitation of liability provided 615 | above cannot be given local legal effect according to their terms, 616 | reviewing courts shall apply local law that most closely approximates 617 | an absolute waiver of all civil liability in connection with the 618 | Program, unless a warranty or assumption of liability accompanies a 619 | copy of the Program in return for a fee. 620 | 621 | END OF TERMS AND CONDITIONS 622 | 623 | How to Apply These Terms to Your New Programs 624 | 625 | If you develop a new program, and you want it to be of the greatest 626 | possible use to the public, the best way to achieve this is to make it 627 | free software which everyone can redistribute and change under these terms. 628 | 629 | To do so, attach the following notices to the program. It is safest 630 | to attach them to the start of each source file to most effectively 631 | state the exclusion of warranty; and each file should have at least 632 | the "copyright" line and a pointer to where the full notice is found. 633 | 634 | 635 | Copyright (C) 636 | 637 | This program is free software: you can redistribute it and/or modify 638 | it under the terms of the GNU General Public License as published by 639 | the Free Software Foundation, either version 3 of the License, or 640 | (at your option) any later version. 641 | 642 | This program is distributed in the hope that it will be useful, 643 | but WITHOUT ANY WARRANTY; without even the implied warranty of 644 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 645 | GNU General Public License for more details. 646 | 647 | You should have received a copy of the GNU General Public License 648 | along with this program. If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | Copyright (C) 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . 675 | -------------------------------------------------------------------------------- /PRobot03/ODriveInit.ino: -------------------------------------------------------------------------------- 1 | void OdriveInit() { 2 | 3 | Serial.println("Odrive 3"); // arms - smaller motors 4 | 5 | for (int axis = 0; axis < 2; ++axis) { 6 | Serial4 << "w axis" << axis << ".controller.config.vel_limit " << 80000.0f << '\n'; 7 | Serial4 << "w axis" << axis << ".motor.config.current_lim " << 40.0f << '\n'; 8 | Serial4 << "w axis" << axis << ".motor.config.calibration_current " << 30.0f << '\n'; 9 | 10 | requested_state = ODriveArduino::AXIS_STATE_MOTOR_CALIBRATION; 11 | Serial << "Axis" << axis << ": Requesting state " << requested_state << '\n'; 12 | odrive3.run_state(axis, requested_state, true); 13 | 14 | requested_state = ODriveArduino::AXIS_STATE_ENCODER_OFFSET_CALIBRATION; 15 | Serial << "Axis" << axis << ": Requesting state " << requested_state << '\n'; 16 | odrive3.run_state(axis, requested_state, true); 17 | 18 | requested_state = ODriveArduino::AXIS_STATE_CLOSED_LOOP_CONTROL; 19 | Serial << "Axis" << axis << ": Requesting state " << requested_state << '\n'; 20 | odrive3.run_state(axis, requested_state, false); // don't wait 21 | } 22 | 23 | 24 | 25 | Serial.println("Odrive 1"); // arms - outwards 26 | 27 | for (int axis = 0; axis < 2; ++axis) { 28 | Serial2 << "w axis" << axis << ".controller.config.vel_limit " << 360000.0f << '\n'; 29 | Serial2 << "w axis" << axis << ".motor.config.current_lim " << 5.0f << '\n'; 30 | 31 | requested_state = ODriveArduino::AXIS_STATE_MOTOR_CALIBRATION; 32 | Serial << "Axis" << axis << ": Requesting state " << requested_state << '\n'; 33 | odrive1.run_state(axis, requested_state, true); 34 | 35 | requested_state = ODriveArduino::AXIS_STATE_ENCODER_OFFSET_CALIBRATION; 36 | Serial << "Axis" << axis << ": Requesting state " << requested_state << '\n'; 37 | odrive1.run_state(axis, requested_state, true); 38 | 39 | requested_state = ODriveArduino::AXIS_STATE_CLOSED_LOOP_CONTROL; 40 | Serial << "Axis" << axis << ": Requesting state " << requested_state << '\n'; 41 | odrive1.run_state(axis, requested_state, false); // don't wait 42 | } 43 | 44 | 45 | 46 | Serial.println("Odrive 2"); // ribs 47 | 48 | for (int axis = 0; axis < 2; ++axis) { 49 | Serial3 << "w axis" << axis << ".controller.config.vel_limit " << 360000.0f << '\n'; 50 | Serial3 << "w axis" << axis << ".motor.config.current_lim " << 5.0f << '\n'; 51 | 52 | requested_state = ODriveArduino::AXIS_STATE_MOTOR_CALIBRATION; 53 | Serial << "Axis" << axis << ": Requesting state " << requested_state << '\n'; 54 | odrive2.run_state(axis, requested_state, true); 55 | 56 | requested_state = ODriveArduino::AXIS_STATE_ENCODER_OFFSET_CALIBRATION; 57 | Serial << "Axis" << axis << ": Requesting state " << requested_state << '\n'; 58 | odrive2.run_state(axis, requested_state, true); 59 | 60 | requested_state = ODriveArduino::AXIS_STATE_CLOSED_LOOP_CONTROL; 61 | Serial << "Axis" << axis << ": Requesting state " << requested_state << '\n'; 62 | odrive2.run_state(axis, requested_state, false); // don't wait 63 | } 64 | 65 | 66 | 67 | 68 | } 69 | 70 | 71 | 72 | 73 | 74 | 75 | -------------------------------------------------------------------------------- /PRobot03/ODrivePositions.ino: -------------------------------------------------------------------------------- 1 | void ODriveGo1() { 2 | 3 | odrive3.SetPosition(0, 18192); // E small arm motors 4 | odrive3.SetPosition(1, -18192); 5 | } 6 | void ODriveGo2() { 7 | 8 | 9 | odrive3.SetPosition(0, 0); // F small arm motors 10 | odrive3.SetPosition(1, 0); 11 | } 12 | 13 | void ODriveGo3() { 14 | odrive1.SetPosition(0, -240000); // G arms outwards 15 | odrive1.SetPosition(1, -240000); 16 | } 17 | void ODriveGo4() { 18 | odrive1.SetPosition(0, 0); // H arms down 19 | odrive1.SetPosition(1, 0); 20 | } 21 | 22 | void ODriveGo5() { 23 | odrive2.SetPosition(0, -120000); // I ribs 24 | odrive2.SetPosition(1, -120000); 25 | } 26 | void ODriveGo6() { 27 | odrive2.SetPosition(0, 0); // J middle 28 | odrive2.SetPosition(1, 0); 29 | } 30 | void ODriveGo7() { 31 | odrive2.SetPosition(0, 100000); // K lean forwards 32 | odrive2.SetPosition(1, 100000); 33 | } 34 | void ODriveGo8() { 35 | odrive2.SetPosition(0, 80000); // L lean right 36 | odrive2.SetPosition(1, -80000); 37 | } 38 | void ODriveGo9() { 39 | odrive2.SetPosition(0, -80000); // M lean left 40 | odrive2.SetPosition(1, 80000); 41 | } 42 | 43 | 44 | 45 | -------------------------------------------------------------------------------- /PRobot03/PRobot03.ino: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | namespace teensydmx = ::qindesign::teensydmx; 5 | 6 | // Create the DMX receiver on Serial1. 7 | teensydmx::Receiver dmxRx{Serial1}; 8 | 9 | double Pk1 = 1; 10 | double Ik1 = 0; 11 | double Dk1 = 0; 12 | double Setpoint1, Setpoint1Filtered, Input1, Output1, Output1a; // PID variables position 13 | 14 | PID PID1(&Input1, &Output1, &Setpoint1, Pk1, Ik1 , Dk1, DIRECT); 15 | 16 | double Pk2 = 1; 17 | double Ik2 = 0; 18 | double Dk2 = 0; 19 | double Setpoint2, Setpoint2Filtered, Input2, Output2, Output2a; // PID variables position 20 | 21 | PID PID2(&Input2, &Output2, &Setpoint2, Pk2, Ik2 , Dk2, DIRECT); 22 | 23 | double Pk3 = 1; 24 | double Ik3 = 0; 25 | double Dk3 = 0; 26 | double Setpoint3, Setpoint3Filtered, Input3, Output3, Output3a; // PID variables position 27 | 28 | PID PID3(&Input3, &Output3, &Setpoint3, Pk3, Ik3 , Dk3, DIRECT); 29 | 30 | double Pk4 = 1; 31 | double Ik4 = 0; 32 | double Dk4 = 0; 33 | double Setpoint4, Setpoint4Filtered, Input4, Output4, Output4a; // PID variables position 34 | 35 | PID PID4(&Input4, &Output4, &Setpoint4, Pk4, Ik4 , Dk4, DIRECT); 36 | 37 | // Printing with stream operator 38 | template inline Print& operator <<(Print &obj, T arg) { obj.print(arg); return obj; } 39 | template<> inline Print& operator <<(Print &obj, float arg) { obj.print(arg, 4); return obj; } 40 | 41 | //ODrive Object 42 | ODriveArduino odrive1(Serial2); // arm outwards 43 | ODriveArduino odrive2(Serial3); // ribs 44 | ODriveArduino odrive3(Serial4); // smaller arm motors 45 | 46 | unsigned long currentMillis; 47 | 48 | long previousMillis = 0; // set up timers 49 | long interval = 10; // time constant for timers 50 | unsigned long count; 51 | 52 | int requested_state; // required for Odrive init 53 | 54 | int loopTime; 55 | int previousLooptime; 56 | 57 | unsigned long previousSafetyMillis; 58 | 59 | int switch1; 60 | int switch2; 61 | 62 | #define encoder0PinA 33 // encoder 0 63 | #define encoder0PinB 34 64 | #define encoder1PinA 35 // encoder 1 65 | #define encoder1PinB 36 66 | #define encoder2PinA 37 // encoder 2 67 | #define encoder2PinB 38 68 | #define encoder3PinA 39 // encoder 3 69 | #define encoder3PinB 14 70 | 71 | volatile long encoder0Pos = 0; // encoder 0 72 | volatile long encoder1Pos = 0; // encoder 1 73 | volatile long encoder2Pos = 0; // encoder 2 74 | volatile long encoder3Pos = 0; // encoder 3 75 | 76 | int read0; 77 | int read1; 78 | int read2; 79 | int read3; 80 | int read4; 81 | char ident; 82 | 83 | long BRArmRight; 84 | long BRArmLeft; 85 | long ShoulderRight; 86 | long ShoulderLeft; 87 | long AbLeft; 88 | long AbRight; 89 | 90 | long BRArmRightFiltered; 91 | long BRArmLeftFiltered; 92 | long ShoulderRightFiltered; 93 | long ShoulderLeftFiltered; 94 | long AbLeftFiltered; 95 | long AbRightFiltered; 96 | 97 | uint8_t ch1; 98 | uint8_t ch2; 99 | uint8_t ch3; 100 | uint8_t ch4; 101 | uint8_t ch5; 102 | uint8_t ch6; 103 | uint8_t ch7; 104 | uint8_t ch8; 105 | uint8_t ch9; 106 | uint8_t ch10; 107 | 108 | int ch1a; 109 | int ch2a; 110 | int ch3a; 111 | int ch4a; 112 | int ch5a; 113 | int ch6a; 114 | int ch7a; 115 | int ch8a; 116 | int ch9a; 117 | int ch10a; 118 | 119 | // ****************** SETUP ****************************** 120 | 121 | void setup() { 122 | 123 | // initialize serial communication 124 | Serial.begin(115200); 125 | 126 | // Start the receiver 127 | dmxRx.begin(); 128 | 129 | //ODrive serial ports 130 | Serial2.begin(115200); 131 | Serial3.begin(115200); 132 | Serial4.begin(115200); 133 | 134 | 135 | 136 | pinMode(15, INPUT_PULLUP); // switch 137 | pinMode(16, INPUT_PULLUP); // switch 138 | 139 | /* 140 | pinMode(33, INPUT_PULLUP); // encoder 0 141 | pinMode(34, INPUT_PULLUP); 142 | pinMode(35, INPUT_PULLUP); // encoder 1 143 | pinMode(36, INPUT_PULLUP); 144 | pinMode(37, INPUT_PULLUP); // encoder 2 145 | pinMode(38, INPUT_PULLUP); 146 | pinMode(39, INPUT_PULLUP); // encoder 3 147 | pinMode(14, INPUT_PULLUP); 148 | 149 | */ 150 | 151 | pinMode(2, OUTPUT); // motors 152 | pinMode(3, OUTPUT); 153 | pinMode(4, OUTPUT); 154 | pinMode(6, OUTPUT); 155 | 156 | pinMode(29, OUTPUT); 157 | pinMode(30, OUTPUT); 158 | pinMode(23, OUTPUT); 159 | pinMode(22, OUTPUT); 160 | 161 | digitalWrite(2, LOW); // turn off all motors 162 | digitalWrite(3, LOW); 163 | digitalWrite(4, LOW); 164 | digitalWrite(6, LOW); 165 | 166 | digitalWrite(29, LOW); 167 | digitalWrite(30, LOW); 168 | digitalWrite(23, LOW); 169 | digitalWrite(22, LOW); 170 | 171 | attachInterrupt(33, doEncoderA, RISING); // encoder 0 172 | attachInterrupt(34, doEncoderB, RISING); 173 | attachInterrupt(35, doEncoderC, RISING); // encoder 1 174 | attachInterrupt(36, doEncoderD, RISING); 175 | attachInterrupt(37, doEncoderE, RISING); // encoder 2 176 | attachInterrupt(38, doEncoderF, RISING); 177 | attachInterrupt(39, doEncoderG, RISING); // encoder 3 178 | attachInterrupt(14, doEncoderH, RISING); 179 | 180 | PID1.SetMode(AUTOMATIC); 181 | PID1.SetOutputLimits(-255, 255); 182 | PID1.SetSampleTime(10); 183 | 184 | PID2.SetMode(AUTOMATIC); 185 | PID2.SetOutputLimits(-255, 255); 186 | PID2.SetSampleTime(10); 187 | 188 | PID3.SetMode(AUTOMATIC); 189 | PID3.SetOutputLimits(-255, 255); 190 | PID3.SetSampleTime(10); 191 | 192 | PID4.SetMode(AUTOMATIC); 193 | PID4.SetOutputLimits(-255, 255); 194 | PID4.SetSampleTime(10); 195 | 196 | } 197 | 198 | // ********************* MAIN LOOP ******************************* 199 | 200 | void loop() { 201 | 202 | currentMillis = millis(); 203 | if (currentMillis - previousMillis >= 10) { // start timed event 204 | 205 | previousMillis = currentMillis; 206 | 207 | if (Serial.available()>2) { // check for enough serial data 208 | // read the incoming byte: 209 | read0 = Serial.parseInt(); 210 | ident = Serial.read(); 211 | // DC Brushed 212 | if (ident == 'a') { 213 | read1 = read0; 214 | } 215 | else if (ident == 'b') { 216 | read2 = read0; 217 | } 218 | else if (ident == 'c') { 219 | read3 = read0; 220 | } 221 | else if (ident == 'd') { 222 | read4 = read0; 223 | } 224 | // ODrives 225 | else if (ident == 'e') { 226 | ODriveGo1(); 227 | } 228 | else if (ident == 'f') { 229 | ODriveGo2(); 230 | } 231 | else if (ident == 'g') { 232 | ODriveGo3(); 233 | } 234 | else if (ident == 'h') { 235 | ODriveGo4(); 236 | } 237 | else if (ident == 'i') { 238 | ODriveGo5(); 239 | } 240 | else if (ident == 'j') { 241 | ODriveGo6(); 242 | } 243 | else if (ident == 'k') { 244 | ODriveGo7(); 245 | } 246 | else if (ident == 'l') { 247 | ODriveGo8(); 248 | } 249 | else if (ident == 'm') { 250 | ODriveGo9(); 251 | } 252 | 253 | } 254 | 255 | 256 | 257 | loopTime = currentMillis - previousLooptime; 258 | //Serial.print("time: "); 259 | //Serial.print(loopTime); 260 | //Serial.print("\t"); 261 | previousLooptime = currentMillis; 262 | 263 | switch1 = digitalRead(15); 264 | switch2 = digitalRead(16); 265 | 266 | if (switch2 == 0) { // init Odrive 267 | OdriveInit(); 268 | encoder0Pos = 0; // encoder 0 269 | encoder1Pos = 0; // encoder 1 270 | encoder2Pos = 0; // encoder 2 271 | encoder3Pos = 0; // encoder 3 272 | 273 | } 274 | 275 | // get DMX values 276 | 277 | ch1 = dmxRx.get(1); 278 | ch2 = dmxRx.get(2); 279 | ch3 = dmxRx.get(3); 280 | ch4 = dmxRx.get(4); 281 | ch5 = dmxRx.get(5); 282 | ch6 = dmxRx.get(6); 283 | ch7 = dmxRx.get(7); 284 | ch8 = dmxRx.get(8); 285 | ch9 = dmxRx.get(9); 286 | ch10 = dmxRx.get(10); 287 | 288 | ch3a = map(ch1,0,255,0,6000); // DC arm left 1 289 | ch4a = map(ch2,0,255,0,4500); // DC arm left 2 290 | ch1a = map(ch3,0,255,0,-6000); // DC arm right 1 291 | ch2a = map(ch4,0,255,0,-4500); // DC arm right 2 292 | 293 | ch5a = map(ch5,0,255,0,35000); // BR arm left 294 | ch6a = map(ch6,0,255,0,-35000); // BR arm right 295 | ch7a = map(ch7,0,255,0,-350000); // Shoulder right 296 | ch8a = map(ch8,0,255,0,-350000); // shoulder left 297 | ch9a = map(ch9,0,255,0,-200000)+100000; // Abs left 298 | ch10a = map(ch10,0,255,0,-200000)+100000; // Abs right 299 | 300 | // Brushless Motors 301 | 302 | BRArmLeftFiltered = filter(ch5a, BRArmLeftFiltered, 40); 303 | BRArmRightFiltered = filter(ch6a, BRArmRightFiltered, 40); 304 | 305 | ShoulderRightFiltered = filter(ch7a, ShoulderRightFiltered, 40); 306 | ShoulderLeftFiltered = filter(ch8a, ShoulderLeftFiltered, 40); 307 | 308 | AbLeftFiltered = filter(ch9a, AbLeftFiltered, 50); 309 | AbRightFiltered = filter(ch10a, AbRightFiltered, 50); 310 | 311 | odrive3.SetPosition(0, BRArmLeftFiltered); // arms forward | backwards 312 | odrive3.SetPosition(1, BRArmRightFiltered); 313 | 314 | odrive1.SetPosition(0, ShoulderLeftFiltered); // Shoulder in | out 315 | odrive1.SetPosition(1, ShoulderRightFiltered); 316 | 317 | odrive2.SetPosition(0, AbLeftFiltered); // Abs 318 | odrive2.SetPosition(1, AbRightFiltered); 319 | 320 | 321 | // DC Motor PIDs etc 322 | 323 | Input1 = encoder0Pos; 324 | Setpoint1Filtered = filter(ch1a, Setpoint1Filtered, 40); 325 | Setpoint1 = Setpoint1Filtered; 326 | //Setpoint1 = read1; 327 | PID1.Compute(); 328 | 329 | Input2 = encoder1Pos; 330 | Setpoint2Filtered = filter(ch2a, Setpoint2Filtered, 40); 331 | Setpoint2 = Setpoint2Filtered; 332 | //Setpoint2 = read2; 333 | PID2.Compute(); 334 | 335 | Input3 = encoder2Pos; 336 | Setpoint3Filtered = filter(ch3a, Setpoint3Filtered, 40); 337 | Setpoint3 = Setpoint3Filtered; 338 | //Setpoint3 = read3; 339 | PID3.Compute(); 340 | 341 | Input4 = encoder3Pos; 342 | Setpoint4Filtered = filter(ch4a, Setpoint4Filtered, 40); 343 | Setpoint4 = Setpoint4Filtered; 344 | //Setpoint4 = read4; 345 | PID4.Compute(); 346 | 347 | 348 | // ************** motor 1 ***************** 349 | if (Output1 < 0) // decide which way to turn the motor 350 | { 351 | Output1a = abs(Output1); 352 | analogWrite(2, Output1a); // set PWM pins 353 | analogWrite(3, 0); 354 | } 355 | else if (Output1 > 0) // decide which way to turn the motor 356 | { 357 | Output1a = abs(Output1); 358 | analogWrite(3, Output1a); 359 | analogWrite(2, 0); 360 | } 361 | else 362 | { 363 | analogWrite(2, 0); 364 | analogWrite(3, 0); 365 | } 366 | 367 | // ************** motor 2 ***************** 368 | if (Output2 < 0) // decide which way to turn the motor 369 | { 370 | Output2a = abs(Output2); 371 | analogWrite(4, Output2a); // set PWM pins 372 | analogWrite(6, 0); 373 | } 374 | else if (Output2 > 0) // decide which way to turn the motor 375 | { 376 | Output2a = abs(Output2); 377 | analogWrite(6, Output2a); 378 | analogWrite(4, 0); 379 | } 380 | else 381 | { 382 | analogWrite(4, 0); 383 | analogWrite(6, 0); 384 | } 385 | 386 | 387 | // ************** motor 3 ***************** 388 | if (Output3 < 0) // decide which way to turn the motor 389 | { 390 | Output3a = abs(Output3); 391 | analogWrite(29, Output3a); // set PWM pins 392 | analogWrite(30, 0); 393 | } 394 | else if (Output3 > 0) // decide which way to turn the motor 395 | { 396 | Output3a = abs(Output3); 397 | analogWrite(30, Output3a); 398 | analogWrite(29, 0); 399 | } 400 | else 401 | { 402 | analogWrite(29, 0); 403 | analogWrite(30, 0); 404 | } 405 | 406 | 407 | // ************** motor 4 ***************** 408 | if (Output4 < 0) // decide which way to turn the motor 409 | { 410 | Output4a = abs(Output4); 411 | analogWrite(23, Output4a); // set PWM pins 412 | analogWrite(22, 0); 413 | } 414 | else if (Output4 > 0) // decide which way to turn the motor 415 | { 416 | Output4a = abs(Output4); 417 | analogWrite(22, Output4a); 418 | analogWrite(23, 0); 419 | } 420 | else 421 | { 422 | analogWrite(23, 0); 423 | analogWrite(22, 0); 424 | } 425 | 426 | 427 | } // end of timed event 428 | 429 | 430 | 431 | } // end of main loop 432 | 433 | 434 | // filter function 435 | 436 | float filter(float lengthOrig, float currentValue, int filter) { 437 | float lengthFiltered = (lengthOrig + (currentValue * filter)) / (filter + 1); 438 | return lengthFiltered; 439 | } 440 | 441 | 442 | 443 | 444 | 445 | 446 | -------------------------------------------------------------------------------- /PRobot03/readEncoders.ino: -------------------------------------------------------------------------------- 1 | // ************** encoder 0 ********************* 2 | 3 | void doEncoderA(){ 4 | 5 | // look for a low-to-high on channel A 6 | if (digitalRead(encoder0PinA) == HIGH) { 7 | // check channel B to see which way encoder is turning 8 | if (digitalRead(encoder0PinB) == LOW) { 9 | encoder0Pos = encoder0Pos + 1; // CW 10 | } 11 | else { 12 | encoder0Pos = encoder0Pos - 1; // CCW 13 | } 14 | } 15 | else // must be a high-to-low edge on channel A 16 | { 17 | // check channel B to see which way encoder is turning 18 | if (digitalRead(encoder0PinB) == HIGH) { 19 | encoder0Pos = encoder0Pos + 1; // CW 20 | } 21 | else { 22 | encoder0Pos = encoder0Pos - 1; // CCW 23 | } 24 | } 25 | 26 | } 27 | 28 | 29 | void doEncoderB(){ 30 | 31 | // look for a low-to-high on channel B 32 | if (digitalRead(encoder0PinB) == HIGH) { 33 | // check channel A to see which way encoder is turning 34 | if (digitalRead(encoder0PinA) == HIGH) { 35 | encoder0Pos = encoder0Pos + 1; // CW 36 | } 37 | else { 38 | encoder0Pos = encoder0Pos - 1; // CCW 39 | } 40 | } 41 | // Look for a high-to-low on channel B 42 | else { 43 | // check channel B to see which way encoder is turning 44 | if (digitalRead(encoder0PinA) == LOW) { 45 | encoder0Pos = encoder0Pos + 1; // CW 46 | } 47 | else { 48 | encoder0Pos = encoder0Pos - 1; // CCW 49 | } 50 | } 51 | 52 | } 53 | 54 | // ************** encoder 1 ********************* 55 | 56 | void doEncoderC(){ 57 | 58 | // look for a low-to-high on channel A 59 | if (digitalRead(encoder1PinA) == HIGH) { 60 | // check channel B to see which way encoder is turning 61 | if (digitalRead(encoder1PinB) == LOW) { 62 | encoder1Pos = encoder1Pos + 1; // CW 63 | } 64 | else { 65 | encoder1Pos = encoder1Pos - 1; // CCW 66 | } 67 | } 68 | else // must be a high-to-low edge on channel A 69 | { 70 | // check channel B to see which way encoder is turning 71 | if (digitalRead(encoder1PinB) == HIGH) { 72 | encoder1Pos = encoder1Pos + 1; // CW 73 | } 74 | else { 75 | encoder1Pos = encoder1Pos - 1; // CCW 76 | } 77 | } 78 | 79 | } 80 | 81 | void doEncoderD(){ 82 | 83 | // look for a low-to-high on channel B 84 | if (digitalRead(encoder1PinB) == HIGH) { 85 | // check channel A to see which way encoder is turning 86 | if (digitalRead(encoder1PinA) == HIGH) { 87 | encoder1Pos = encoder1Pos + 1; // CW 88 | } 89 | else { 90 | encoder1Pos = encoder1Pos - 1; // CCW 91 | } 92 | } 93 | // Look for a high-to-low on channel B 94 | else { 95 | // check channel B to see which way encoder is turning 96 | if (digitalRead(encoder1PinA) == LOW) { 97 | encoder1Pos = encoder1Pos + 1; // CW 98 | } 99 | else { 100 | encoder1Pos = encoder1Pos - 1; // CCW 101 | } 102 | } 103 | 104 | 105 | } 106 | 107 | // ************** encoder 2 ********************* 108 | 109 | void doEncoderE(){ 110 | 111 | // look for a low-to-high on channel A 112 | if (digitalRead(encoder2PinA) == HIGH) { 113 | // check channel B to see which way encoder is turning 114 | if (digitalRead(encoder2PinB) == LOW) { 115 | encoder2Pos = encoder2Pos + 1; // EW 116 | } 117 | else { 118 | encoder2Pos = encoder2Pos - 1; // EEW 119 | } 120 | } 121 | else // must be a high-to-low edge on channel A 122 | { 123 | // check channel B to see which way encoder is turning 124 | if (digitalRead(encoder2PinB) == HIGH) { 125 | encoder2Pos = encoder2Pos + 1; // EW 126 | } 127 | else { 128 | encoder2Pos = encoder2Pos - 1; // EEW 129 | } 130 | } 131 | 132 | } 133 | 134 | void doEncoderF(){ 135 | 136 | // look for a low-to-high on channel B 137 | if (digitalRead(encoder2PinB) == HIGH) { 138 | // check channel A to see which way encoder is turning 139 | if (digitalRead(encoder2PinA) == HIGH) { 140 | encoder2Pos = encoder2Pos + 1; // EW 141 | } 142 | else { 143 | encoder2Pos = encoder2Pos - 1; // EEW 144 | } 145 | } 146 | // Look for a high-to-low on channel B 147 | else { 148 | // check channel B to see which way encoder is turning 149 | if (digitalRead(encoder2PinA) == LOW) { 150 | encoder2Pos = encoder2Pos + 1; // EW 151 | } 152 | else { 153 | encoder2Pos = encoder2Pos - 1; // EEW 154 | } 155 | } 156 | 157 | 158 | } 159 | 160 | // ************** encoder 3 ********************* 161 | 162 | void doEncoderG(){ 163 | 164 | // look for a low-to-high on channel A 165 | if (digitalRead(encoder3PinA) == HIGH) { 166 | // check channel B to see which way encoder is turning 167 | if (digitalRead(encoder3PinB) == LOW) { 168 | encoder3Pos = encoder3Pos + 1; // EW 169 | } 170 | else { 171 | encoder3Pos = encoder3Pos - 1; // EEW 172 | } 173 | } 174 | else // must be a high-to-low edge on channel A 175 | { 176 | // check channel B to see which way encoder is turning 177 | if (digitalRead(encoder3PinB) == HIGH) { 178 | encoder3Pos = encoder3Pos + 1; // EW 179 | } 180 | else { 181 | encoder3Pos = encoder3Pos - 1; // EEW 182 | } 183 | } 184 | 185 | } 186 | 187 | void doEncoderH(){ 188 | 189 | // look for a low-to-high on channel B 190 | if (digitalRead(encoder3PinB) == HIGH) { 191 | // check channel A to see which way encoder is turning 192 | if (digitalRead(encoder3PinA) == HIGH) { 193 | encoder3Pos = encoder3Pos + 1; // EW 194 | } 195 | else { 196 | encoder3Pos = encoder3Pos - 1; // EEW 197 | } 198 | } 199 | // Look for a high-to-low on channel B 200 | else { 201 | // check channel B to see which way encoder is turning 202 | if (digitalRead(encoder3PinA) == LOW) { 203 | encoder3Pos = encoder3Pos + 1; // EW 204 | } 205 | else { 206 | encoder3Pos = encoder3Pos - 1; // EEW 207 | } 208 | } 209 | 210 | 211 | } 212 | 213 | 214 | 215 | -------------------------------------------------------------------------------- /Puppet01_Orange/Puppet01_Orange.ino: -------------------------------------------------------------------------------- 1 | // ORANGE ROBOT 2 | 3 | #include // libary is using Serial 1 on Arduino MEGA 4 | 5 | int cha; 6 | int chb; 7 | int chc; 8 | int chd; 9 | int che; 10 | int chf; 11 | int chg; 12 | int chh; 13 | int chi; 14 | int chj; 15 | 16 | int ch1 = 0; 17 | int ch2 = 0; 18 | int ch3 = 0; 19 | int ch4 = 0; 20 | int ch5 = 0; 21 | int ch6 = 0; 22 | int ch7 = 0; 23 | int ch8 = 0; 24 | int ch9 = 0; 25 | int ch10 = 0; 26 | int ch11 = 0; 27 | int ch12 = 0; 28 | 29 | 30 | int ch1Prev; 31 | int ch2Prev; 32 | int ch3Prev; 33 | int ch4Prev; 34 | int ch5Prev; 35 | int ch6Prev; 36 | int ch7Prev; 37 | int ch8Prev; 38 | int ch9Prev; 39 | int ch10Prev; 40 | int ch11Prev; 41 | int ch12Prev; 42 | 43 | int switch1; 44 | 45 | void setup() { 46 | 47 | DMXSerial.init(DMXController); // libary is using Serial 1 on Arduino MEGA 48 | Serial.begin(115200); 49 | 50 | pinMode(A0, INPUT); 51 | pinMode(A1, INPUT); 52 | pinMode(A2, INPUT); 53 | pinMode(A3, INPUT); 54 | pinMode(A4, INPUT); 55 | pinMode(A5, INPUT); 56 | pinMode(A6, INPUT); 57 | pinMode(A7, INPUT); 58 | pinMode(A8, INPUT); 59 | pinMode(A9, INPUT); 60 | pinMode(A10, INPUT); 61 | pinMode(A11, INPUT); 62 | 63 | pinMode(52, INPUT_PULLUP); 64 | 65 | } // setup 66 | 67 | 68 | // loop through the rainbow colors 69 | void loop() { 70 | 71 | cha = analogRead(A0); 72 | chb = analogRead(A1); 73 | chc = analogRead(A2); 74 | chd = analogRead(A3); 75 | che = analogRead(A4); 76 | chf = analogRead(A5); 77 | chg = analogRead(A6); 78 | chh = analogRead(A7); 79 | chi = analogRead(A8); 80 | chj = analogRead(A9); 81 | 82 | //*** sort out abs/rib motion and divide into the two actuators 83 | chb = (chb - 465)*2; 84 | cha = (cha-512)*2; 85 | ch9 = chb - cha; 86 | ch10 = chb + cha; 87 | ch9 = constrain(ch9,0,255); 88 | ch10 = constrain(ch10,0,255); 89 | 90 | 91 | //*** the other channels 92 | 93 | chc = chc-550; // arms outwards 94 | chc = map(chc,0,380,0,255); 95 | ch8 = constrain(chc,0,255); 96 | chd = chd-516; 97 | chd = map(chd,0,380,0,255); 98 | ch7 = constrain(chd,0,255); 99 | 100 | che = (che-856)*-1; // arms forward 101 | che = map(che,0,700,0,255); 102 | ch6 = constrain(che,0,255); 103 | 104 | chf = (chf-865)*-1; 105 | chf = map(chf,0,700,0,255); 106 | ch5 = constrain(chf,0,255); 107 | 108 | chg = (chg - 555); // arms rotation 109 | chg = map(chg,-200,200,0,255); 110 | ch3 = constrain(chg,0,255); 111 | 112 | chh = (chh - 500); 113 | chh = map(chh,-200,200,0,255); 114 | ch1 = constrain(chh,0,255); 115 | 116 | chi = chi - 200; 117 | chi = map(chi,0,300,0,255); 118 | ch4 = constrain(chi,0,255); 119 | 120 | 121 | chj = chj - 176; 122 | chj = map(chj,0,300,0,255); 123 | ch2 = constrain(chj,0,255); 124 | 125 | switch1 = digitalRead(52); // 'ZERO switch' 126 | 127 | if (switch1 == 0) { 128 | ch1 = 0; 129 | ch2 = 0; 130 | ch3 = 0; 131 | ch4 = 0; 132 | ch5 = 0; 133 | ch6 = 0; 134 | ch7 = 0; 135 | ch8 = 0; 136 | ch9 = 120; 137 | ch10 = 120; 138 | } 139 | 140 | 141 | //*** write DMX channels out 142 | 143 | if (ch1 != ch1Prev) { 144 | DMXSerial.write(1, ch1); 145 | } 146 | ch1Prev = ch1; 147 | 148 | if (ch2 != ch2Prev) { 149 | DMXSerial.write(2, ch2); 150 | } 151 | ch2Prev = ch2; 152 | 153 | if (ch3 != ch3Prev) { 154 | DMXSerial.write(3, ch3); 155 | } 156 | ch3Prev = ch3; 157 | 158 | if (ch4 != ch4Prev) { 159 | DMXSerial.write(4, ch4); 160 | } 161 | ch4Prev = ch4; 162 | 163 | if (ch5 != ch5Prev) { 164 | DMXSerial.write(5, ch5); 165 | } 166 | ch5Prev = ch5; 167 | 168 | if (ch6 != ch6Prev) { 169 | DMXSerial.write(6, ch6); 170 | } 171 | ch6Prev = ch6; 172 | 173 | if (ch7 != ch7Prev) { 174 | DMXSerial.write(7, ch7); 175 | } 176 | ch7Prev = ch7; 177 | 178 | if (ch8 != ch8Prev) { 179 | DMXSerial.write(8, ch8); 180 | } 181 | ch8Prev = ch8; 182 | 183 | if (ch9 != ch9Prev) { 184 | DMXSerial.write(9, ch9); 185 | } 186 | ch9Prev = ch9; 187 | 188 | if (ch10 != ch10Prev) { 189 | DMXSerial.write(10, ch10); 190 | } 191 | ch10Prev = ch10; 192 | 193 | 194 | 195 | Serial.print(" 1: "); 196 | Serial.print(ch1); 197 | Serial.print(" 2: "); 198 | Serial.print(ch2); 199 | Serial.print(" 3: "); 200 | Serial.print(ch3); 201 | Serial.print(" 4: "); 202 | Serial.print(ch4); 203 | Serial.print(" 5: "); 204 | Serial.print(ch5); 205 | Serial.print(" 6: "); 206 | Serial.print(ch6); 207 | Serial.print(" 7: "); 208 | Serial.print(ch7); 209 | Serial.print(" 8: "); 210 | Serial.print(ch8); 211 | Serial.print(" 9: "); 212 | Serial.print(ch9); 213 | Serial.print(" 10: "); 214 | Serial.println(ch10); 215 | 216 | 217 | 218 | 219 | } // loop 220 | 221 | --------------------------------------------------------------------------------