├── .gitignore ├── LICENSE ├── README.md ├── helloworld └── helloworld.ino ├── ir_receiver └── ir_receiver.ino └── ir_ringo ├── ir_command_codes.h └── ir_ringo.ino /.gitignore: -------------------------------------------------------------------------------- 1 | # Compiled Object files 2 | *.slo 3 | *.lo 4 | *.o 5 | 6 | # Compiled Dynamic libraries 7 | *.so 8 | *.dylib 9 | 10 | # Compiled Static libraries 11 | *.lai 12 | *.la 13 | *.a 14 | 15 | # Arduino sketch backup 16 | *.ino~ 17 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 2, June 1991 3 | 4 | Copyright (C) 1989, 1991 Free Software Foundation, Inc., 5 | 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA 6 | Everyone is permitted to copy and distribute verbatim copies 7 | of this license document, but changing it is not allowed. 8 | 9 | Preamble 10 | 11 | The licenses for most software are designed to take away your 12 | freedom to share and change it. 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Of course, the commands you use may 322 | be called something other than `show w' and `show c'; they could even be 323 | mouse-clicks or menu items--whatever suits your program. 324 | 325 | You should also get your employer (if you work as a programmer) or your 326 | school, if any, to sign a "copyright disclaimer" for the program, if 327 | necessary. Here is a sample; alter the names: 328 | 329 | Yoyodyne, Inc., hereby disclaims all copyright interest in the program 330 | `Gnomovision' (which makes passes at compilers) written by James Hacker. 331 | 332 | {signature of Ty Coon}, 1 April 1989 333 | Ty Coon, President of Vice 334 | 335 | This General Public License does not permit incorporating your program into 336 | proprietary programs. If your program is a subroutine library, you may 337 | consider it more useful to permit linking proprietary applications with the 338 | library. If this is what you want to do, use the GNU Lesser General 339 | Public License instead of this License. 340 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | Beetle Ringo 2 | ============ 3 | 4 | Simple DIY robot named Beetle Ringo. You can find the detailed instruction on [Instructables.com](http://www.instructables.com/id/Beetle-Ringo/). 5 | 6 | Take a look at the video: 7 | 8 | [![IMAGE ALT TEXT HERE](http://img.youtube.com/vi/1ZH9PrFUxH0/0.jpg)](http://www.youtube.com/watch?v=1ZH9PrFUxH0) 9 | 10 | [![IMAGE ALT TEXT HERE](http://img.youtube.com/vi/Xnj6EyEFm4k/0.jpg)](http://youtu.be/Xnj6EyEFm4k) 11 | -------------------------------------------------------------------------------- /helloworld/helloworld.ino: -------------------------------------------------------------------------------- 1 | // EN: Most of Arduino controllers have an integrated LED that is connected to 2 | // digital pin 13. Let's make a constant LED to name this pin. 3 | // RU: На большинстве Arduino-контроллеров есть встроенный светодиод, подключенный к 4 | // цифровому выводу 13 (пин 13). Дадим этому пину имя LED: 5 | const int LED = 13; 6 | 7 | // EN: Funtion setup() is called automatically each time the controller is turned on or reseted. 8 | // RU: Функция setup() вызывается автоматически после включения или перезапуска контроллера. 9 | void setup() { 10 | // EN: Initializing pin 13 for output. 11 | // RU: Инициализация цифрового пина для вывода. 12 | pinMode(LED, OUTPUT); 13 | } 14 | 15 | // EN: Function loop() is called on and on in an endless loop. 16 | // RU: Функция loop() вызывается автоматически снова и снова в бесконечном цикле. 17 | void loop() { 18 | // EN: Set high level on pin 13 (turn the led on). 19 | // RU: Подать уровень логической единицы на пин 13 (зажечь светодиод). 20 | digitalWrite(LED, HIGH); 21 | // EN: Pauses the program for 1 second. 22 | // RU: Приостановить выполнение скетча на секунду. 23 | delay(1000); 24 | // EN: Set low level on pin 13 (turn the led off). 25 | // RU: Подать уровень логического нуля на пин 13 (потушить светодиод): 26 | digitalWrite(LED, LOW); 27 | // EN: Pauses the program for 1 second again. 28 | // RU: Снова приостановить выполнение скетча на секунду: 29 | delay(1000); 30 | } 31 | -------------------------------------------------------------------------------- /ir_receiver/ir_receiver.ino: -------------------------------------------------------------------------------- 1 | // EN: IRremote library lets you send and receive IR remote codes 2 | // in multiple protocols. 3 | // RU: Подключаем специальную библиотеку, предоставляющую функции 4 | // приёма и передачи ИК-команд: 5 | #include "IRremote.h" 6 | // https://github.com/shirriff/Arduino-IRremote 7 | 8 | // EN: Pin to connect IR detector. 9 | // RU: Аналоговый вход контроллера, к которму подключен ИК-приёмник. 10 | const int IR_PIN = A0; 11 | 12 | // EN: Create an instance of receiver. 13 | // RU: Создаём объект ИК-приёмник. 14 | IRrecv irrecv(IR_PIN); 15 | 16 | void setup() { 17 | // EN: Initialize serial port for 9600 baud. 18 | Serial.begin(9600); 19 | Serial.println("ready"); 20 | 21 | // EN: Start the IR receiver. 22 | // RU: Начинаем прослушивание ИК-сигналов. 23 | irrecv.enableIRIn(); 24 | } 25 | 26 | void loop() { 27 | // EN: Declare structure for decoded commands. 28 | // RU: Описываем структуру results, в которую будут помещаться 29 | // принятые и декодированные ИК-команды. 30 | decode_results results; 31 | 32 | // EN: If IR command is receicved and decoded then send the result to serial port. 33 | // RU: Если ИК-команда принята и успешно декодирована, то выводим 34 | // полученный код в последовательный порт контроллера. 35 | if (irrecv.decode(&results)) { 36 | Serial.println(results.value); 37 | 38 | // EN: Must be called to resume decoding. 39 | // RU: Должно вызываться чтобы продолжить декодирование. 40 | irrecv.resume(); 41 | } 42 | } 43 | -------------------------------------------------------------------------------- /ir_ringo/ir_command_codes.h: -------------------------------------------------------------------------------- 1 | // EN: Сommand codes received from IR remote. One command can be assigned to many codes. 2 | // You can type codes from several IR remotes. 3 | // RU: Коды команд, принимаемых от ИК-пульта. Одна команда может вызываться несколькими 4 | // кодами. Вы можете ввести коды от нескольких ИК-пультов. 5 | const long IR_COMMAND_FORWARD_CODES[] = { 527175, 2050, 2 }; 6 | const long IR_COMMAND_BACKWARD_CODES[] = { 920391, 2056, 8 }; 7 | const long IR_COMMAND_TURN_LEFT_CODES[] = { 789319, 2052, 4 }; 8 | const long IR_COMMAND_TURN_RIGHT_CODES[] = { 658247, 2054, 6 }; 9 | const long IR_COMMAND_FORWARD_LEFT_CODES[] = { 2887, 2049, 1 }; 10 | const long IR_COMMAND_FORWARD_RIGHT_CODES[] = { 265031, 2051, 3 }; 11 | const long IR_COMMAND_BACKWARD_LEFT_CODES[] = { 68423, 2057, 9 }; 12 | const long IR_COMMAND_BACKWARD_RIGHT_CODES[] = { 396103, 2055, 7 }; 13 | const long IR_COMMAND_STOP_CODES[] = { 133959, 2053, 5 }; 14 | const long IR_COMMAND_VERY_SLOW_CODES[] = { 420679, 2088, 40 }; 15 | const long IR_COMMAND_SLOW_CODES[] = { 617287, 2091, 43 }; 16 | const long IR_COMMAND_FAST_CODES[] = { 92999, 2074, 26 }; 17 | const long IR_COMMAND_VERY_FAST_CODES[] = { 944967, 2075, 27 }; 18 | 19 | -------------------------------------------------------------------------------- /ir_ringo/ir_ringo.ino: -------------------------------------------------------------------------------- 1 | // EN: We use special library to receive and decode commands from IR remote. 2 | // RU: Подключаем специальную библиотеку, предоставляющую функции 3 | // приёма и передачи ИК-команд. Сайт проекта: 4 | // https://github.com/shirriff/Arduino-IRremote 5 | #include "IRremote.h" 6 | 7 | #include "ir_command_codes.h" 8 | 9 | #include 10 | 11 | // EN: Analog pin where IR detector is pluged in. 12 | // RU: Аналоговый вход контроллера, к которму подключен ИК-приёмник. 13 | const int IR_PIN = A0; 14 | 15 | // EN: Servo pins. 16 | // RU: Цифровые выводы контролера, к которым подключены серводвигатели. 17 | const int LEFT_SERVO_PIN = 2; 18 | const int CENTRAL_SERVO_PIN = 4; 19 | const int RIGHT_SERVO_PIN = 7; 20 | 21 | // EN: Servo "zero" angle positions. 22 | // RU: Центральное ("нулевое") положение серводвигателей в градусах. 23 | const long LEFT_SERVO_ZERO_VALUE = 90; 24 | const long RIGHT_SERVO_ZERO_VALUE = 90; 25 | const long CENTRAL_SERVO_ZERO_VALUE = 90; 26 | 27 | // EN: Amplitude of left and right servos. 28 | // RU: Амплитула левого и правого серводвигателей. 29 | const long SIDE_SERVOS_FULL_AMPLITUDE = 30; 30 | // EN: Half amplitude of left and right servos. Is used when robot is turning 31 | // left or right while moving forward or backward. 32 | // RU: Уменьшенная амплитула левого и правого серводвигателей. Используется 33 | // при поворотах совмещённых с движением вперёд или назад. 34 | const long SIDE_SERVOS_HALF_AMPLITUDE = 15; 35 | // EN: Amplitude of central servo. 36 | // RU: Амплитула центрального серводвигателя. 37 | const long CENTRAL_SERVO_AMPLITUDE = 20; 38 | 39 | // EN: Periods for different speeds. 40 | // RU: Периоды колебаний для различных скоростей. 41 | const long STEP_PERIOD_VERY_SLOW = 2000; 42 | const long STEP_PERIOD_SLOW = 1500; 43 | const long STEP_PERIOD_FAST = 1000; 44 | const long STEP_PERIOD_VERY_FAST = 500; 45 | 46 | long lastMillis; 47 | long globalPhase; 48 | float angleShiftLeftServo; 49 | float angleShiftRightServo; 50 | float angleShiftCentralServo; 51 | long stepPeriod; 52 | long amplitudeLeftServo; 53 | long amplitudeRightServo; 54 | boolean isAttached; 55 | boolean isStopped; 56 | 57 | // EN: IRrecv class performs the decoding. 58 | // RU: Создаём объект ИК-приёмник. Этот объект принимает и декодирует ИК-сигналы от пульта. 59 | IRrecv irrecv(IR_PIN); 60 | 61 | Servo LeftServo; 62 | Servo RightServo; 63 | Servo CentralServo; 64 | 65 | void attachServos() { 66 | if (!isAttached) { 67 | LeftServo.attach(LEFT_SERVO_PIN); 68 | RightServo.attach(RIGHT_SERVO_PIN); 69 | CentralServo.attach(CENTRAL_SERVO_PIN); 70 | isAttached = true; 71 | } 72 | } 73 | 74 | // EN: In some positions servos can make noise and vibrate. 75 | // To avoid this noise and vibration detach servos when robot is stopped. 76 | // RU: В некоторых положениях серводвигатели могут вибрировать и шуметь. 77 | // Чтобы это избежать во время остановок робота, сервы надо отключать. 78 | void detachServos() { 79 | if (isAttached) { 80 | LeftServo.detach(); 81 | RightServo.detach(); 82 | CentralServo.detach(); 83 | isAttached = false; 84 | } 85 | } 86 | 87 | void setup() { 88 | // EN: Start the IR receiver. 89 | // RU: Начинаем прослушивание ИК-сигналов. 90 | irrecv.enableIRIn(); 91 | 92 | attachServos(); 93 | isStopped = true; 94 | lastMillis = millis(); 95 | 96 | angleShiftLeftServo = 0; 97 | angleShiftRightServo = 0; 98 | angleShiftCentralServo = 0; 99 | 100 | stepPeriod = STEP_PERIOD_FAST; 101 | } 102 | 103 | // EN: Gets angle for servo. 104 | // Param amplitude - amplitude of oscillating process, 105 | // param phaseMillis - current duration of oscillating, 106 | // param shiftAndle - phase of oscillating process. 107 | // RU: Получение угла для серводвигателя. 108 | // Параметр amplitude - амплитуда колебаний, 109 | // Параметр phaseMillis - текущая продолжительность колебаний, 110 | // Параметр shiftAndle - фаза колебаний. 111 | int getAngle(long amplitude, long phaseMillis, float shiftAngle) { 112 | float alpha = 2 * PI * phaseMillis / stepPeriod + shiftAngle; 113 | float angle = amplitude * sin(alpha); 114 | return (int)angle; 115 | } 116 | 117 | template 118 | boolean hasCode(T (&commandCodes)[N], long code) { 119 | for (int i = 0; i < N; i++) { 120 | if (commandCodes[i] == code) { 121 | return true; 122 | } 123 | } 124 | return false; 125 | } 126 | 127 | void loop() { 128 | long millisNow = millis(); 129 | long millisPassed = millisNow - lastMillis; 130 | if (isStopped) { 131 | // EN: We should wait for half a second. After that we think that servos are in zero 132 | // position and we can detach them. 133 | // RU: Ждём полсекунды, чтобы серводвигатели вышли в нулевое положение и отключаем их. 134 | if (millisPassed >= 500) { 135 | lastMillis = 0; 136 | detachServos(); 137 | } 138 | 139 | globalPhase = 0; 140 | } else { 141 | lastMillis = millisNow; 142 | 143 | globalPhase += millisPassed; 144 | globalPhase = globalPhase % stepPeriod; 145 | } 146 | 147 | // EN: Declaration of the structure that is used for received and decoded IR commands. 148 | // RU: Описываем структуру results, в которую будут помещаться 149 | // принятые и декодированные ИК-команды: 150 | decode_results results; 151 | 152 | // EN: We can handle IR command if it is received and decoded successfully. 153 | // RU: Если команда успешно принята и декодирована, то мы можем её обрабатывать. 154 | if (irrecv.decode(&results)) { 155 | 156 | if (hasCode(IR_COMMAND_FORWARD_CODES, results.value) || 157 | hasCode(IR_COMMAND_FORWARD_LEFT_CODES, results.value) || 158 | hasCode(IR_COMMAND_FORWARD_RIGHT_CODES, results.value)) { 159 | 160 | attachServos(); 161 | isStopped = false; 162 | angleShiftLeftServo = 0; 163 | angleShiftRightServo = 0; 164 | angleShiftCentralServo = PI/2; 165 | 166 | amplitudeLeftServo = SIDE_SERVOS_FULL_AMPLITUDE; 167 | amplitudeRightServo = SIDE_SERVOS_FULL_AMPLITUDE; 168 | if (hasCode(IR_COMMAND_FORWARD_LEFT_CODES, results.value)) { 169 | amplitudeLeftServo = SIDE_SERVOS_HALF_AMPLITUDE; 170 | } else if (hasCode(IR_COMMAND_FORWARD_RIGHT_CODES, results.value)) { 171 | amplitudeRightServo = SIDE_SERVOS_HALF_AMPLITUDE; 172 | } 173 | } else if(hasCode(IR_COMMAND_BACKWARD_CODES, results.value) || 174 | hasCode(IR_COMMAND_BACKWARD_LEFT_CODES, results.value) || 175 | hasCode(IR_COMMAND_BACKWARD_RIGHT_CODES, results.value)) { 176 | 177 | attachServos(); 178 | isStopped = false; 179 | angleShiftLeftServo = 0; 180 | angleShiftRightServo = 0; 181 | angleShiftCentralServo = -PI/2; 182 | 183 | amplitudeLeftServo = SIDE_SERVOS_FULL_AMPLITUDE; 184 | amplitudeRightServo = SIDE_SERVOS_FULL_AMPLITUDE; 185 | if (hasCode(IR_COMMAND_BACKWARD_LEFT_CODES, results.value)) { 186 | amplitudeRightServo = SIDE_SERVOS_HALF_AMPLITUDE; 187 | } else if (hasCode(IR_COMMAND_BACKWARD_RIGHT_CODES, results.value)) { 188 | amplitudeLeftServo = SIDE_SERVOS_HALF_AMPLITUDE; 189 | } 190 | } else if (hasCode(IR_COMMAND_TURN_LEFT_CODES, results.value)) { 191 | attachServos(); 192 | isStopped = false; 193 | angleShiftLeftServo = 0; 194 | angleShiftRightServo = PI; 195 | angleShiftCentralServo = -PI/2; 196 | amplitudeLeftServo = SIDE_SERVOS_FULL_AMPLITUDE; 197 | amplitudeRightServo = SIDE_SERVOS_FULL_AMPLITUDE; 198 | } else if (hasCode(IR_COMMAND_TURN_RIGHT_CODES, results.value)) { 199 | attachServos(); 200 | isStopped = false; 201 | angleShiftLeftServo = 0; 202 | angleShiftRightServo = PI; 203 | angleShiftCentralServo = PI/2; 204 | amplitudeLeftServo = SIDE_SERVOS_FULL_AMPLITUDE; 205 | amplitudeRightServo = SIDE_SERVOS_FULL_AMPLITUDE; 206 | } else if (hasCode(IR_COMMAND_STOP_CODES, results.value)) { 207 | attachServos(); 208 | isStopped = true; 209 | angleShiftLeftServo = 0; 210 | angleShiftRightServo = 0; 211 | angleShiftCentralServo = 0; 212 | amplitudeLeftServo = SIDE_SERVOS_FULL_AMPLITUDE; 213 | amplitudeRightServo = SIDE_SERVOS_FULL_AMPLITUDE; 214 | } else if (hasCode(IR_COMMAND_VERY_SLOW_CODES, results.value)) { 215 | // EN: globalPhase correction to save servo positions when changing period. 216 | // RU: Корректировка globalPhase чтобы сохранить положение серв при смене периода колебаний ног. 217 | globalPhase = globalPhase * STEP_PERIOD_VERY_SLOW / stepPeriod; 218 | stepPeriod = STEP_PERIOD_VERY_SLOW; 219 | } else if (hasCode(IR_COMMAND_SLOW_CODES, results.value)) { 220 | globalPhase = globalPhase * STEP_PERIOD_SLOW / stepPeriod; 221 | stepPeriod = STEP_PERIOD_SLOW; 222 | } else if (hasCode(IR_COMMAND_FAST_CODES, results.value)) { 223 | globalPhase = globalPhase * STEP_PERIOD_FAST / stepPeriod; 224 | stepPeriod = STEP_PERIOD_FAST; 225 | } else if (hasCode(IR_COMMAND_VERY_FAST_CODES, results.value)) { 226 | globalPhase = globalPhase * STEP_PERIOD_VERY_FAST / stepPeriod; 227 | stepPeriod = STEP_PERIOD_VERY_FAST; 228 | } 229 | // EN: Once a code has been decoded, the resume() method must be called to resume receiving codes. 230 | // RU: После декодирования кода для продолжения приёма должен вызаваться метод resume(). 231 | irrecv.resume(); 232 | } 233 | 234 | if (isAttached) { 235 | LeftServo.write(LEFT_SERVO_ZERO_VALUE + getAngle(amplitudeLeftServo, globalPhase, angleShiftLeftServo)); 236 | RightServo.write(RIGHT_SERVO_ZERO_VALUE + getAngle(amplitudeRightServo, globalPhase, angleShiftRightServo)); 237 | CentralServo.write(CENTRAL_SERVO_ZERO_VALUE + getAngle(CENTRAL_SERVO_AMPLITUDE, globalPhase, angleShiftCentralServo)); 238 | } 239 | } 240 | 241 | --------------------------------------------------------------------------------