12自由度六足机器人实现蓝牙遥控功能
本帖最后由 机器谱Robotway 于 2023-3-30 10:33 编辑1. 功能描述
R111样机是一款拥有12个自由度的串联仿生六足机器人。本文为这个六足机器人增加蓝牙遥控功能，可以通过安卓手机APP对机器人的动作实现遥控。
https://28846868.s21i.faiusr.com/4/ABUIABAEGAAg6ILQoAYo9sST7AYwuhI43Q0!600x600.png.webp2. 电子硬件
在这个示例中，我们采用了以下硬件，请大家参考：
主控板
Basra主控板（兼容Arduino Uno）
扩展板SH-SR舵机扩展板
舵机标准舵机
电池7.4V锂电池
通信
蓝牙串口模块
电路连接说明：
12自由度六足机器人结构上装有12个舵机，所以将采用 SH-SR舵机扩展板 。
舵机接线顺序：1、3； 4、 5； 6、 8；11、13；15、 21；24、26。
https://28846868.s21i.faiusr.com/4/ABUIABAEGAAgzIvQoAYopIH48AMw9gs4pQY!600x600.png.webp
蓝牙串口模块可以通过杜邦线与扩展板进行连接，具体可以参考 如何使用探索者通信模块 一文中蓝牙串口模块部分。
https://28846868.s21i.faiusr.com/2/ABUIABACGAAgmJPQoAYovKm4rAMwgB84oBc!600x600.jpg.webp
3. 功能实现
下面的例程可以实现通过安卓手机APP按钮实现机器人前进、后退、左转、右转、跳舞等动作。安卓APP的设置也可以参考 如何使用探索者通信模块一文中蓝牙串口模块部分。
你也可以设计自己想要的动作，利用Controller 1.0b软件获取想要的动作参数，拷贝到下面的例程里。
将参考例程（R111_bluetooth.ino）下载到主控板：
/*------------------------------------------------------------------------------------
版权说明：Copyright 2023 Robottime(Beijing) Technology Co., Ltd. All Rights Reserved.
Distributed under MIT license.See file LICENSE for detail or copy at
https://opensource.org/licenses/MIT
by 机器谱 2023-02-16 https://www.robotway.com/
------------------------------*/
#include <Arduino.h>
#include <avr/pgmspace.h>
#include "Config.h"
#include <Tlc5940.h>
#include <tlc_servos.h>
int count_input = 0;
boolean _b = false;
/**********+++++++++++动作组数组，请将转换后的动作组数据粘贴到相应的动作组中+++++++**********/
const PROGMEM int actionInit[] = {
1090, 1790, 1220, 980, 650, 1800, 1020, 1330, 520, 1155, 1260, 2020,
1090, 1790, 1220, 980, 650, 1800, 1020, 1330, 520, 1155, 1260, 2020,
// 1660, 1230, 1220, 980, 1280, 1190, 1020, 1330, 1090, 1155, 1260, 1540,
// 1090, 1790, 1220, 980, 650, 1800, 1020, 1330, 520, 1155, 1260, 2020
};
const PROGMEM int actionMove[] = {
1660, 1230, 1220, 980, 1280, 1190, 1020, 1330, 1090, 1155, 1260, 1540,
1660, 1790, 1320, 1080, 1280, 1800, 920, 1230, 1090, 1255, 1360, 2020,
1660, 1230, 1320, 1080, 1280, 1190, 920, 1230, 1090, 1255, 1360, 1540,
1090, 1300, 1120, 880, 650, 900, 1120, 1430, 520, 1055, 1160, 1300,
1660, 1300, 1120, 880, 1280, 900, 1120, 1430, 1090, 1055, 1160, 1300,
};
const PROGMEM int actionLeft[] = {
1660, 1230, 1220, 980, 1280, 1190, 1020, 1330, 1090, 1155, 1260, 1540,
1080,1160,1420,780,650,1100,1220,1130,520,955,1460,1430,
1700,1160,1420,780,1440,1100,1220,1130,1100,955,1460,1430,
1700,1700,1020,1180,1440,1800,820,1530,1100,1355,1060,2020,
1700,1160,1020,1180,1440,1100,820,1530,1100,1355,1060,1430,
};
const PROGMEM int actionRight[] = {
1660, 1230, 1220, 980, 1280, 1190, 1020, 1330, 1090, 1155, 1260, 1540,
1700,1700,1420,780,1440,1800,1220,1130,1100,955,1460,2020,
1700,1160,1420,780,1440,1100,1220,1130,1100,955,1460,1430,
1090,1160,1020,1180,650,1100,820,1530,520,1355,1060,1430,
1700,1160,1020,1180,1440,1100,820,1530,1100,1355,1060,1430,
};
const PROGMEM int actionBack[] = {
1660, 1230, 1220, 980, 1280, 1190, 1020, 1330, 1090, 1155, 1260, 1540,
1700,1680,1020,780,1440,1800,1220,1530,1100,955,1060,2020,
1700,1060,1020,780,1440,1100,1220,1530,1100,955,1060,1430,
1100,1060,1220,1180,650,1100,1020,1130,520,1355,1260,1430,
1700,1060,1220,1180,1440,1100,1020,1130,1110,1355,1260,1430,
};
const PROGMEM int actionDance[] = {
1660, 1230, 1220, 980, 1280, 1190, 1020, 1330, 1090, 1155, 1260, 1540,
1090,1790,1220,980,650,1800,1020,1330,520,1155,1260,2020,
1490,1590,1220,980,850,1400,1020,1330,1320,1155,1260,2020,
1490,1590,1220,980,850,1400,1020,1330,1320,1155,1700,1700,
1490,1590,1220,980,850,1400,1020,1330,1320,1155,1700,2020,
1090,1790,1220,980,650,1800,1020,1330,520,1155,1260,2020,
1490,1590,1220,980,850,1400,1020,1330,520,1155,1260,1220,
1490,1590,1220,980,850,1400,1020,1330,800,700,1260,1220,
1490,1590,1220,980,850,1400,1020,1330,520,700,1260,1220,
1090,1790,1220,980,650,1800,1020,1330,520,1155,1260,2020,
1670,1190,1220,980,1370,1100,1020,1330,1100,1155,1260,1430,
1090,1190,1220,980,1370,1800,620,1730,1100,1155,1260,1430,
1090,1190,1220,980,1370,1100,620,1730,1100,1155,1260,1430,
1670,1190,1220,980,1370,1800,620,1730,1100,1155,1260,1430,
1090,1190,1220,980,1370,1100,620,1730,1100,1155,1260,1430,
1090,1190,1220,980,1370,1800,700,1570,1100,1155,1260,1430,
1670,1190,1220,980,1370,1100,700,1570,1100,1155,1260,1430,
1670,1190,1220,980,1370,1100,700,1570,520,520,1930,2020,
1670,1190,1220,980,1370,1100,700,1570,800,520,1930,1700,
1670,1190,1220,980,1370,1100,700,1570,520,520,1930,2020,
1670,1190,1220,980,1370,1100,700,1570,800,520,1930,1700,
1670,1190,1220,980,1370,1100,700,1570,1100,1155,1260,1430,
1670,1190,1220,980,1370,1100,1020,1330,1100,1155,1260,1430,
1670,1190,1220,980,1370,1100,1020,1330,1100,1155,1260,1430,
1670,1190,1220,980,900,1590,1020,1330,720,1155,1260,1430,
1320,1540,1220,980,1370,1100,1020,1330,1100,1155,1260,1830,
1670,1190,1220,980,1370,1100,1020,1330,1100,1155,1260,1430,
1320,1410,1220,980,1370,1100,1020,1330,1100,1155,1260,1950,
1300,1670,1220,980,1370,1100,1020,1330,1100,1155,1260,1600,
1670,1190,1220,980,940,1540,1020,1330,920,1155,1260,1430,
1670,1190,1220,980,1235,1480,1020,1330,580,1155,1260,1430,
1670,1190,1220,980,940,1540,1020,1330,920,1155,1260,1430,
1670,1190,990,1210,940,1540,1140,1100,920,1400,1060,1430,
1300,1670,990,1210,1370,1100,1140,1100,1100,1400,1060,1600,
1320,1540,990,1210,1370,1100,1140,1100,1100,1400,1060,1830,
1670,1190,990,1210,1370,1100,1140,1100,1100,1400,1060,1430,
1670,1190,990,1210,1370,1100,1140,1100,1100,1400,1060,1430,
1670,1190,1280,920,1370,1100,920,1410,1100,1030,1410,1430,
1670,1190,990,1210,1370,1100,1140,1100,1100,1400,1060,1430,
1670,1190,1280,920,1370,1100,920,1410,1100,1030,1410,1430,
1670,1190,1220,980,1370,1100,1020,1330,1100,1155,1260,1430,
};
/********************+++++---------分割线--------++++++**********************************/
//动作组数组长度获取函数，增加动作组时需要按如下格式添加：actPwmNum[增加的动作组序号] = sizeof(增加的动作组名称) / sizeof(增加的动作组名称);
void act_length()
{
actPwmNum = (sizeof(actionMove) / sizeof(actionMove))/servo_num;
actPwmNum = (sizeof(actionLeft) / sizeof(actionLeft))/servo_num;
actPwmNum = (sizeof(actionRight) / sizeof(actionRight))/servo_num;
actPwmNum = (sizeof(actionBack) / sizeof(actionBack))/servo_num;
actPwmNum = (sizeof(actionDance) / sizeof(actionDance))/servo_num;
actPwmNum = (sizeof(actionInit) / sizeof(actionInit))/servo_num;
// for(int i=0;i<act_num;i++)
// {
// Serial.println(actPwmNum);
// }
//---+++---在此处添加------+++-------
}
//map映射函数
long map_servo(long x, long in_min, long in_max, long out_min, long out_max)
{
return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
}
//PWM 转换为舵机角度的函数，增加动作组时需要修改
void vlaue2angle(int p, int act)
{
switch(act)
{
case 0: value_cur = map_servo(pgm_read_word_near(actionMove + p + servo_num * count_input), 500, 2500, 0, 180); break;
case 1: value_cur = map_servo(pgm_read_word_near(actionLeft + p + servo_num * count_input), 500, 2500, 0, 180); break;
case 2: value_cur = map_servo(pgm_read_word_near(actionRight + p + servo_num * count_input), 500, 2500, 0, 180); break;
case 3: value_cur = map_servo(pgm_read_word_near(actionBack + p + servo_num * count_input), 500, 2500, 0, 180); break;
case 4: value_cur = map_servo(pgm_read_word_near(actionDance + p + servo_num * count_input), 500, 2500, 0, 180); break;
case 5: value_cur = map_servo(pgm_read_word_near(actionInit + p + servo_num * count_input), 500, 2500, 0, 180); break;
default: break;
}
}
//舵机初始化函数，动作组第一行为舵机初始化值
void servo_init(int act, int num)
{
if(!_b)
{
for(int i=0;i<servo_num;i++)
{
vlaue2angle(i, act);
tlc_setServo(servo_pin, value_cur);
value_pre = value_cur;
}
Tlc.update();
//delay(1000);
}
num == 1 ? _b = true : _b = false;
}
//舵机移动函数，参数： act：动作组宏定义名称 ；num：动作组执行的次数，num > 0 ；
void servo_move(int act, int num)
{
float value_delta = {};
float in_value = {};
servo_init(act, num);
for(int i=0;i< num * actPwmNum;i++)
{
//Serial.println(i);
//Serial.println(count_input);
count_input++;
if(count_input == actPwmNum)
{
count_input = 0;
continue;
}
for(int i=0;i<servo_num;i++)
{
vlaue2angle(i, act);
in_value = value_pre;
value_delta = (value_cur - value_pre) / frequency;
/*************************串口查看输出*************************/
// Serial.print(value_pre);
// Serial.print(" ");
// Serial.print(value_cur);
// Serial.print(" ");
// Serial.print(value_delta);
// Serial.println();
/*************************串口查看输出*************************/
}
// Serial.println();
for(int i=0;i<frequency;i++)
{
for(int k=0;k<servo_num;k++)
{
in_value += value_delta;
value_pre = in_value;
/*************************串口查看输出*************************/
// Serial.print(in_value);
// Serial.print(" ");
/*************************串口查看输出*************************/
}
// Serial.println();
for(int j=0;j<servo_num;j++)
{
tlc_setServo(servo_pin, in_value);
delayMicroseconds(servo_speed);
}
Tlc.update();
}
delayMicroseconds(action_delay);
/*************************串口查看输出*************************/
// for(int i=0;i<servo_num;i++)
// {
// Serial.println(value_pre);
// }
/*************************串口查看输出*************************/
}
}
/*************************-------分割线--------*************************/
//初始化函数
void setup() {
Serial.begin(9600); //开启串口通信，波特率9600
Tlc.init(0);
tlc_initServos();
act_length();
delay(action_delay);
}
//主函数，三种执行动作的方式
void loop() {
/*************************+++++++++++++ 1、串口控制+++++++++*************************/
// while(Serial.available())
// {
// int data;
// data = Serial.parseInt();
//
// switch(data)
// {
// case 1: servo_move(action_move, 2); break;
// case 2: servo_move(action_back, 2); break;
// case 3: servo_move(action_left, 1); break;
// case 4: servo_move(action_right, 1); break;
// case 5: servo_move(action_dance, 1); break;
// case 6: servo_move(action_init, 1); break;
// case 7:
// {
// servo_move(action_move, 4);
// delay(actChangeDelay);
// servo_move(action_back, 4);
// delay(actChangeDelay);
// servo_move(action_left, 4);
// delay(actChangeDelay);
// servo_move(action_right, 4);
// delay(actChangeDelay);
// servo_move(action_dance, 2);
// }
// break;
// default: break;
// }
// }
/***************+++++++++++++ 2、指定每个动作执行的次数，以 while 循环结束+++++++++***************/
servo_move(action_move, 6);
delay(actChangeDelay);
servo_move(action_back, 6);
delay(actChangeDelay);
servo_move(action_left, 4);
delay(actChangeDelay);
servo_move(action_right, 4);
delay(actChangeDelay);
servo_move(action_dance, 2);
delay(1000);
// while(1){ };
/*************+++++++++++ 3、重复执行一个动作,次数设置为 1 ，取消 while 循环++++++++***************/
// servo_move(action_dance, 1);
// while(1){};
}
4. 资料下载
资料内容：
①蓝牙遥控-例程源代码
②Controller1.0b资料包
资料下载地址：https://www.robotway.com/h-col-197.html
想了解更多机器人开源项目资料请关注 机器谱网站 https://www.robotway.com
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