OTTO机器人之MAX7219点阵

接线

在IN方向的针脚

Arduino Uno — MAX7219

5V <—> VCC

GND <—> GND

12 <—> DIN

11 <—> CS

10 <—> CLK

所需的库

https://github.com/wayoda/LedControl

代码

#include <LedControl.h>byte e[8]=     {0x7C,0x7C,0x60,0x7C,0x7C,0x60,0x7C,0x7C};  //E
byte d[8]=     {0x78,0x7C,0x66,0x66,0x66,0x66,0x7C,0x78};  //D
byte u[8]=     {0x66,0x66,0x66,0x66,0x66,0x66,0x7E,0x7E};  //U
byte c[8]=     {0x7E,0x7E,0x60,0x60,0x60,0x60,0x7E,0x7E};  //C
byte eight[8]= {0x7E,0x7E,0x66,0x7E,0x7E,0x66,0x7E,0x7E};  //8
byte s[8]=     {0x7E,0x7C,0x60,0x7C,0x3E,0x06,0x3E,0x7E};  //S
byte dot[8]=   {0x00,0x00,0x00,0x00,0x00,0x00,0x18,0x18};  //.
byte o[8]=     {0x7E,0x7E,0x66,0x66,0x66,0x66,0x7E,0x7E};  //O
byte m[8]=     {0xE7,0xFF,0xFF,0xDB,0xDB,0xDB,0xC3,0xC3};  //M
byte smile[8]=   {0x3C,0x42,0xA5,0x81,0xA5,0x99,0x42,0x3C};//笑脸
byte neutral[8]= {0x3C,0x42,0xA5,0x81,0xBD,0x81,0x42,0x3C};//标准脸LedControl lc=LedControl(12,11,10,4);void setup(){lc.shutdown(0,false);       //启动时，MAX72XX处于省电模式lc.setIntensity(0,8);       //将亮度设置为最大值lc.clearDisplay(0);         //清除显示
}void loop(){ printByte(smile);//显示8delay(1000);//延时1秒printByte(neutral);//显示标准脸delay(1000);
}//点阵显示函数
void printByte(byte character [])
{int i = 0;for(i=0;i<8;i++){lc.setRow(0,i,character[i]);}
}

点阵+胳膊

#include <Servo.h>
#include <Oscillator.h>
#include <EEPROM.h>
#include <LedControl.h>
#include <FlexiTimer2.h>#define N_SERVOS 6 // 共6个舵机
#define PIN_AR 7 // 右胳膊
#define PIN_AL 6 // 左胳膊
#define PIN_RR 5 // 右脚
#define PIN_RL 4 // 左脚
#define PIN_YR 3 // 右腿
#define PIN_YL 2 // 左腿
#define INTERVALTIME 10.0 Oscillator servo[N_SERVOS];
LedControl lc=LedControl(12,10,11,4);byte smile[8]=   {0x3C,0x42,0xA5,0x81,0xA5,0x99,0x42,0x3C};//笑脸
byte neutral[8]= {0x3C,0x42,0xA5,0x81,0xBD,0x81,0x42,0x3C};//标准脸
byte sad[8] = {0x3C,0x42,0xA5,0x81,0x99,0xA5,0x42,0x3C};//悲伤脸
byte tbyte[8] = {0xFF,0xFF,0x18,0x18,0x18,0x18,0x18,0x18};
byte obyte[8]=     {0x7E,0x7E,0x66,0x66,0x66,0x66,0x7E,0x7E};  //Obyte ddd[8] = { 0x00,0x7E,0x81,0x81,0x81,0x81,0x81,0x7E};
byte kkk[8] = {0x00,0x00,0x00,0x00,0x7E,0x00,0x00,0x00};
byte xxx[8] = {0x00,0x00,0x3C,0x42,0x42,0x42,0x3C,0x00};
byte zzz[8] = {0x00,0x00,0x7E,0xC3,0x7E,0x00,0x00,0x00};void goingUp(int tempo);
void drunk (int tempo);
void noGravity(int tempo);
void kickLeft(int tempo);
void kickRight(int tempo);
void run(int steps, int T=500);
void walk(int steps, int T=1000);
void backyard(int steps, int T=3000);
void backyardSlow(int steps, int T=5000);
void turnLeft(int steps, int T=3000);
void turnRight(int steps, int T=3000);
void moonWalkLeft(int steps, int T=1000);
void moonWalkRight(int steps, int T=1000);
void crusaito(int steps, int T=1000);
void swing(int steps, int T=1000);
void upDown(int steps, int T=1000);
void flapping(int steps, int T=1000);void event()
{static int tmr = 0;if(tmr == 0) printByte(kkk);if(tmr == 1) printByte(xxx);if(tmr == 2) printByte(zzz);if(tmr == 3) printByte(xxx);if(tmr == 4) printByte(zzz);if(tmr == 5) printByte(xxx);if(tmr == 6) printByte(zzz);if(tmr == 8) printByte(xxx);if(tmr == 9) printByte(kkk);tmr++;if(tmr >= 10){tmr = 0;}
}void setup()
{lc.shutdown(0,false);       //启动时，MAX72XX处于省电模式lc.setIntensity(0,8);       //将亮度设置为最大值lc.clearDisplay(0);         //清除显示Serial.begin(9600);Serial.println("Hello OTTO~");//设置舵机引脚servo[0].attach(PIN_RR);servo[1].attach(PIN_RL);servo[2].attach(PIN_YR);servo[3].attach(PIN_YL);servo[4].attach(PIN_AR); //右胳膊 90-垂下去、0-平直servo[5].attach(PIN_AL); //左胳膊 90-垂下去、180-平直for(int i=0;i<6;i++) // 舵机归位{servo[i].SetPosition(90);}FlexiTimer2::set(500,1.0/2,event);FlexiTimer2::start();/*printByte(kkk);delay(500);printByte(xxx);delay(500);printByte(zzz);delay(500);printByte(xxx);delay(500);printByte(zzz);delay(500);printByte(xxx);delay(500);printByte(zzz);delay(500);printByte(ddd);delay(500);printByte(xxx);delay(500);printByte(kkk);delay(500);*/}int t=495;
double pause=0;void loop()
{dance();
//  for(int i=0;i<6;i++) //舵机归位
//  {
//      servo[i].SetPosition(90);
//  }
}//点阵显示函数
void printByte(byte character [])
{int i = 0;for(i=0;i<8;i++){lc.setRow(0,i,character[i]);}
}void dance()
{primera_parte();/*segunda_parte();*/moonWalkLeft(4,t*2);moonWalkRight(4,t*2);moonWalkLeft(4,t*2);moonWalkRight(4,t*2);/*primera_parte(); crusaito(1,t*8);crusaito(1,t*7);/*/*for (int i=0; i<16; i++){flapping(1,t/4);delay(3*t/4);}moonWalkRight(4,t*2);moonWalkLeft(4,t*2);moonWalkRight(4,t*2);moonWalkLeft(4,t*2);*//*drunk(t*4);drunk(t*4);drunk(t*4);drunk(t*4);kickLeft(t);kickRight(t);drunk(t*8);drunk(t*4);drunk(t/2);delay(t*4); *//*drunk(t/2);delay(t*4); walk(2,t*2);backyard(2,t*2);goingUp(t*2);goingUp(t*1);noGravity(t*2);crusaito(1,t*2);crusaito(1,t*8);crusaito(1,t*2);crusaito(1,t*8);crusaito(1,t*2);crusaito(1,t*3);*//*delay(t);primera_parte();for (int i=0; i<32; i++){flapping(1,t/2);delay(t/2);}*/for(int i=0;i<4;i++) servo[i].SetPosition(90);
}//FUNCIONES DE CONTROL//void oscillate(int A[N_SERVOS], int O[N_SERVOS], int T, double phase_diff[N_SERVOS]){for (int i=0; i<4; i++) {servo[i].SetO(O[i]);servo[i].SetA(A[i]);servo[i].SetT(T);servo[i].SetPh(phase_diff[i]);}double ref=millis();for (double x=ref; x<T+ref; x=millis()){for (int i=0; i<4; i++){servo[i].refresh();}}
}unsigned long final_time;
unsigned long interval_time;
int oneTime;
int iteration;
float increment[N_SERVOS];
int oldPosition[]={90,90,90,90};void moveNServos(int time, int  newPosition[]){for(int i=0;i<N_SERVOS;i++)   increment[i] = ((newPosition[i])-oldPosition[i])/(time/INTERVALTIME);final_time =  millis() + time; iteration = 1; while(millis() < final_time){ //Javi del futuro cambia esto  interval_time = millis()+INTERVALTIME;  oneTime=0;      while(millis()<interval_time){      if(oneTime<1){ for(int i=0;i<N_SERVOS;i++){servo[i].SetPosition(oldPosition[i] + (iteration * increment[i]));}         iteration++;oneTime++;}}     }   for(int i=0;i<N_SERVOS;i++){  oldPosition[i] = newPosition[i];}
}//
PASOS DE BAILE
//void goingUp(int tempo){pause=millis();for(int i=0;i<4;i++) servo[i].SetPosition(90);delay(tempo);servo[0].SetPosition(80);servo[1].SetPosition(100);delay(tempo);servo[0].SetPosition(70);servo[1].SetPosition(110);delay(tempo);servo[0].SetPosition(60);servo[1].SetPosition(120);delay(tempo);servo[0].SetPosition(50);servo[1].SetPosition(130);delay(tempo);servo[0].SetPosition(40);servo[1].SetPosition(140);delay(tempo);servo[0].SetPosition(30);servo[1].SetPosition(150);delay(tempo);servo[0].SetPosition(20);servo[1].SetPosition(160);delay(tempo);while(millis()<pause+8*t);}void primera_parte(){int move1[4] = {60,120,90,90};int move2[4] = {90,90,90,90};int move3[4] = {40,140,90,90};for(int x=0; x<3; x++){for(int i=0; i<3; i++){lateral_fuerte(1,t/2);lateral_fuerte(0,t/4);lateral_fuerte(1,t/4);delay(t);}pause=millis();for(int i=0;i<4;i++) servo[i].SetPosition(90);moveNServos(t*0.4,move1);moveNServos(t*0.4,move2);while(millis()<(pause+t*2));}for(int i=0; i<2; i++){lateral_fuerte(1,t/2);lateral_fuerte(0,t/4);lateral_fuerte(1,t/4);delay(t);}/*pause=millis();for(int i=0;i<4;i++) servo[i].SetPosition(90);crusaito(1,t*1.4);moveNServos(t*1,move3);for(int i=0;i<4;i++) servo[i].SetPosition(90);while(millis()<(pause+t*4));*/
}void segunda_parte(){int move1[4] = {90,90,80,100};int move2[4] = {90,90,100,80};int move3[4] = {90,90,80,100};int move4[4] = {90,90,100,80};int move5[4] = {40,140,80,100};int move6[4] = {40,140,100,80};int move7[4] = {90,90,80,100};int move8[4] = {90,90,100,80};int move9[4] = {40,140,80,100};int move10[4] = {40,140,100,80};int move11[4] = {90,90,80,100};int move12[4] = {90,90,100,80};for(int x=0; x<7; x++){ for(int i=0; i<3; i++){pause=millis();moveNServos(t*0.15,move1);moveNServos(t*0.15,move2);moveNServos(t*0.15,move3);moveNServos(t*0.15,move4);while(millis()<(pause+t));}pause=millis();moveNServos(t*0.15,move5);moveNServos(t*0.15,move6);moveNServos(t*0.15,move7);moveNServos(t*0.15,move8);while(millis()<(pause+t));}for(int i=0; i<3; i++){pause=millis();moveNServos(t*0.15,move9);moveNServos(t*0.15,move10);moveNServos(t*0.15,move11);moveNServos(t*0.15,move12);while(millis()<(pause+t));}
}void lateral_fuerte(boolean side, int tempo)
{for(int i=0;i<6;i++)//舵机归位 {servo[i].SetPosition(90);}if (side){     servo[0].SetPosition(40);}else {servo[1].SetPosition(140);}delay(tempo/2);servo[0].SetPosition(90);servo[1].SetPosition(90);delay(tempo/2);
}void drunk (int tempo){pause=millis();int move1[] = {60,70,90,90};int move2[] = {110,120,90,90};int move3[] = {60,70,90,90};int move4[] = {110,120,90,90};moveNServos(tempo*0.235,move1);moveNServos(tempo*0.235,move2);moveNServos(tempo*0.235,move3);moveNServos(tempo*0.235,move4);while(millis()<(pause+tempo));}void noGravity(int tempo){int move1[4] = {120,140,90,90};int move2[4] = {140,140,90,90};int move3[4] = {120,140,90,90};int move4[4] = {90,90,90,90};for(int i=0;i<4;i++) servo[i].SetPosition(90);for(int i=0;i<N_SERVOS;i++) oldPosition[i]=90;moveNServos(tempo*2,move1);moveNServos(tempo*2,move2);delay(tempo*2);moveNServos(tempo*2,move3);moveNServos(tempo*2,move4);}void kickLeft(int tempo){for(int i=0;i<4;i++) servo[i].SetPosition(90);delay(tempo);servo[0].SetPosition(50); //pie derechoservo[1].SetPosition(70); //pie izquierodelay(tempo);servo[0].SetPosition(80); //pie derechoservo[1].SetPosition(70); //pie izquierodelay(tempo/4);servo[0].SetPosition(30); //pie derechoservo[1].SetPosition(70); //pie izquierodelay(tempo/4);servo[0].SetPosition(80); //pie derechoservo[1].SetPosition(70); //pie izquierodelay(tempo/4);servo[0].SetPosition(30); //pie derechoservo[1].SetPosition(70); //pie izquierodelay(tempo/4);servo[0].SetPosition(80); //pie derechoservo[1].SetPosition(70); //pie izquierodelay(tempo);
}void kickRight(int tempo){
for(int i=0;i<4;i++) servo[i].SetPosition(90);delay(tempo);servo[0].SetPosition(110); //pie derechoservo[1].SetPosition(130); //pie izquierodelay(tempo);servo[0].SetPosition(110); //pie derechoservo[1].SetPosition(100); //pie izquierodelay(tempo/4);servo[0].SetPosition(110); //pie derechoservo[1].SetPosition(150); //pie izquierodelay(tempo/4);servo[0].SetPosition(110); //pie derechoservo[1].SetPosition(80); //pie izquierodelay(tempo/4);servo[0].SetPosition(110); //pie derechoservo[1].SetPosition(150); //pie izquierodelay(tempo/4);servo[0].SetPosition(110); //pie derechoservo[1].SetPosition(100); //pie izquierodelay(tempo);
}void walk(int steps, int T){int A[4]= {15, 15, 30, 30};int O[4] = {0, 0, 0, 0};double phase_diff[4] = {DEG2RAD(0), DEG2RAD(0), DEG2RAD(90), DEG2RAD(90)};for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}void run(int steps, int T){int A[4]= {10, 10, 10, 10};int O[4] = {0, 0, 0, 0};double phase_diff[4] = {DEG2RAD(0), DEG2RAD(0), DEG2RAD(90), DEG2RAD(90)}; for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}void backyard(int steps, int T){int A[4]= {15, 15, 30, 30};int O[4] = {0, 0, 0, 0};double phase_diff[4] = {DEG2RAD(0), DEG2RAD(0), DEG2RAD(-90), DEG2RAD(-90)}; for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}void backyardSlow(int steps, int T){int A[4]= {15, 15, 30, 30};int O[4] = {0, 0, 0, 0};double phase_diff[4] = {DEG2RAD(0), DEG2RAD(0), DEG2RAD(-90), DEG2RAD(-90)}; for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}void turnLeft(int steps, int T){int A[4]= {20, 20, 10, 30};int O[4] = {0, 0, 0, 0};double phase_diff[4] = {DEG2RAD(0), DEG2RAD(0), DEG2RAD(90), DEG2RAD(90)}; for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}void turnRight(int steps, int T){int A[4]= {20, 20, 30, 10};int O[4] = {0, 0, 0, 0};double phase_diff[4] = {DEG2RAD(0), DEG2RAD(0), DEG2RAD(90), DEG2RAD(90)}; for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}void moonWalkRight(int steps, int T){int A[4]= {25, 25, 0, 0};int O[4] = {-15 ,15, 0, 0};double phase_diff[4] = {DEG2RAD(0), DEG2RAD(180 + 120), DEG2RAD(90), DEG2RAD(90)}; for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}void moonWalkLeft(int steps, int T){int A[4]= {25, 25, 0, 0};int O[4] = {-15, 15, 0, 0};double phase_diff[4] = {DEG2RAD(0), DEG2RAD(180 - 120), DEG2RAD(90), DEG2RAD(90)}; for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}void crusaito(int steps, int T){int A[4]= {25, 25, 30, 30};int O[4] = {- 15, 15, 0, 0};double phase_diff[4] = {DEG2RAD(0), DEG2RAD(180 + 120), DEG2RAD(90), DEG2RAD(90)}; for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}void swing(int steps, int T){int A[4]= {25, 25, 0, 0};int O[4] = {-15, 15, 0, 0};double phase_diff[4] = {DEG2RAD(0), DEG2RAD(0), DEG2RAD(90), DEG2RAD(90)};for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}void upDown(int steps, int T){int A[4]= {25, 25, 0, 0};int O[4] = {-15, 15, 0, 0};double phase_diff[4] = {DEG2RAD(180), DEG2RAD(0), DEG2RAD(270), DEG2RAD(270)};for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}void flapping(int steps, int T){int A[4]= {15, 15, 8, 8};int O[4] = {-A[0], A[1], 0, 0};double phase_diff[4] = {DEG2RAD(0), DEG2RAD(180), DEG2RAD(90), DEG2RAD(-90)};for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}void test(int steps, int T){int A[4]= {15, 15, 8, 8};int O[4] = {-A[0] + 10, A[1] - 10, 0, 0};double phase_diff[4] = {DEG2RAD(0), DEG2RAD(180), DEG2RAD(90), DEG2RAD(-90)};for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}

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OTTO机器人之MAX7219点阵

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