太空舞步
不带胳膊的版本
#include <Servo.h>
#include <Oscillator.h>
#include <EEPROM.h>
#define N_SERVOS 4
//-- First step: configure the pins where the servos are attached
/*
---------------
| O O |
|---------------|
YR 3==> | | <== YL 2
---------------
|| ||
|| ||
RR 5==> ----- ------ <== RL 4
|----- ------|
*/
#define EEPROM_TRIM false
// Activate to take callibration data from internal memory
#define TRIM_RR 7
#define TRIM_RL 4
#define TRIM_YR 4
#define TRIM_YL -7
//OTTO.setTrims(-7,-4,-4,7);
#define PIN_RR 5
#define PIN_RL 4
#define PIN_YR 3
#define PIN_YL 2
#define IntervalTIME 10.0
Oscillator servo[N_SERVOS];
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 setup()
{
Serial.begin(19200);
servo[0].attach(PIN_RR);
servo[1].attach(PIN_RL);
servo[2].attach(PIN_YR);
servo[3].attach(PIN_YL);
//EEPROM.write(0,TRIM_RR);
//EEPROM.write(1,TRIM_RL);
//EEPROM.write(2,TRIM_YR);
//EEPROM.write(3,TRIM_YL);
int trim;
if(EEPROM_TRIM){
for(int x=0;x<4;x++){
trim=EEPROM.read(x);
if(trim>128)trim=trim-256;
Serial.print("TRIM ");
Serial.print(x);
Serial.print(" en ");
Serial.println(trim);
servo[x].SetTrim(trim);
}
}
else{
servo[0].SetTrim(TRIM_RR);
servo[1].SetTrim(TRIM_RL);
servo[2].SetTrim(TRIM_YR);
servo[3].SetTrim(TRIM_YL);
}
for(int i=0;i<4;i++) servo[i].SetPosition(90);
}
// TEMPO: 121 BPM
int t=495;
double pause=0;
void loop()
{
// if(Serial.available()){
// char init = Serial.read();
// if (init=='X'){
// delay(4000); //3000 - 4500
dance();
//for(int i=0;i<4;i++) servo[i].SetPosition(90);
for(int i=0;i<4;i++) servo[i].SetPosition(90);
// }
// }
}
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<4;i++) 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 derecho
servo[1].SetPosition(70); //pie izquiero
delay(tempo);
servo[0].SetPosition(80); //pie derecho
servo[1].SetPosition(70); //pie izquiero
delay(tempo/4);
servo[0].SetPosition(30); //pie derecho
servo[1].SetPosition(70); //pie izquiero
delay(tempo/4);
servo[0].SetPosition(80); //pie derecho
servo[1].SetPosition(70); //pie izquiero
delay(tempo/4);
servo[0].SetPosition(30); //pie derecho
servo[1].SetPosition(70); //pie izquiero
delay(tempo/4);
servo[0].SetPosition(80); //pie derecho
servo[1].SetPosition(70); //pie izquiero
delay(tempo);
}
void kickRight(int tempo){
for(int i=0;i<4;i++) servo[i].SetPosition(90);
delay(tempo);
servo[0].SetPosition(110); //pie derecho
servo[1].SetPosition(130); //pie izquiero
delay(tempo);
servo[0].SetPosition(110); //pie derecho
servo[1].SetPosition(100); //pie izquiero
delay(tempo/4);
servo[0].SetPosition(110); //pie derecho
servo[1].SetPosition(150); //pie izquiero
delay(tempo/4);
servo[0].SetPosition(110); //pie derecho
servo[1].SetPosition(80); //pie izquiero
delay(tempo/4);
servo[0].SetPosition(110); //pie derecho
servo[1].SetPosition(150); //pie izquiero
delay(tempo/4);
servo[0].SetPosition(110); //pie derecho
servo[1].SetPosition(100); //pie izquiero
delay(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);
}
带胳膊的版本
#include <Servo.h>
#include <Oscillator.h>
#include <US.h>
#include <Otto.h>
#define N_SERVOS 6 // 共6个舵机
#define PIN_YL 2 // 左腿
#define PIN_YR 3 // 右腿
#define PIN_RL 4 // 左脚
#define PIN_RR 5 // 右脚
#define PIN_AL 6 // 左胳膊
#define PIN_AR 7 // 右胳膊
#define INTERVALTIME 10.0
Oscillator servo[N_SERVOS];
int t=495;
double pause=0;
void setup()
{
Serial.begin(9600);
// 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-平直、0-平直
servo[5].attach(PIN_AL); //左胳膊 90-平直、180-平直
for(int i=0;i<N_SERVOS;i++) // 舵机归位
{
servo[i].SetPosition(90);
}
}
void loop()
{
dance();
}
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);
}
}
void oscillate(int A[N_SERVOS], int O[N_SERVOS], int T, double phase_diff[N_SERVOS])
{
for (int i=0; i<N_SERVOS; 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<N_SERVOS; i++)
{
servo[i].refresh();
}
}
}
//////////////////////////////////////////////////////
/////////////////////所 有 动 作(以下) ///////////////
//////////////////////////////////////////////////////
void run(int steps, int T)
{
// 右脚 左脚 右腿 左腿 右胳膊 左胳膊
int A[6]= {15, 15, 30, 30, 30, 30}; // 移动幅度 (引脚对应分别是：右脚 左脚 右腿 左腿 左胳膊 右胳膊)
int O[6] = {0, 0, 0, 0, 0, 0}; // 偏移 (+偏右 -偏左)
double phase_diff[6] = {DEG2RAD(0), DEG2RAD(0), DEG2RAD(90), DEG2RAD(90), DEG2RAD(0), DEG2RAD(0)};
for(int i=0;i<steps;i++)
{
oscillate(A,O, T, phase_diff);
}
}
void walk(int steps, int T)
{
int A[6]= {10, 10, 10, 10, 20, 20}; // 移动幅度 (引脚对应分别是：右脚 左脚 右腿 左腿 右胳膊 左胳膊)
int O[6] = {0, 0, 0, 0, 0, 0}; // 偏移 (+偏右 -偏左)
double phase_diff[6] = {DEG2RAD(0), DEG2RAD(0), DEG2RAD(90), DEG2RAD(90), DEG2RAD(0), DEG2RAD(0)};
for(int i=0;i<steps;i++)
{
oscillate(A,O, T, phase_diff);
}
}
void crusaito(int steps, int T)
{
int A[6]= {25, 25, 30, 30, 30, 30};
int O[6] = {- 15, 15, 0, 0, 0, 0};
double phase_diff[6] = {DEG2RAD(0), DEG2RAD(180 + 120), DEG2RAD(90), DEG2RAD(90), DEG2RAD(0), DEG2RAD(0)};
for(int i=0;i<steps;i++)
{
oscillate(A,O, T, phase_diff);
}
}
void moonWalkLeft(int steps, int T)
{
//向左移动，左胳膊在上大幅度摆，右胳膊在下小幅度摆
int A[6]= {25, 25, 0, 0, 10, 30};
int O[6] = {-15, 15, 0, 0, 40, 0};
double phase_diff[6] = {DEG2RAD(0), DEG2RAD(180 - 120), DEG2RAD(90), DEG2RAD(90), DEG2RAD(0), DEG2RAD(0)};
for(int i=0;i<steps;i++)
{
oscillate(A,O, T, phase_diff);
}
}
void moonWalkRight(int steps, int T)
{
//向右移动，右胳膊在上大幅度摆，左胳膊在下小幅度摆
int A[6]= {25, 25, 0, 0, 30, 10};
int O[6] = {-15 ,15, 0, 0, 0, -40};
double phase_diff[6] = {DEG2RAD(0), DEG2RAD(180 + 120), DEG2RAD(90), DEG2RAD(90)};
for(int i=0;i<steps;i++)
{
oscillate(A,O, T, phase_diff);
}
}
void flapping(int steps, int T)
{
int A[6]= {15, 15, 8, 8, 30, 30};
int O[6] = {-A[0], A[1], 0, 0, 0, 30};
double phase_diff[6] = {DEG2RAD(0), DEG2RAD(180), DEG2RAD(90), DEG2RAD(-90), DEG2RAD(0), DEG2RAD(180)};
for(int i=0;i<steps;i++)
{
oscillate(A,O, T, phase_diff);
}
}
void drunk (int tempo)
{
pause=millis();
int move1[6] = {60,70,90,90,0,180};
int move2[6] = {110,120,90,90,45,145};
int move3[6] = {60,70,90,90,0,180};
int move4[6] = {110,120,90,90,45,145};
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 kickLeft(int tempo)
{
for(int i=0;i<4;i++)
{
servo[i].SetPosition(90);
}
delay(tempo);
servo[0].SetPosition(50); //pie derecho
servo[1].SetPosition(70); //pie izquiero
delay(tempo);
servo[0].SetPosition(80); //pie derecho
servo[1].SetPosition(70); //pie izquiero
delay(tempo/4);
servo[0].SetPosition(30); //pie derecho
servo[1].SetPosition(70); //pie izquiero
delay(tempo/4);
servo[0].SetPosition(80); //pie derecho
servo[1].SetPosition(70); //pie izquiero
delay(tempo/4);
servo[0].SetPosition(30); //pie derecho
servo[1].SetPosition(70); //pie izquiero
delay(tempo/4);
servo[0].SetPosition(80); //pie derecho
servo[1].SetPosition(70); //pie izquiero
delay(tempo);
}
//////////////////////////////////////////////////////
/////////////////////基 本 动 作(以上) ///////////////
//////////////////////////////////////////////////////
//单腿原地滑步+胳膊扭动，其余部位保持90°。
//tempo表示对应的时间间隔,side-1右滑，side-0左滑
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);
servo[4].SetPosition(140);
delay(tempo/10);
}
else
{
servo[1].SetPosition(140);
servo[5].SetPosition(40);
delay(tempo/10);
}
delay(tempo/2);
servo[0].SetPosition(90);
servo[1].SetPosition(90);
servo[4].SetPosition(90);
servo[5].SetPosition(90);
delay(tempo/2);
}
unsigned long final_time;
unsigned long interval_time;
int oneTime;
int iteration;
float increment[N_SERVOS];
int oldPosition[]={90,90,90,90,90,90};
//移动
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)
{
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];
}
}
//第一套动作 - 滑步
void primera_parte()
{
int move1[6] = {60,120,90,90,140,40};
int move2[6] = {90,90,90,90,90,90};
int move3[6] = {40,140,90,90,40,140};
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<6;i++) // 舵机归位
{
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<6;i++) // 舵机归位
{
servo[i].SetPosition(90);
}
crusaito(1,t*1.4);
moveNServos(t*1,move3);
for(int i=0;i<6;i++) // 舵机归位
{
servo[i].SetPosition(90);
}
while(millis()<(pause+t*4));
}
//第二套动作 - 抖腿
void segunda_parte()
{
//抖腿
int move1[6] = {90,90,80,100,0,0};
int move2[6] = {90,90,100,80,0,0};
int move3[6] = {90,90,80,100,0,0};
int move4[6] = {90,90,100,80,0,0};
//小高潮
int move5[6] = {40,140,80,100,90,90};
int move6[6] = {40,140,100,80,90,90};
int move7[6] = {90,90,80,100,90,90};
int move8[6] = {90,90,100,80,90,90};
//大高潮
int move9[6] = {40,140,80,100,0,180};
int move10[6] = {40,140,100,80,40,140};
int move11[6] = {90,90,80,100,0,180};
int move12[6] = {90,90,100,80,40,140};
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));
}
}
相关阅读
任何一款产品的出现，都是源自用户需求。要么是已经存在的存量需求，要么是正在规模化的增量需求，对话机器人也不例外。当我们在谈论“
android studio 如何实现RadioBotto和RadioGroup来实
实现单选功能的控件一组RadioButton必须放在一个RadioGroup中 意思就是说单选按钮中的值我们可以看作是一个数组也就是这里说的
百度UNIT 机器人多轮对话技能创建以及API调用 基于百度UNIT2.0 版本，实现简单的多轮人机对话功能 创建机器人必备条件 确定有哪
原文地址：http://ahoj.cc/2019/04/Nao%E6%9C%BA%E5%99%A8%E4%BA%BA-CABSL/ 这里主要总结下最近看的关于 CABSL 的代码和资料。行
伯克利和Deepmind前赴后继，只为教出一个会做家务的机器
新年伊始，伯克利就传出新进展，他们教机器人做家务的能力更上一层楼了。在最新的论文中，伯克利介绍了他们是如何让机器学会读懂人类的