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How about a Spider who obeys the order to sit, dances when he sees a light and dodges obstacles? All of this was assembled with just one board, the Arduino Nano 33 BLE Sense.
We set up a Quadrupede, called by many as the Spider, of 08 servo motors where its functions are:
01. Walking
02. If she detects obstacles she stops, walks backwards, turns left and continues walking forward.
03. If you hear the command "Sit!", It stops and lowers itself, becoming stable.
04. If any strong led light, spotlight style of a concert hall, is directed at her, she starts to dance thinking that she is an artist.
Project that used the Arduino Nano 33 BLE Sense that comes with 10 sensors embedded in the board, soon we will develop version 2.0 to use the other sensors available such as the gesture sensor, IMU, color sensor and Bluetooth, not to mention that we can apply machine learning to the Spider to be smart.
Master in Software Engineering
Co-Founder of Arduino Ceará
#include <Servo.h> // include servo library
#include <Arduino_APDS9960.h> // include sensor distance library
#include <PDM.h>
// calibration
int da = -12, // Left Front Pivot
db = 10, // Left Back Pivot
dc = -18, // Right Back Pivot
dd = 12; // Right Front Pivot
// servo initial positions + calibration
int a90 = (90 + da),
a120 = (120 + da),
a150 = (150 + da),
a180 = (180 + da);
int b0 = (0 + db),
b30 = (30 + db),
b60 = (60 + db),
b90 = (90 + db);
int c90 = (90 + dc),
c120 = (120 + dc),
c150 = (150 + dc),
c180 = (180 + dc);
int d0 = (0 + dd),
d30 = (30 + dd),
d60 = (60 + dd),
d90 = (90 + dd);
// start points for servo
int s11 = 90; // Front Left Pivot Servo
int s12 = 90; // Front Left Lift Servo
int s21 = 90; // Back Left Pivot Servo
int s22 = 90; // Back Left Lift Servo
int s31 = 90; // Back Right Pivot Servo
int s32 = 90; // Back Right Lift Servo
int s41 = 90; // Front Right Pivot Servo
int s42 = 90; // Front Right Lift Servo
int f = 0;
int b = 0;
int l = 0;
int r = 0;
int spd = 3; // Speed of walking motion, larger the number, the slower the speed
int high = 0; // How high the robot is standing
// Define 8 Servos
Servo myServo1; // Servo piv esquerdo frontal a4
Servo myServo2; // Servo de elevao frontal esquerdo 10
Servo myServo3; // Servo do piv esquerdo traseiro 5
Servo myServo4; // Servo de elevao traseira esquerda 6
Servo myServo5; // Servo de piv direito traseiro 3
Servo myServo6; // Servo de elevao traseira direita 9
Servo myServo7; // Servo de piv frontal direito 11
Servo myServo8; // Servo de elevao frontal direita a5
short sampleBuffer[256];
// number of samples read
volatile int samplesRead;
//===== Setup ==============================================================================
void setup()
{
// Attach servos to Arduino Pins
myServo1.attach(A4);
myServo2.attach(10);
myServo3.attach(5);
myServo4.attach(6);
myServo5.attach(3);
myServo6.attach(9);
myServo7.attach(11);
myServo8.attach(A5);
Serial.begin (9600);
// while (!Serial);
if (!APDS.begin()) {
Serial.println("Error initializing APDS9960 sensor!");
}
PDM.onReceive(onPDMdata);
if (!PDM.begin(1, 16000)) {
Serial.println("Failed to start PDM!");
while (1);
}
}//setup
//==========================================================================================
//== Loop ==================================================================================
void loop()
{
voice();
while (!APDS.proximityAvailable()) {
delay(5);
}
int proximity = APDS.readProximity(); //Read the distance
Serial.println(proximity);
if (proximity > 230) {
center_servos(); // Center all servos
high = 15; // Set hight to 15
spd = 7; // Set speed to 3
voice();
test(); //Test the sensors
forward(); //Walk forward function
}
else {
center_servos(); //centralize the servo leaving the spyder in the alert position
for (byte x = 0; x < 3; x++) {
back();
voice();
}
test();
for (byte x = 0; x < 3; x++) {
turn_left();
voice();
}
test();
}
}//loop
void dance()
{
center_servos();
delay(100);
lean_left();
delay(300);
lean_right();
delay(300);
lean_left();
delay(300);
lean_right();
delay(300);
lean_left();
delay(300);
lean_right();
delay(300);
lean_left();
delay(300);
lean_right();
delay(800);
center_servos();
delay(300);
bow();
center_servos();
}
//== Wave ==================================================================================
void wave()
{
/*
myServo1 - Front Left Pivot Servo
myServo2 - Front Left Lift Servo
myServo3 - Back Left Pivot Servo
myServo4 - Back Left Lift Servo
myServo5 - Back Right Pivot Servo
myServo6 - Back Right Lift Servo
myServo7 - Front Right Pivot Servo
myServo8 - Front Right Lift Servo
*/
center_servos();
myServo4.write(45);
myServo6.write(45);
delay(200);
myServo8.write(0);
delay(200);
myServo7.write(180);
delay(200);
myServo7.write(30);
delay(300);
myServo7.write(180);
delay(300);
myServo7.write(30);
delay(300);
myServo7.write(s41);
delay(300);
myServo8.write(s42);
center_servos();
}
void sit() {
delay(500);
myServo2.write(20);
myServo4.write(20);
myServo6.write(20);
myServo8.write(20);
delay(5000);
center_servos();
}
//== Bow ===================================================================================
void bow()
{
center_servos();
delay(200);
myServo2.write(15);
myServo8.write(15);
delay(700);
myServo2.write(90);
myServo8.write(90);
delay(700);
}
//== Lean_Left =============================================================================
void lean_left()
{
myServo2.write(15);
myServo4.write(15);
myServo6.write(150);
myServo8.write(150);
}
//== Lean_Right ============================================================================
void lean_right()
{
myServo2.write(150);
myServo4.write(150);
myServo6.write(15);
myServo8.write(15);
}
//== Lean_Left =============================================================================
void trim_left()
{
da--; // Left Front Pivot
db--; // Left Back Pivot
dc--; // Right Back Pivot
dd--; // Right Front Pivot
}
//== Lean_Right ============================================================================
void trim_right()
{
da++; // Left Front Pivot
db++; // Left Back Pivot
dc++; // Right Back Pivot
dd++; // Right Front Pivot
}
//== Forward ===============================================================================
void forward()
{
// calculation of points
// Left Front Pivot
a90 = (90 + da),
a120 = (120 + da),
a150 = (150 + da),
a180 = (180 + da);
// Left Back Pivot
b0 = (0 + db),
b30 = (30 + db),
b60 = (60 + db),
b90 = (90 + db);
// Right Back Pivot
c90 = (90 + dc),
c120 = (120 + dc),
c150 = (150 + dc),
c180 = (180 + dc);
// Right Front Pivot
d0 = (0 + dd),
d30 = (30 + dd),
d60 = (60 + dd),
d90 = (90 + dd);
// set servo positions and speeds needed to walk forward one step
// (LFP, LBP, RBP, RFP, LFL, LBL, RBL, RFL, S1, S2, S3, S4)
srv(a180, b0 , c120, d60, 42, 33, 33, 42, 1, 3, 1, 1);
srv( a90, b30, c90, d30, 6, 33, 33, 42, 3, 1, 1, 1);
srv( a90, b30, c90, d30, 42, 33, 33, 42, 3, 1, 1, 1);
srv(a120, b60, c180, d0, 42, 33, 6, 42, 1, 1, 3, 1);
srv(a120, b60, c180, d0, 42, 33, 33, 42, 1, 1, 3, 1);
srv(a150, b90, c150, d90, 42, 33, 33, 6, 1, 1, 1, 3);
srv(a150, b90, c150, d90, 42, 33, 33, 42, 1, 1, 1, 3);
srv(a180, b0, c120, d60, 42, 6, 33, 42, 1, 3, 1, 1);
//srv(a180, b0, c120, d60, 42, 15, 33, 42, 1, 3, 1, 1);
test();
}
//== Back ==================================================================================
void back ()
{
// set servo positions and speeds needed to walk backward one step
// (LFP, LBP, RBP, RFP, LFL, LBL, RBL, RFL, S1, S2, S3, S4)
srv(180, 0, 120, 60, 42, 33, 33, 42, 3, 1, 1, 1);
srv(150, 90, 150, 90, 42, 18, 33, 42, 1, 3, 1, 1);
srv(150, 90, 150, 90, 42, 33, 33, 42, 1, 3, 1, 1);
srv(120, 60, 180, 0, 42, 33, 33, 6, 1, 1, 1, 3);
srv(120, 60, 180, 0, 42, 33, 33, 42, 1, 1, 1, 3);
srv(90, 30, 90, 30, 42, 33, 18, 42, 1, 1, 3, 1);
srv(90, 30, 90, 30, 42, 33, 33, 42, 1, 1, 3, 1);
srv(180, 0, 120, 60, 6, 33, 33, 42, 3, 1, 1, 1);
}
//== Left =================================================================================
void turn_left ()
{
// set servo positions and speeds needed to turn left one step
// (LFP, LBP, RBP, RFP, LFL, LBL, RBL, RFL, S1, S2, S3, S4)
srv(150, 90, 90, 30, 42, 6, 33, 42, 1, 3, 1, 1);
srv(150, 90, 90, 30, 42, 33, 33, 42, 1, 3, 1, 1);
srv(120, 60, 180, 0, 42, 33, 6, 42, 1, 1, 3, 1);
srv(120, 60, 180, 0, 42, 33, 33, 24, 1, 1, 3, 1);
srv(90, 30, 150, 90, 42, 33, 33, 6, 1, 1, 1, 3);
srv(90, 30, 150, 90, 42, 33, 33, 42, 1, 1, 1, 3);
srv(180, 0, 120, 60, 6, 33, 33, 42, 3, 1, 1, 1);
srv(180, 0, 120, 60, 42, 33, 33, 33, 3, 1, 1, 1);
}
//== Right ================================================================================
void turn_right ()
{
// set servo positions and speeds needed to turn right one step
// (LFP, LBP, RBP, RFP, LFL, LBL, RBL, RFL, S1, S2, S3, S4)
srv( 90, 30, 150, 90, 6, 33, 33, 42, 3, 1, 1, 1);
srv( 90, 30, 150, 90, 42, 33, 33, 42, 3, 1, 1, 1);
srv(120, 60, 180, 0, 42, 33, 33, 6, 1, 1, 1, 3);
srv(120, 60, 180, 0, 42, 33, 33, 42, 1, 1, 1, 3);
srv(150, 90, 90, 30, 42, 33, 6, 42, 1, 1, 3, 1);
srv(150, 90, 90, 30, 42, 33, 33, 42, 1, 1, 3, 1);
srv(180, 0, 120, 60, 42, 6, 33, 42, 1, 3, 1, 1);
srv(180, 0, 120, 60, 42, 33, 33, 42, 1, 3, 1, 1);
}
//== Center Servos ========================================================================
void center_servos()
{
myServo1.write(90);
myServo2.write(90);
myServo3.write(90);
myServo4.write(90);
myServo5.write(90);
myServo6.write(90);
myServo7.write(90);
myServo8.write(90);
int s11 = 90; // Front Left Pivot Servo
int s12 = 90; // Front Left Lift Servo
int s21 = 90; // Back Left Pivot Servo
int s22 = 90; // Back Left Lift Servo
int s31 = 90; // Back Right Pivot Servo
int s32 = 90; // Back Right Lift Servo
int s41 = 90; // Front Right Pivot Servo
int s42 = 90; // Front Right Lift Servo
}
//== Increase Speed ========================================================================
void increase_speed()
{
if (spd > 3)
spd--;
}
//== Decrease Speed ========================================================================
void decrease_speed()
{
if (spd < 50)
spd++;
}
//== Srv ===================================================================================
void srv( int p11, int p21, int p31, int p41, int p12, int p22, int p32, int p42, int sp1, int sp2, int sp3, int sp4)
{
voice();
// p11: Front Left Pivot Servo
// p21: Back Left Pivot Servo
// p31: Back Right Pivot Servo
// p41: Front Right Pivot Servo
// p12: Front Left Lift Servo
// p22: Back Left Lift Servo
// p32: Back Right Lift Servo
// p42: Front Right Lift Servo
// sp1: Speed 1
// sp2: Speed 2
// sp3: Speed 3
// sp4: Speed 4
// Multiply lift servo positions by manual height adjustment
p12 = p12 + high * 3;
p22 = p22 + high * 3;
p32 = p32 + high * 3;
p42 = p42 + high * 3;
while ((s11 != p11) || (s21 != p21) || (s31 != p31) || (s41 != p41) || (s12 != p12) || (s22 != p22) || (s32 != p32) || (s42 != p42))
{
// Front Left Pivot Servo
if (s11 < p11) // if servo position is less than programmed position
{
if ((s11 + sp1) <= p11)
s11 = s11 + sp1; // set servo position equal to servo position plus speed constant
else
s11 = p11;
}
if (s11 > p11) // if servo position is greater than programmed position
{
if ((s11 - sp1) >= p11)
s11 = s11 - sp1; // set servo position equal to servo position minus speed constant
else
s11 = p11;
}
// Back Left Pivot Servo
if (s21 < p21)
{
if ((s21 + sp2) <= p21)
s21 = s21 + sp2;
else
s21 = p21;
}
if (s21 > p21)
{
if ((s21 - sp2) >= p21)
s21 = s21 - sp2;
else
s21 = p21;
}
// Back Right Pivot Servo
if (s31 < p31)
{
if ((s31 + sp3) <= p31)
s31 = s31 + sp3;
else
s31 = p31;
}
if (s31 > p31)
{
if ((s31 - sp3) >= p31)
s31 = s31 - sp3;
else
s31 = p31;
}
// Front Right Pivot Servo
if (s41 < p41)
{
if ((s41 + sp4) <= p41)
s41 = s41 + sp4;
else
s41 = p41;
}
if (s41 > p41)
{
if ((s41 - sp4) >= p41)
s41 = s41 - sp4;
else
s41 = p41;
}
// Front Left Lift Servo
if (s12 < p12)
{
if ((s12 + sp1) <= p12)
s12 = s12 + sp1;
else
s12 = p12;
}
if (s12 > p12)
{
if ((s12 - sp1) >= p12)
s12 = s12 - sp1;
else
s12 = p12;
}
// Back Left Lift Servo
if (s22 < p22)
{
if ((s22 + sp2) <= p22)
s22 = s22 + sp2;
else
s22 = p22;
}
if (s22 > p22)
{
if ((s22 - sp2) >= p22)
s22 = s22 - sp2;
else
s22 = p22;
}
// Back Right Lift Servo
if (s32 < p32)
{
if ((s32 + sp3) <= p32)
s32 = s32 + sp3;
else
s32 = p32;
}
if (s32 > p32)
{
if ((s32 - sp3) >= p32)
s32 = s32 - sp3;
else
s32 = p32;
}
// Front Right Lift Servo
if (s42 < p42)
{
if ((s42 + sp4) <= p42)
s42 = s42 + sp4;
else
s42 = p42;
}
if (s42 > p42)
{
if ((s42 - sp4) >= p42)
s42 = s42 - sp4;
else
s42 = p42;
}
// Write Pivot Servo Values
myServo1.write(s11 + da);
myServo3.write(s21 + db);
myServo5.write(s31 + dc);
myServo7.write(s41 + dd);
// Write Lift Servos Values
myServo2.write(s12);
myServo4.write(s22);
myServo6.write(s32);
myServo8.write(s42);
delay(spd); // Delay before next movement
}//while
} //srv
void test() {
ligth();
movement();
/*
Se tiver luz{
center_servos();
Funo danar: dance();
}
*/
/*
Se tiver gestos{
center_servos();
Funo tchauzinho: wave();
}
*/
/*
Se ouvir voz{
center_servos();
Funo sentar: sit():
}
*/
}
void ligth() {
while (! APDS.colorAvailable()) {
delay(3);
}
int r, g, b;
// read the color
APDS.readColor(r, g, b);
while (r > 20 || g > 20 || b > 20) {
dance();
while (! APDS.colorAvailable()) {
delay(3);
}
APDS.readColor(r, g, b);
}
// print the values
/* Serial.print("r = ");
Serial.println(r);
Serial.print("g = ");
Serial.println(g);
Serial.print("b = ");
Serial.println(b);
Serial.println();*/
}
void movement() {
}
void voice() {
if (samplesRead) {
// print samples to the serial monitor or plotter
for (int i = 0; i < samplesRead; i++) {
// Serial.println(sampleBuffer[i]);
if(sampleBuffer[i]>1000){
// Serial.println("Ouvi: " + String(sampleBuffer[i]));
center_servos();
sit();
}
}
// clear the read count
samplesRead = 0;
}
}
void onPDMdata() {
// query the number of bytes available
int bytesAvailable = PDM.available();
// read into the sample buffer
PDM.read(sampleBuffer, bytesAvailable);
// 16-bit, 2 bytes per sample
samplesRead = bytesAvailable / 2;
}
14 projects • 113 followers
Professor de robótica com Arduino e Raspberry, estudando e aplicando conhecimentos de I.A. usando a Linguagem Python como base.
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