OTTO机器人之MAX7219点阵

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本文链接:https://blog.csdn.net/ReCclay/article/details/82800143

接线

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8
    delay(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};  //O

byte 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 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);
}

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