[3/29_C-Day有什麼?]系列之二:手機遙控雙足機器人

本篇內容是由 CAVEDU 的實習生-黃筱晏提供的使用心得

介紹用二足步行機器人入門這本書做出的機器人

這裡是我們團隊買書的地方:機器人王國商城

依照書中作法做出的樣子如下

馬達一顆控制頭部用來改變重心，另一顆為前進後退

單一顆9V無法供應motoduino+馬達，所以要用外接電源

→把板子上的J5 移到Ext. Vin 的地方

電源馬達連接:

藍芽接法:

藍芽設定可以參造Cooper Maa

http://coopermaa2nd.blogspot.tw/2012/06/hc-0x-bluetooth-module.html

將motoduino及兩顆9v電池固定後:

改用motoduino控制馬達及藍芽，軟體方面使用app inventer2

Arduino程式:

const int Motor_E2 = 5;      // digital pin 5 of Arduino (PWM)   



const int Motor_E1 = 6;     // digital pin 6 of Arduino (PWM) 



const int Motor_M2 = 7;     // digital pin 7 of Arduino



const int Motor_M1 = 8;    // digital pin 8 of Arduino



char val; //variable to receive data from the serial port(bluetooth)



 



void setup()



{



  // initialize serial communications at 57600 bps:



  Serial.begin(57600);



 



  pinMode(Motor_M1, OUTPUT);



  pinMode(Motor_M2, OUTPUT);



  Serial.println("Start here");



}



 



void loop()



{



  if(Serial.available())



  {



    val = Serial.read();



    switch(val)



    {



      case 'f':   // car forward



                forward(0, 255);



                break;



      case 'b':   // car backward



                backward(0, 255);



                break;



      case 'l':   // car turn left



                left(0, 255);



                break;



      case 'r':   // car turn right



                right(0, 255);



                break;



      case 's':   // car stop



                motorstop(0, 0);



                break;



     



    }



  }



}



 



void motorstop(byte flag, byte motorspeed)



{



  Serial.println("Stop!");



  digitalWrite( Motor_E1, motorspeed);



  digitalWrite( Motor_E2, motorspeed);



 



}



 



void forward(byte flag, byte motorspeed)



{



  Serial.println("Forward!");



 



  digitalWrite( Motor_M1, HIGH);



  digitalWrite( Motor_M2, HIGH);



 



  analogWrite( Motor_E1, motorspeed);



  analogWrite( Motor_E2, 0);



 



}



 



void backward(byte flag, byte motorspeed)



{



  Serial.println("Backward!");



 



  digitalWrite( Motor_M1, LOW);



  digitalWrite( Motor_M2, LOW);



 



  analogWrite( Motor_E1, motorspeed);



  analogWrite( Motor_E2, 0);



  



}



 



void right(byte flag, byte motorspeed)



{



  Serial.println("Head Turn Right! ");



 



  digitalWrite( Motor_M1, HIGH);



  digitalWrite( Motor_M2, HIGH);



 



  analogWrite( Motor_E1, 0);



  analogWrite( Motor_E2, motorspeed);



 



}



 



void left(byte flag, byte motorspeed)



{



  Serial.println(" Head Turn Left!");



 



  digitalWrite( Motor_M1, LOW);



  digitalWrite( Motor_M2, LOW);



 



  analogWrite( Motor_E1, 0);



  analogWrite( Motor_E2, motorspeed);



 



}