12自由度六足机器人实现蓝牙遥控功能

机器谱 · 发表于 2023-3-28 10:07:46

本帖最后由机器谱于 2023-3-28 10:07 编辑

1. 功能描述
R111样机是一款拥有12个自由度的串联仿生六足机器人。本文为这个六足机器人增加蓝牙遥控功能，可以通过安卓手机APP对机器人的动作实现遥控。

2. 电子硬件
在这个示例中，我们采用了以下硬件，请大家参考：

主控板	Basra主控板（兼容Arduino Uno）
扩展板	SH-SR舵机扩展板
舵机	标准舵机
电池	7.4V锂电池
通信	蓝牙串口模块

电路连接说明：
12自由度六足机器人结构上装有12个舵机，所以将采用 SH-SR舵机扩展板。
舵机接线顺序：1、3； 4、 5； 6、 8；11、13；15、 21；24、26。

蓝牙串口模块可以通过杜邦线与扩展板进行连接，具体可以参考如何使用探索者通信模块一文中蓝牙串口模块部分。

3. 功能实现
下面的例程可以实现通过安卓手机APP按钮实现机器人前进、后退、左转、右转、跳舞等动作。安卓APP的设置也可以参考如何使用探索者通信模块一文中蓝牙串口模块部分。
你也可以设计自己想要的动作，利用Controller 1.0b软件获取想要的动作参数，拷贝到下面的例程里。
将参考例程（R111_bluetooth.ino）下载到主控板：

/*------------------------------------------------------------------------------------
Distributed under MIT license.See file LICENSE for detail or copy at
https://opensource.org/licenses/MIT
by 机器谱 2023-02-16 https://www.robotway.com/
------------------------------*/
#include <Arduino.h>
#include <avr/pgmspace.h>
#include "Config.h"
#include <Tlc5940.h>
#include <tlc_servos.h>
int count_input = 0;
boolean _b = false;
/*************+++++++++++动作组数组，请将转换后的动作组数据粘贴到相应的动作组中+++++++****************/
const PROGMEM int actionInit[] = {
1090, 1790, 1220, 980, 650, 1800, 1020, 1330, 520, 1155, 1260, 2020,
1090, 1790, 1220, 980, 650, 1800, 1020, 1330, 520, 1155, 1260, 2020,
// 1660, 1230, 1220, 980, 1280, 1190, 1020, 1330, 1090, 1155, 1260, 1540,
// 1090, 1790, 1220, 980, 650, 1800, 1020, 1330, 520, 1155, 1260, 2020
};
const PROGMEM int actionMove[] = {
1660, 1230, 1220, 980, 1280, 1190, 1020, 1330, 1090, 1155, 1260, 1540,
1660, 1790, 1320, 1080, 1280, 1800, 920, 1230, 1090, 1255, 1360, 2020,
1660, 1230, 1320, 1080, 1280, 1190, 920, 1230, 1090, 1255, 1360, 1540,
1090, 1300, 1120, 880, 650, 900, 1120, 1430, 520, 1055, 1160, 1300,
1660, 1300, 1120, 880, 1280, 900, 1120, 1430, 1090, 1055, 1160, 1300,
};
const PROGMEM int actionLeft[] = {
1660, 1230, 1220, 980, 1280, 1190, 1020, 1330, 1090, 1155, 1260, 1540,
1080,1160,1420,780,650,1100,1220,1130,520,955,1460,1430,
1700,1160,1420,780,1440,1100,1220,1130,1100,955,1460,1430,
1700,1700,1020,1180,1440,1800,820,1530,1100,1355,1060,2020,
1700,1160,1020,1180,1440,1100,820,1530,1100,1355,1060,1430,
};
const PROGMEM int actionRight[] = {
1660, 1230, 1220, 980, 1280, 1190, 1020, 1330, 1090, 1155, 1260, 1540,
1700,1700,1420,780,1440,1800,1220,1130,1100,955,1460,2020,
1700,1160,1420,780,1440,1100,1220,1130,1100,955,1460,1430,
1090,1160,1020,1180,650,1100,820,1530,520,1355,1060,1430,
1700,1160,1020,1180,1440,1100,820,1530,1100,1355,1060,1430,
};
const PROGMEM int actionBack[] = {
1660, 1230, 1220, 980, 1280, 1190, 1020, 1330, 1090, 1155, 1260, 1540,
1700,1680,1020,780,1440,1800,1220,1530,1100,955,1060,2020,
1700,1060,1020,780,1440,1100,1220,1530,1100,955,1060,1430,
1100,1060,1220,1180,650,1100,1020,1130,520,1355,1260,1430,
1700,1060,1220,1180,1440,1100,1020,1130,1110,1355,1260,1430,
};
const PROGMEM int actionDance[] = {
1660, 1230, 1220, 980, 1280, 1190, 1020, 1330, 1090, 1155, 1260, 1540,
1090,1790,1220,980,650,1800,1020,1330,520,1155,1260,2020,
1490,1590,1220,980,850,1400,1020,1330,1320,1155,1260,2020,
1490,1590,1220,980,850,1400,1020,1330,1320,1155,1700,1700,
1490,1590,1220,980,850,1400,1020,1330,1320,1155,1700,2020,
1090,1790,1220,980,650,1800,1020,1330,520,1155,1260,2020,
1490,1590,1220,980,850,1400,1020,1330,520,1155,1260,1220,
1490,1590,1220,980,850,1400,1020,1330,800,700,1260,1220,
1490,1590,1220,980,850,1400,1020,1330,520,700,1260,1220,
1090,1790,1220,980,650,1800,1020,1330,520,1155,1260,2020,
1670,1190,1220,980,1370,1100,1020,1330,1100,1155,1260,1430,
1090,1190,1220,980,1370,1800,620,1730,1100,1155,1260,1430,
1090,1190,1220,980,1370,1100,620,1730,1100,1155,1260,1430,
1670,1190,1220,980,1370,1800,620,1730,1100,1155,1260,1430,
1090,1190,1220,980,1370,1100,620,1730,1100,1155,1260,1430,
1090,1190,1220,980,1370,1800,700,1570,1100,1155,1260,1430,
1670,1190,1220,980,1370,1100,700,1570,1100,1155,1260,1430,
1670,1190,1220,980,1370,1100,700,1570,520,520,1930,2020,
1670,1190,1220,980,1370,1100,700,1570,800,520,1930,1700,
1670,1190,1220,980,1370,1100,700,1570,520,520,1930,2020,
1670,1190,1220,980,1370,1100,700,1570,800,520,1930,1700,
1670,1190,1220,980,1370,1100,700,1570,1100,1155,1260,1430,
1670,1190,1220,980,1370,1100,1020,1330,1100,1155,1260,1430,
1670,1190,1220,980,1370,1100,1020,1330,1100,1155,1260,1430,
1670,1190,1220,980,900,1590,1020,1330,720,1155,1260,1430,
1320,1540,1220,980,1370,1100,1020,1330,1100,1155,1260,1830,
1670,1190,1220,980,1370,1100,1020,1330,1100,1155,1260,1430,
1320,1410,1220,980,1370,1100,1020,1330,1100,1155,1260,1950,
1300,1670,1220,980,1370,1100,1020,1330,1100,1155,1260,1600,
1670,1190,1220,980,940,1540,1020,1330,920,1155,1260,1430,
1670,1190,1220,980,1235,1480,1020,1330,580,1155,1260,1430,
1670,1190,1220,980,940,1540,1020,1330,920,1155,1260,1430,
1670,1190,990,1210,940,1540,1140,1100,920,1400,1060,1430,
1300,1670,990,1210,1370,1100,1140,1100,1100,1400,1060,1600,
1320,1540,990,1210,1370,1100,1140,1100,1100,1400,1060,1830,
1670,1190,990,1210,1370,1100,1140,1100,1100,1400,1060,1430,
1670,1190,990,1210,1370,1100,1140,1100,1100,1400,1060,1430,
1670,1190,1280,920,1370,1100,920,1410,1100,1030,1410,1430,
1670,1190,990,1210,1370,1100,1140,1100,1100,1400,1060,1430,
1670,1190,1280,920,1370,1100,920,1410,1100,1030,1410,1430,
1670,1190,1220,980,1370,1100,1020,1330,1100,1155,1260,1430,
};
/************************+++++---------分割线--------++++++*****************************/
//动作组数组长度获取函数，增加动作组时需要按如下格式添加：actPwmNum[增加的动作组序号] = sizeof(增加的动作组名称) / sizeof(增加的动作组名称[0]);
void act_length()
{
actPwmNum[0] = (sizeof(actionMove) / sizeof(actionMove[0]))/servo_num;
actPwmNum[1] = (sizeof(actionLeft) / sizeof(actionLeft[0]))/servo_num;
actPwmNum[2] = (sizeof(actionRight) / sizeof(actionRight[0]))/servo_num;
actPwmNum[3] = (sizeof(actionBack) / sizeof(actionBack[0]))/servo_num;
actPwmNum[4] = (sizeof(actionDance) / sizeof(actionDance[0]))/servo_num;
actPwmNum[5] = (sizeof(actionInit) / sizeof(actionInit[0]))/servo_num;
// for(int i=0;i<act_num;i++)
// {
// Serial.println(actPwmNum[i]);
// }
//---+++---在此处添加------+++-------
}
//map映射函数
long map_servo(long x, long in_min, long in_max, long out_min, long out_max)
{
return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
}
//PWM 转换为舵机角度的函数，增加动作组时需要修改
void vlaue2angle(int p, int act)
{
switch(act)
{
case 0: value_cur[p] = map_servo(pgm_read_word_near(actionMove + p + servo_num * count_input), 500, 2500, 0, 180); break;
case 1: value_cur[p] = map_servo(pgm_read_word_near(actionLeft + p + servo_num * count_input), 500, 2500, 0, 180); break;
case 2: value_cur[p] = map_servo(pgm_read_word_near(actionRight + p + servo_num * count_input), 500, 2500, 0, 180); break;
case 3: value_cur[p] = map_servo(pgm_read_word_near(actionBack + p + servo_num * count_input), 500, 2500, 0, 180); break;
case 4: value_cur[p] = map_servo(pgm_read_word_near(actionDance + p + servo_num * count_input), 500, 2500, 0, 180); break;
case 5: value_cur[p] = map_servo(pgm_read_word_near(actionInit + p + servo_num * count_input), 500, 2500, 0, 180); break;
default: break;
}
}
//舵机初始化函数，动作组第一行为舵机初始化值
void servo_init(int act, int num)
{
if(!_b)
{
for(int i=0;i<servo_num;i++)
{
vlaue2angle(i, act);
tlc_setServo(servo_pin[i], value_cur[i]);
value_pre[i] = value_cur[i];
}
Tlc.update();
//delay(1000);
}
num == 1 ? _b = true : _b = false;
}
//舵机移动函数，参数： act：动作组宏定义名称；num：动作组执行的次数，num > 0 ；
void servo_move(int act, int num)
{
float value_delta[servo_num] = {};
float in_value[servo_num] = {};
servo_init(act, num);
for(int i=0;i< num * actPwmNum[act];i++)
{
//Serial.println(i);
//Serial.println(count_input);
count_input++;
if(count_input == actPwmNum[act])
{
count_input = 0;
continue;
}
for(int i=0;i<servo_num;i++)
{
vlaue2angle(i, act);
in_value[i] = value_pre[i];
value_delta[i] = (value_cur[i] - value_pre[i]) / frequency;
/******************************串口查看输出******************************/
// Serial.print(value_pre[i]);
// Serial.print(" ");
// Serial.print(value_cur[i]);
// Serial.print(" ");
// Serial.print(value_delta[i]);
// Serial.println();
/******************************串口查看输出******************************/
}
// Serial.println();
for(int i=0;i<frequency;i++)
{
for(int k=0;k<servo_num;k++)
{
in_value[k] += value_delta[k];
value_pre[k] = in_value[k];
/******************************串口查看输出******************************/
// Serial.print(in_value[k]);
// Serial.print(" ");
/******************************串口查看输出******************************/
}
// Serial.println();
for(int j=0;j<servo_num;j++)
{
tlc_setServo(servo_pin[j], in_value[j]);
delayMicroseconds(servo_speed);
}
Tlc.update();
}
delayMicroseconds(action_delay);
/******************************串口查看输出******************************/
// for(int i=0;i<servo_num;i++)
// {
// Serial.println(value_pre[i]);
// }
/******************************串口查看输出******************************/
}
}
/******************************-------分割线--------******************************/
//初始化函数
void setup() {
Serial.begin(9600); //开启串口通信，波特率9600
Tlc.init(0);
tlc_initServos();
act_length();
delay(action_delay);
}
//主函数，三种执行动作的方式
void loop() {
/******************************+++++++++++++ 1、串口控制+++++++++******************************/
// while(Serial.available())
// {
// int data;
// data = Serial.parseInt();
//
// switch(data)
// {
// case 1: servo_move(action_move, 2); break;
// case 2: servo_move(action_back, 2); break;
// case 3: servo_move(action_left, 1); break;
// case 4: servo_move(action_right, 1); break;
// case 5: servo_move(action_dance, 1); break;
// case 6: servo_move(action_init, 1); break;
// case 7:
// {
// servo_move(action_move, 4);
// delay(actChangeDelay);
// servo_move(action_back, 4);
// delay(actChangeDelay);
// servo_move(action_left, 4);
// delay(actChangeDelay);
// servo_move(action_right, 4);
// delay(actChangeDelay);
// servo_move(action_dance, 2);
// }
// break;
// default: break;
// }
// }
/**************+++++++++++++ 2、指定每个动作执行的次数，以 while 循环结束+++++++++**************/
servo_move(action_move, 6);
delay(actChangeDelay);
servo_move(action_back, 6);
delay(actChangeDelay);
servo_move(action_left, 4);
delay(actChangeDelay);
servo_move(action_right, 4);
delay(actChangeDelay);
servo_move(action_dance, 2);
delay(1000);
// while(1){ };
/************+++++++++++ 3、重复执行一个动作,次数设置为 1 ，取消 while 循环++++++++**************/
// servo_move(action_dance, 1);
// while(1){};
}

复制代码

4. 资料下载
资料内容：
①蓝牙遥控-例程源代码
②Controller1.0b资料包
资料下载地址：https://www.robotway.com/h-col-197.html

想了解更多机器人开源项目资料请关注机器谱网站 https://www.robotway.com

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