[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 https://www.youtube.com/watch?v=o93OracSJbE&feature=youtu.be 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: [pastacode lang="c" message="" highlight="" provider="manual"]

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);

 

}

[/pastacode] app inventer2程式: 在程式初始化時，設定各元件可否點選