Repository: OttoDIY/OttoDIYLib
Branch: main
Commit: f384c00a641e
Files: 27
Total size: 170.0 KB
Directory structure:
gitextract_e2qkp0pn/
├── .github/
│ └── FUNDING.yml
├── LICENSE
├── README.md
├── examples/
│ ├── Otto_APP/
│ │ └── Otto_APP.ino
│ ├── Otto_CalibrationWalk/
│ │ └── Otto_CalibrationWalk.ino
│ ├── Otto_allmoves/
│ │ └── Otto_allmoves.ino
│ ├── Otto_avoid/
│ │ └── Otto_avoid.ino
│ ├── Otto_happybirthday/
│ │ └── Otto_happybirthday.ino
│ ├── Otto_photoresistorTest/
│ │ └── Otto_photoresistorTest.ino
│ ├── Otto_singleladies/
│ │ └── Otto_singleladies.ino
│ ├── Otto_smoothcriminal/
│ │ └── Otto_smoothcriminal.ino
│ ├── Otto_testSensor/
│ │ └── Otto_testSensor.ino
│ └── Otto_touchmodes/
│ └── Otto_touchmodes.ino
├── keywords.txt
├── library.json
├── library.properties
└── src/
├── Oscillator.cpp
├── Oscillator.h
├── Otto.cpp
├── Otto.h
├── Otto_gestures.h
├── Otto_matrix.cpp
├── Otto_matrix.h
├── Otto_mouths.h
├── Otto_sounds.h
├── SerialCommand.cpp
└── SerialCommand.h
================================================
FILE CONTENTS
================================================
================================================
FILE: .github/FUNDING.yml
================================================
# These are supported funding model platforms
github: # Replace with up to 4 GitHub Sponsors-enabled usernames e.g., [user1, user2]
patreon: # Replace with a single Patreon username
open_collective: # Replace with a single Open Collective username
ko_fi: # Replace with a single Ko-fi username
tidelift: # Replace with a single Tidelift platform-name/package-name e.g., npm/babel
community_bridge: # Replace with a single Community Bridge project-name e.g., cloud-foundry
liberapay: # Replace with a single Liberapay username
issuehunt: # Replace with a single IssueHunt username
otechie: # Replace with a single Otechie username
custom: # Replace with up to 4 custom sponsorship URLs e.g., ['link1', 'link2']
================================================
FILE: LICENSE
================================================
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possible use to the public, the best way to achieve this is to make it
free software which everyone can redistribute and change under these terms.
To do so, attach the following notices to the program. It is safest
to attach them to the start of each source file to most effectively
state the exclusion of warranty; and each file should have at least
the "copyright" line and a pointer to where the full notice is found.
<one line to give the program's name and a brief idea of what it does.>
Copyright (C) <year> <name of author>
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <https://www.gnu.org/licenses/>.
Also add information on how to contact you by electronic and paper mail.
If the program does terminal interaction, make it output a short
notice like this when it starts in an interactive mode:
<program> Copyright (C) <year> <name of author>
This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
This is free software, and you are welcome to redistribute it
under certain conditions; type `show c' for details.
The hypothetical commands `show w' and `show c' should show the appropriate
parts of the General Public License. Of course, your program's commands
might be different; for a GUI interface, you would use an "about box".
You should also get your employer (if you work as a programmer) or school,
if any, to sign a "copyright disclaimer" for the program, if necessary.
For more information on this, and how to apply and follow the GNU GPL, see
<https://www.gnu.org/licenses/>.
The GNU General Public License does not permit incorporating your program
into proprietary programs. If your program is a subroutine library, you
may consider it more useful to permit linking proprietary applications with
the library. If this is what you want to do, use the GNU Lesser General
Public License instead of this License. But first, please read
<https://www.gnu.org/licenses/why-not-lgpl.html>.
================================================
FILE: README.md
================================================
# Otto DIY Robot Arduino Libraries
[](https://www.gnu.org/licenses/gpl-3.0)
This repository has the main [Otto DIY robot](https://www.ottodiy.com/) libraries for Arduino compatible boards.
## Compatible Hardware
- Designed to work mainly with Arduino Nano boards, but most of the code could be adapted to other microcontrollers.
- Arduino Nano family
- Arduino Uno
- Arduino Micro
- Arduino Mega
- Arduino Mini
- Arduino Leonardo
- ESP8266
- ESP32 (in development)
:star: Star us on GitHub, it helps!
## Installation:
You will need the [Arduino IDE on your computer](https://www.arduino.cc/en/software)
You can find this library in the Arduino Manager as `OttoDIYLib` by Otto DIY, for quick installation or manually:
1. [Download Otto DIY libraries here](https://github.com/OttoDIY/OttoDIYLib/archive/master.zip)
2. Open the Arduino IDE and navigate to Sketch > Include Library > Add .ZIP Library...
3. Navigate to .zip file location that you just downloaded and open it.
4. You will see in the bottom black area a message that it has been installed.
5. To verify they are properly installed, go to Sketch > Include Library menu. You should now see the library at the bottom of the drop-down menu.
*For more details or other ways to [install libraries, visit this link](https://www.arduino.cc/en/Guide/Libraries)
## Examples:
You can find codes in File > Examples > OttoDIYLib.
* `Otto_allmoves.ino` great code for testing all dance movements, sounds and gestures.
* `Otto_APP.ino` this code is meant to work with the Bluetooth mobile app and module.
* `Otto_touchmodes.ino` use a touch sensor or button to demo multiple modes.
* `Otto_avoid.ino` uses the ultrasonic sensor to avoid obstacles.
* `Otto_CalibrationWalk.ino` simple calibration for the servos.
* `Otto_happybirthday.ino` plays a melody.
* `Otto_singleladies.ino` dance according to the song.
* `Otto_smoothcriminal.ino` dance according to the song.
* `Otto_testSensor.ino` reads data from any analog sensor.
* `Otto_photoresistor.ino` test light sensor.
## Library Structure
Base set of libraries for any biped robot that uses 4 motors in the legs, like Otto.
* `Otto.h` and `Otto.cpp` contain all the main functions.
* `Otto_gestures.h` contain all the gesture functions.
* `Otto_mouths.h` contains all the mouth functions.
* `Otto_sounds.h` contains all the sound functions.
* `Otto_matrix.h` contains all the matrix functions.
* `Oscillator.h` is the main algorithm for the servo's "smooth" movement.
* `SerialCommand.c` is for Bluetooth communication via software serial
### Adding libraries
```cpp
#include <Otto.h>
Otto Otto;
```
### Pins declaration
These are the default signal connections for the servos and buzzer for AVR Arduino boards in the examples, you can alternatively connect them to different pins if you also change the pin number.
```cpp
#define LeftLeg 2 // left leg pin
#define RightLeg 3 // right leg pin
#define LeftFoot 4 // left foot pin
#define RightFoot 5 // right foot pin
#define Buzzer 13 //buzzer pin
```
### Initialization
When starting the program, the 'init' function must be called with the use of servo motor calibration as a parameter. <br/>
It is best to place the servo motors in their home position after initialization with the 'home' function.
```cpp
void setup() {
Otto.init(LeftLeg, RightLeg, LeftFoot, RightFoot, true, Buzzer);
Otto.home();
}
```
The `home()` function makes the servos move to the center position, with Otto standing in the neutral position.
## Predetermined Functions:
Many preconfigured movements are available in the library:
### Movements:
These are actions that involve the use of the 4 servo motors with the oscillation library combined in synergy and with smooth movements. You can change the values inside the pratensis `()` to alter the speed, direction, and size of the movements.
#### Walk function
```cpp
Otto.walk(steps, time, dir);
```
- `steps` are just how many times you want to repeat that movement without the need for further coding or adding additional rows.
- `time` (noted as `T` below) translated in milliseconds is the duration of the movement. A higher time value slows the movement; try values ranging from 500 to 3000.
- `dir` is the direction: `1` for forward or `-1` backward
Example:
```cpp
Otto.walk(2, 1000, 1);
```
In this example, `2` is the number of steps, `1000` is "TIME" in milliseconds, and it will walk forward.
Try changing T value: Slow=2000 Normal=1000 Fast= 500
```cpp
Otto.turn(steps, T, dir);
```
(# of steps, T, to the left or -1 to the right)
```cpp
Otto.bend (steps, T, dir);
```
(# of steps, T, 1 bends to the left or -1 to the right)
```cpp
Otto.shakeLeg (steps, T, dir);
```
(# of steps, T, 1 bends to the left or -1 to the right)
```cpp
Otto.jump(steps, T);
```
(# of steps up, T) This one does not have a dir parameter.
Otto doesn't really jump. 😜
### Dances:
Similar to movements but more fun! You can adjust the new parameter `h` "height or size of the movements" to make the dance more interesting.
```cpp
Otto.moonwalker(steps, T, h, dir);
```
(# of steps, T, h, 1 to the left or -1 to the right)
`h`: Try changing between 15 and 40.
Example:
```cpp
Otto.moonwalker(3, 1000, 25,1);
```
```cpp
Otto.crusaito(steps, T, h, dir);
```
(# of steps, T, h, 1 to the left or -1 to the right)
`h`: Try changing between 20 and 50.
```cpp
Otto.flapping(steps, T, h, dir);
```
(# of steps, T, h, 1 to the front or -1 to the back)
`h`: Try changing between 10 and 30.
```cpp
Otto.swing(steps, T, h);
```
`h`: Try changing between 0 and 50.
```cpp
Otto.tiptoeSwing(steps, T, h);
```
`h`: Try changing between 0 and 50.
```cpp
Otto.jitter(steps, T, h);
```
`h`: Try changing between 5 and 25.
```cpp
Otto.updown(steps, T, h);
```
`h`: Try changing between 0 and 90.
```cpp
Otto.ascendingTurn(steps, T, h);
```
`h`: Try changing between 5 and 15.
### Sounds:
```
Otto.sing(songName);
```
By just changing what is inside the () we can change the sounds easily to 19 different ones.
It's as simple as copying and pasting in a new row to make the sounds as many times as you like.
- S_connection
- S_disconnection
- S_buttonPushed
- S_mode1
- S_mode2
- S_mode3
- S_surprise
- S_OhOoh
- S_OhOoh2
- S_cuddly
- S_sleeping
- S_happy
- S_superHappy
- S_happy_short
- S_sad
- S_confused
- S_fart1
- S_fart2
- S_fart3
Otto can emit several sounds with the 'sing' function:
```cpp
Otto._tone(10, 3, 1);
```
(noteFrequency, noteDuration, silentDuration)
```cpp
Otto.bendTones (100, 200, 1.04, 10, 10);
```
(initFrequency, finalFrequency, prop, noteDuration, silentDuration)
### Gestures:
Finally, our favorite. This is a combination of the 2 previous functions we learned: sing + walk
Their goal is to express emotions by combining sounds with movements at the same time, and if you have the LED matrix, you can show them in the robot's mouth!
```cpp
Otto.playGesture(gesture);
```
- `Otto.playGesture(OttoHappy);`
- `Otto.playGesture(OttoSuperHappy);`
- `Otto.playGesture(OttoSad);`
- `Otto.playGesture(OttoVictory);`
- `Otto.playGesture(OttoAngry);`
- `Otto.playGesture(OttoSleeping);`
- `Otto.playGesture(OttoFretful);`
- `Otto.playGesture(OttoLove);`
- `Otto.playGesture(OttoConfused);`
- `Otto.playGesture(OttoFart);`
- `Otto.playGesture(OttoWave);`
- `Otto.playGesture(OttoMagic);`
- `Otto.playGesture(OttoFail);`
As you see, it’s very simple, but what it does is quite advanced.
## How to Contribute:
Contributing to this software is warmly welcomed.
1. Test it, and if you find any problems, then post an issue.
2. Help us solve the issues or other bugs.
3. Improve and optimize the current libraries.
You can do this [basically by forking](https://help.github.com/en/articles/fork-a-repo), committing modifications, and then [pull a request](https://help.github.com/en/articles/about-pull-requests).
Welcome to the Otto DIY community.
<a href="https://discord.gg/CZZytnw"><img src="https://images.squarespace-cdn.com/content/v1/5cd3e3917046805e4d6700e3/1560193788834-KYURUXVSZAIE4XX1ZB2F/ke17ZwdGBToddI8pDm48kK6MRMHcYvpidTm-7i2qDf_lfiSMXz2YNBs8ylwAJx2qLijIv1YpVq4N1RMuCCrb3iJz4vYg48fcPCuGX417dnbl3kVMtgxDPVlhqW83Mmu6GipAUbdvsXjVksOX7D692AoyyEsAbPHhHcQMU6bWQFI/join_discord_button_small.png" width="25%"></a>
## License
The OttoDIYLib is licensed under the terms of the GPL Open Source
license and is available for free.
## License: CC-BY-SA
You can use all resources of Otto for free, but the Otto DIY website must be included in any redistribution, and remixes must keep the CC-BY-SA license. In open source, the idea is that more people can have access; therefore, if you copy or remix Otto, you must also release it under the same open license, which means you must also release all files to the public.
<a rel="license" href="http://creativecommons.org/licenses/by-sa/4.0/"><img alt="Creative Commons License" style="border-width:0" src="https://i.creativecommons.org/l/by-sa/4.0/88x31.png" /></a><br /><span xmlns:dct="http://purl.org/dc/terms/" property="dct:title">Otto DIY</span> by <a xmlns:cc="http://creativecommons.org/ns#" property="cc:attributionName"> [www.ottodiy.com](http://www.ottodiy.com) </a> is licensed under a <a rel="license" href="http://creativecommons.org/licenses/by-sa/4.0/">Creative Commons Attribution-ShareAlike 4.0 International License</a>.
Big thanks to all our contributors:
- @JavierIH
- @Obijuan
- @jarsoftelectrical
- @stembotvn
- @sfranzyshen
- @tehniq3
- @logix5
- @DiegoSSJ
- @loreman
- @justinotherguy
- @bhm93
- @wendtbw
- @agomezgar
- @BodoMinea
- @chico
- @PinkDev1
- @MXZZ
- @Pawka
- @per1234
- @FedericoBusero
- @hulkco
- @mishafarms
- @nisha-appanah
- @pabloevaristo
- @ProgrammerBruce
- @Nca78
- @dleval
- @coliss86
- @namepatrik
================================================
FILE: examples/Otto_APP/Otto_APP.ino
================================================
//--------------------------------------------------------------------------------------------------------------------------------------------------------------------
//-- Otto DIY App Firmware Version 13 with standard baudrate of 9600 for Bluetooth BLE modules.
//-- Otto DIY invests time and resources providing open source code and hardware,
//-- please support by purchasing kits from (https://www.ottodiy.com)
//-- Make sure to have installed all libraries: https://github.com/OttoDIY/OttoDIYLib
//-----------------------------------------------------------------
//-- If you wish to use this software under Open Source Licensing, you must contribute all your source code to the community and all text above must be included in any redistribution
//-- in accordance with the GPL when your application is distributed. See http://www.gnu.org/copyleft/gpl.html
//---------------------
#include <SerialCommand.h>
SoftwareSerial BTserial = SoftwareSerial(11,12); // RX pin to 12 and TX pin to 11 on the board
SerialCommand SCmd(BTserial);
#include <Otto.h>
Otto Otto;
#define LeftLeg 2
#define RightLeg 3
#define LeftFoot 4
#define RightFoot 5
#define Buzzer 13
#define DIN A3 // Data In pin
#define CS A2 // Chip Select pin
#define CLK A1 // Clock pin
#define Orientation 1 // 8x8 LED Matrix orientation Top = 1, Bottom = 2, Left = 3, Right = 4
#define PIN_Button A0
#define PIN_ASSEMBLY 10
int T = 1000;
int moveId = 0;
int moveSize = 15;
volatile bool buttonPushed=false;
unsigned long int matrix;
void receiveStop()
{ sendAck(); Otto.home(); sendFinalAck(); }
void receiveLED()
{ sendAck(); Otto.home(); unsigned long int matrix; char *arg; char *endstr; arg = SCmd.next(); if (arg != NULL) { matrix = strtoul(arg, &endstr, 2); Otto.putMouth(matrix, false); } else { Otto.putMouth(xMouth); delay(2000); Otto.clearMouth(); } sendFinalAck(); }
void recieveBuzzer()
{ sendAck(); Otto.home(); bool error = false; int frec; int duration; char *arg; arg = SCmd.next(); if (arg != NULL) frec = atoi(arg); else error = true; arg = SCmd.next(); if (arg != NULL) duration = atoi(arg); else error = true; if (error == true) { Otto.putMouth(xMouth); delay(2000); Otto.clearMouth(); } else Otto._tone(frec, duration, 1); sendFinalAck(); }
void receiveTrims()
{ sendAck(); Otto.home(); int trim_YL, trim_YR, trim_RL, trim_RR; bool error = false; char *arg; arg = SCmd.next(); if (arg != NULL) trim_YL = atoi(arg); else error = true; arg = SCmd.next(); if (arg != NULL) trim_YR = atoi(arg); else error = true; arg = SCmd.next(); if (arg != NULL) trim_RL = atoi(arg); else error = true; arg = SCmd.next(); if (arg != NULL) trim_RR = atoi(arg); else error = true; if (error == true) { Otto.putMouth(xMouth); delay(2000); Otto.clearMouth(); } else { Otto.setTrims(trim_YL, trim_YR, trim_RL, trim_RR); Otto.saveTrimsOnEEPROM(); } sendFinalAck(); }
void receiveServo()
{ sendAck(); moveId = 30; bool error = false; char *arg; int servo_YL, servo_YR, servo_RL, servo_RR; arg = SCmd.next(); if (arg != NULL) servo_YL = atoi(arg); else error = true; arg = SCmd.next(); if (arg != NULL) servo_YR = atoi(arg); else error = true; arg = SCmd.next(); if (arg != NULL) servo_RL = atoi(arg); else error = true; arg = SCmd.next(); if (arg != NULL) { servo_RR = atoi(arg); } else error = true; if (error == true) { Otto.putMouth(xMouth); delay(2000); Otto.clearMouth(); } else { int servoPos[4] = {servo_YL, servo_YR, servo_RL, servo_RR}; Otto._moveServos(200, servoPos); } sendFinalAck(); }
void receiveMovement()
{ sendAck(); if (Otto.getRestState() == true) Otto.setRestState(false); char *arg; arg = SCmd.next(); if (arg != NULL) moveId = atoi(arg); else { Otto.putMouth(xMouth); delay(2000); Otto.clearMouth(); moveId = 0; } arg = SCmd.next(); if (arg != NULL) T = atoi(arg); else T = 1000; arg = SCmd.next(); if (arg != NULL) moveSize = atoi(arg); else moveSize = 15; }
void move(int moveId)
{ bool manualMode = false; switch (moveId) { case 0: Otto.home(); break; case 1: Otto.walk(1, T, 1); break; case 2: Otto.walk(1, T, -1); break; case 3: Otto.turn(1, T, 1); break; case 4: Otto.turn(1, T, -1); break; case 5: Otto.updown(1, T, moveSize); break; case 6: Otto.moonwalker(1, T, moveSize, 1); break; case 7: Otto.moonwalker(1, T, moveSize, -1); break; case 8: Otto.swing(1, T, moveSize); break; case 9: Otto.crusaito(1, T, moveSize, 1); break; case 10: Otto.crusaito(1, T, moveSize, -1); break; case 11: Otto.jump(1, T); break; case 12: Otto.flapping(1, T, moveSize, 1); break; case 13: Otto.flapping(1, T, moveSize, -1); break; case 14: Otto.tiptoeSwing(1, T, moveSize); break; case 15: Otto.bend(1, T, 1); break; case 16: Otto.bend(1, T, -1); break; case 17: Otto.shakeLeg(1, T, 1); break; case 18: Otto.shakeLeg(1, T, -1); break; case 19: Otto.jitter(1, T, moveSize); break; case 20: Otto.ascendingTurn(1, T, moveSize); break; default: manualMode = true; break; } if (!manualMode) sendFinalAck(); }
void receiveGesture()
{ sendAck(); Otto.home(); int gesture = 0; char *arg; arg = SCmd.next(); if (arg != NULL) gesture = atoi(arg); else delay(2000); switch (gesture) { case 1: Otto.playGesture(OttoHappy); break; case 2: Otto.playGesture(OttoSuperHappy); break; case 3: Otto.playGesture(OttoSad); break; case 4: Otto.playGesture(OttoSleeping); break; case 5: Otto.playGesture(OttoFart); break; case 6: Otto.playGesture(OttoConfused); break; case 7: Otto.playGesture(OttoLove); break; case 8: Otto.playGesture(OttoAngry); break; case 9: Otto.playGesture(OttoFretful); break; case 10: Otto.playGesture(OttoMagic); break; case 11: Otto.playGesture(OttoWave); break; case 12: Otto.playGesture(OttoVictory); break; case 13: Otto.playGesture(OttoFail); break; default: break; } sendFinalAck(); }
void receiveSing()
{ sendAck(); Otto.home(); int sing = 0; char *arg; arg = SCmd.next(); if (arg != NULL) sing = atoi(arg); else delay(2000); switch (sing) { case 1: Otto.sing(S_connection); break; case 2: Otto.sing(S_disconnection); break; case 3: Otto.sing(S_surprise); break; case 4: Otto.sing(S_OhOoh); break; case 5: Otto.sing(S_OhOoh2); break; case 6: Otto.sing(S_cuddly); break; case 7: Otto.sing(S_sleeping); break; case 8: Otto.sing(S_happy); break; case 9: Otto.sing(S_superHappy); break; case 10: Otto.sing(S_happy_short); break; case 11: Otto.sing(S_sad); break; case 12: Otto.sing(S_confused); break; case 13: Otto.sing(S_fart1); break; case 14: Otto.sing(S_fart2); break; case 15: Otto.sing(S_fart3); break; case 16: Otto.sing(S_mode1); break; case 17: Otto.sing(S_mode2); break; case 18: Otto.sing(S_mode3); break; case 19: Otto.sing(S_buttonPushed); break; default: break; } sendFinalAck(); }
void sendAck()
{ delay(30); Serial.print(F("&&")); Serial.print(F("A")); Serial.println(F("%%")); Serial.flush(); }
void sendFinalAck()
{ delay(30); Serial.print(F("&&")); Serial.print(F("F")); Serial.println(F("%%")); Serial.flush(); }
void ButtonPushed()
{ if(!buttonPushed){ buttonPushed=true; Otto.putMouth(smallSurprise); } }
void setup() {
Serial.begin(9600);
BTserial.begin(9600);
Otto.init(LeftLeg, RightLeg, LeftFoot, RightFoot, true, Buzzer); //Set the servo pins and Buzzer pin
Otto.initMATRIX( DIN, CS, CLK, Orientation);
Otto.matrixIntensity(7);
pinMode(PIN_ASSEMBLY, INPUT_PULLUP);
pinMode(PIN_Button, INPUT);
SCmd.addCommand("S", receiveStop);
SCmd.addCommand("L", receiveLED);
SCmd.addCommand("T", recieveBuzzer);
SCmd.addCommand("M", receiveMovement);
SCmd.addCommand("H", receiveGesture);
SCmd.addCommand("K", receiveSing);
SCmd.addCommand("C", receiveTrims);
SCmd.addCommand("G", receiveServo);
SCmd.addDefaultHandler(receiveStop);
Otto.sing(S_connection);
Otto.home();
for (int i = 0; i < 2; i++) {
for (int i = 0; i < 8; i++) {
Otto.putAnimationMouth(littleUuh, i);
delay(150);
}
}
Otto.putMouth(smile);
Otto.sing(S_happy);
delay(200);
Otto.putMouth(happyOpen);
while (digitalRead(PIN_ASSEMBLY) == LOW) {
Otto.home();
Otto.sing(S_happy_short); // sing every 5 seconds so we know OTTO is still working
delay(5000);}
}
void loop() {
SCmd.readSerial();
if (Otto.getRestState()==false){ move(moveId); }
}
================================================
FILE: examples/Otto_CalibrationWalk/Otto_CalibrationWalk.ino
================================================
//----------------------------------------------------------------
//-- Otto DIY invests time and resources providing open source code and hardware,
//-- please support by purchasing kits from https://www.ottodiy.com/
//-- Make sure to have installed all libraries: https://github.com/OttoDIY/OttoDIYLib
//-----------------------------------------------------------------
#include <Arduino.h>
#include <Wire.h>
#include <SoftwareSerial.h>
#include <EEPROM.h>
#include <Otto.h> //-- Otto Library
Otto Otto; //This is Otto!
#define LeftLeg 2
#define RightLeg 3
#define LeftFoot 4
#define RightFoot 5
#define Buzzer 13
double angle_rad = PI/180.0;
double angle_deg = 180.0/PI;
int YL;
int YR;
int RL;
int RR;
void setup(){
Otto.init(LeftLeg, RightLeg, LeftFoot, RightFoot, true, Buzzer); //Set the servo pins and Buzzer pin
Serial.begin(9600);
YL = EEPROM.read(0);
if (YL > 128) YL -= 256;
YR = EEPROM.read(1);
if (YR > 128) YR -= 256;
RL = EEPROM.read(2);
if (RL > 128) RL -= 256;
RR = EEPROM.read(3);
if (RR > 128) RR -= 256;
Otto.home();
Serial.println("OTTO CALIBRATION PROGRAM");
Serial.println("PRESS a or z for adjusting Left Leg");
Serial.println("PRESS s or x for adjusting Left Foot");
Serial.println("PRESS k or m for adjusting Right Leg");
Serial.println("PRESS j or n for adjusting Right Foot");
Serial.println();
Serial.println("PRESS f to test Otto walking");
Serial.println("PRESS h to return servos to home position");
}
void loop(){
int charRead = 0;
if((Serial.available()) > (0)){
charRead = Serial.read();
}
if(((charRead)==('a' ))){
YL++;
Otto.setTrims(YL,YR,RL,RR);
calib_homePos();
Otto.saveTrimsOnEEPROM();
}else{
if(((charRead)==( 'z' ))){
YL--;
Otto.setTrims(YL,YR,RL,RR);
calib_homePos();
Otto.saveTrimsOnEEPROM();
}else{
if(((charRead)==( 's' ))){
RL++;
Otto.setTrims(YL,YR,RL,RR);
calib_homePos();
Otto.saveTrimsOnEEPROM();
}else{
if(((charRead)==( 'x' ))){
RL--;
Otto.setTrims(YL,YR,RL,RR);
calib_homePos();
Otto.saveTrimsOnEEPROM();
}else{
if(((charRead)==( 'k' ))){
YR++;
Otto.setTrims(YL,YR,RL,RR);
calib_homePos();
Otto.saveTrimsOnEEPROM();
}else{
if(((charRead)==( 'm' ))){
YR--;
Otto.setTrims(YL,YR,RL,RR);
calib_homePos();
Otto.saveTrimsOnEEPROM();
}else{
if(((charRead)==( 'j' ))){
RR++;
Otto.setTrims(YL,YR,RL,RR);
calib_homePos();
Otto.saveTrimsOnEEPROM();
}else{
if(((charRead)==( 'n' ))){
RR--;
Otto.setTrims(YL,YR,RL,RR);
calib_homePos();
Otto.saveTrimsOnEEPROM();
}else{
if(((charRead)==( 'f' ))){
Otto.walk(1,1000,1);
}else{
if(((charRead)==( 'h' ))){
Otto.home();
}else{
}
}
}
}
}
}
}
}
}
}
}
void calib_homePos() {
int servoPos[4];
servoPos[0]=90;
servoPos[1]=90;
servoPos[2]=90;
servoPos[3]=90;
Otto._moveServos(500, servoPos);
Otto.detachServos();
}
================================================
FILE: examples/Otto_allmoves/Otto_allmoves.ino
================================================
//----------------------------------------------------------------
//-- Otto All moves test
//-- Otto DIY invests time and resources providing open source code and hardware,
//-- please support by purchasing kits from https://www.ottodiy.com/
//-- Make sure to have installed all libraries: https://github.com/OttoDIY/OttoDIYLib
//-----------------------------------------------------------------
#include <Otto.h>
Otto Otto; //This is Otto!
#define LeftLeg 2
#define RightLeg 3
#define LeftFoot 4
#define RightFoot 5
#define Buzzer 13
#define DIN A3 // Data In pin
#define CS A2 // Chip Select pin
#define CLK A1 // Clock pin
#define Orientation 1 // 8x8 LED Matrix orientation Top = 1, Bottom = 2, Left = 3, Right = 4
///////////////////////////////////////////////////////////////////
//-- Setup ------------------------------------------------------//
///////////////////////////////////////////////////////////////////
void setup(){
Otto.init(LeftLeg, RightLeg, LeftFoot, RightFoot, true, Buzzer); //Set the servo pins and Buzzer pin
Otto.initMATRIX( DIN, CS, CLK, Orientation);
Otto.sing(S_connection); //Otto wake up!
Otto.home();
delay(50);
Otto.playGesture(OttoHappy);
}
///////////////////////////////////////////////////////////////////
//-- Principal Loop ---------------------------------------------//
///////////////////////////////////////////////////////////////////
void loop() {
Otto.walk(2,1000,1); //2 steps, "TIME". IF HIGHER THE VALUE THEN SLOWER (from 600 to 1400), 1 FORWARD
Otto.walk(2,1000,-1); //2 steps, T, -1 BACKWARD
Otto.turn(2,1000,1);//3 steps turning LEFT
Otto._tone(10, 3, 1);
Otto.bendTones (100, 200, 1.04, 10, 10);
Otto.home();
delay(100);
Otto.turn(2,1000,-1);//3 steps turning RIGHT
Otto.bend (1,500,1); //usually steps =1, T=2000
Otto.bend (1,2000,-1);
Otto.shakeLeg (1,1500, 1);
Otto.home();
delay(100);
Otto.shakeLeg (1,2000,-1);
Otto.moonwalker(3, 1000, 25,1); //LEFT
Otto.moonwalker(3, 1000, 25,-1); //RIGHT
Otto.crusaito(2, 1000, 20,1);
Otto.crusaito(2, 1000, 20,-1);
delay(100);
Otto.flapping(2, 1000, 20,1);
Otto.flapping(2, 1000, 20,-1);
delay(100);
Otto.swing(2, 1000, 20);
Otto.tiptoeSwing(2, 1000, 20);
Otto.jitter(2, 1000, 20); //(small T)
Otto.updown(2, 1500, 20); // 20 = H "HEIGHT of movement"T
Otto.ascendingTurn(2, 1000, 50);
Otto.jump(1,500); // It doesn't really jumpl ;P
Otto.home();
delay(100);
Otto.sing(S_cuddly);
Otto.sing(S_OhOoh);
Otto.sing(S_OhOoh2);
Otto.sing(S_surprise);
Otto.sing(S_buttonPushed);
Otto.sing(S_mode1);
Otto.sing(S_mode2);
Otto.sing(S_mode3);
Otto.sing(S_sleeping);
Otto.sing(S_fart1);
Otto.sing(S_fart2);
Otto.sing(S_fart3);
Otto.sing(S_happy);
Otto.sing(S_happy_short);
Otto.sing(S_superHappy);
Otto.sing(S_sad);
Otto.sing(S_confused);
Otto.sing(S_disconnection);
delay(100);
Otto.playGesture(OttoHappy);
Otto.playGesture(OttoSuperHappy);
Otto.playGesture(OttoSad);
Otto.playGesture(OttoVictory);
Otto.playGesture(OttoAngry);
Otto.playGesture(OttoSleeping);
Otto.playGesture(OttoFretful);
Otto.playGesture(OttoLove);
Otto.playGesture(OttoConfused);
Otto.playGesture(OttoFart);
Otto.playGesture(OttoWave);
Otto.playGesture(OttoMagic);
Otto.playGesture(OttoFail);
Otto.home();
delay(100);
Otto.putMouth(zero);
delay(100);
Otto.putMouth(one);
delay(100);
Otto.putMouth(two);
delay(100);
Otto.putMouth(three);
delay(100);
Otto.putMouth(four);
delay(100);
Otto.putMouth(five);
delay(100);
Otto.putMouth(6);
delay(100);
Otto.putMouth(7);
delay(100);
Otto.putMouth(8);
delay(100);
Otto.putMouth(9);
delay(100);
Otto.putMouth(smile);
delay(100);
Otto.putMouth(happyOpen);
delay(100);
Otto.putMouth(happyClosed);
delay(100);
Otto.putMouth(heart);
delay(100);
Otto.putMouth(angry);
delay(100);
Otto.putMouth(smallSurprise);
delay(100);
Otto.putMouth(bigSurprise);
delay(100);
Otto.putMouth(tongueOut);
delay(100);
Otto.putMouth(confused);
delay(100);
Otto.putMouth(21); //diagonal
delay(100);
Otto.putMouth(27); //interrogation
delay(100);
Otto.putMouth(23); //sad open
delay(100);
Otto.putMouth(24); //sad closed
delay(100);
Otto.putMouth(vamp1);
delay(100);
Otto.putMouth(vamp2);
delay(100);
Otto.putMouth(xMouth);
delay(100);
Otto.putMouth(okMouth);
delay(100);
Otto.putMouth(thunder);
delay(100);
Otto.putMouth(lineMouth);
delay(100);
Otto.putMouth(culito);
delay(100);
Otto.putAnimationMouth(littleUuh,0);
delay(1000);
Otto.putAnimationMouth(dreamMouth, 0);
delay(1000);
Otto.putAnimationMouth(dreamMouth, 1);
delay(1000);
Otto.putAnimationMouth(dreamMouth, 2);
delay(1000);
}
================================================
FILE: examples/Otto_avoid/Otto_avoid.ino
================================================
//---------------------------------------------------------------------------------------------------------------------------------------------------------------------
// Otto avoid obstacles with ultrasonic sensor sample sketch code
//-- Otto DIY invests time and resources providing open source code and hardware,
//-- please support by purchasing kits from https://www.ottodiy.com/
//-- Make sure to have installed all libraries: https://github.com/OttoDIY/OttoDIYLib
//--------------------------------------------------------------------------------------------------------------------------------------------------------------------
#include <Otto.h>
Otto Otto; //This is Otto!
//----------------------------------------------------------------------
#define LeftLeg 2
#define RightLeg 3
#define LeftFoot 4
#define RightFoot 5
#define Buzzer 13
#define Trigger 8 // ultrasonic sensor trigger pin
#define Echo 9 // ultrasonic sensor echo pin
long ultrasound() {
long duration, distance;
digitalWrite(Trigger,LOW);
delayMicroseconds(2);
digitalWrite(Trigger, HIGH);
delayMicroseconds(10);
digitalWrite(Trigger, LOW);
duration = pulseIn(Echo, HIGH);
distance = duration/58;
return distance;
}
void setup() {
Otto.init(LeftLeg, RightLeg, LeftFoot, RightFoot, true, Buzzer); //Set the servo pins and Buzzer pin
pinMode(Trigger, OUTPUT);
pinMode(Echo, INPUT);
}
void loop() {
if (ultrasound() <= 15) {
Otto.sing(S_surprise);
Otto.playGesture(OttoConfused);
Otto.walk(2,1000,-1); // BACKWARD x2
Otto.turn(3,1000,1); // LEFT x3
}
Otto.walk(1,1000,1); // FORWARD x1
}
================================================
FILE: examples/Otto_happybirthday/Otto_happybirthday.ino
================================================
//----------------------------------------------------------------
//-- Otto Happy Birthday
//-- With this code Otto will walk 5 steps and then sing the happy birthday
//-- Otto DIY invests time and resources providing open source code and hardware,
//-- please support by purchasing kits from https://www.ottodiy.com/
//-- Make sure to have installed all libraries: https://github.com/OttoDIY/OttoDIYLib
//-----------------------------------------------------------------
#include <Otto.h>
Otto Otto;
#define LeftLeg 2
#define RightLeg 3
#define LeftFoot 4
#define RightFoot 5
#define Buzzer 13
int speakerPin = 13;
int length = 28; // the number of notes
char notes[] = "GGAGcB GGAGdc GGxecBA yyecdc";
int beats[] = { 2, 2, 8, 8, 8, 16, 1, 2, 2, 8, 8,8, 16, 1, 2,2,8,8,8,8,16, 1,2,2,8,8,8,16 };
int tempo = 150;
void playTone(int tone, int duration) {
for (long i = 0; i < duration * 1000L; i += tone * 2) {
digitalWrite(speakerPin, HIGH);
delayMicroseconds(tone);
digitalWrite(speakerPin, LOW);
delayMicroseconds(tone);
}
}
void playNote(char note, int duration) {
char names[] = {'C', 'D', 'E', 'F', 'G', 'A', 'B',
'c', 'd', 'e', 'f', 'g', 'a', 'b',
'x', 'y' };
int tones[] = { 1915, 1700, 1519, 1432, 1275, 1136, 1014,
956, 834, 765, 593, 468, 346, 224,
655 , 715 };
int SPEE = 5; // play the tone corresponding to the note name
/*
* Fix for => replace 17 by the size of names array
*/
for (int i = 0; i < sizeof(names); i++) {
if (names[i] == note) {
int newduration = duration/SPEE;
playTone(tones[i], newduration);
}
}
}
void setup() {
Otto.init(LeftLeg, RightLeg, LeftFoot, RightFoot, true, Buzzer); //Set the servo pins and Buzzer pin
pinMode(speakerPin, OUTPUT);
}
void loop() {
Otto.walk(5,1300,1);
Otto.playGesture(OttoSuperHappy);
for (int i = 0; i < length; i++) {
if (notes[i] == ' ') {
delay(beats[i] * tempo); // rest
} else {
playNote(notes[i], beats[i] * tempo);
}
// pause between notes
delay(tempo);
}
}
================================================
FILE: examples/Otto_photoresistorTest/Otto_photoresistorTest.ino
================================================
// Define the pin to which the photoresistor is connected
const int photoresistorPin = A0;
int voltage_intensity = 0;
int light_perc = 0;
int sensorValue = 0;
void setup() {
// Initialize Serial communication
Serial.begin(9600);
}
void loop() {
// Read the analog value from the photoresistor
sensorValue = 1023. - analogRead(photoresistorPin);
voltage_intensity = (5.0/1023.) * sensorValue;
light_perc = (voltage_intensity/5.0)*100.0; //converting values to percentages
// Print the sensor value to the Serial Monitor
Serial.print("Light Percentage: ");
Serial.print(light_perc);
Serial.println("%");
// Wait for a short delay
delay(500);
}
================================================
FILE: examples/Otto_singleladies/Otto_singleladies.ino
================================================
//----------------------------------------------------------------
//-- Otto Dance single ladies
//-- This code will make Otto dance play the by Beyonce song at the same time and see it in action
//-- Otto DIY invests time and resources providing open source code and hardware,
//-- please support by purchasing kits from https://www.ottodiy.com/
//-- Make sure to have installed all libraries: https://github.com/OttoDIY/OttoDIYLib
//-----------------------------------------------------------------
#include <Servo.h>
#include <Oscillator.h>
#include <EEPROM.h>
#define N_SERVOS 4
#define EEPROM_TRIM false //Activate for calibration with serial
#define TRIM_RR 18
#define TRIM_RL 18
#define TRIM_YR 26
#define TRIM_YL 18
#define PIN_RL 2
#define PIN_RR 3
#define PIN_YR 4
#define PIN_YL 5
#define INTERVALTIME 10.0
Oscillator servo[N_SERVOS];
void drunk (int tempo);
void kickLeft(int tempo);
void kickRight(int tempo);
void pasitos(int steps, int tempo);
void run(int steps, int T=500);
void walk(int steps, int T=1000);
void backyard(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 tempo);
void flapping(int steps, int T=1000);
void setup()
{
Serial.begin(19200);
servo[0].attach(PIN_RR);
servo[1].attach(PIN_RL);
servo[2].attach(PIN_YR);
servo[3].attach(PIN_YL);
int trim;
if(EEPROM_TRIM){
for(int x=0;x<4;x++){
trim=EEPROM.read(x);
if(trim>128)trim=trim-256;
Serial.print("TRIM ");
Serial.print(x);
Serial.print(" en ");
Serial.println(trim);
servo[x].SetTrim(trim);
}
}
else{
servo[0].SetTrim(TRIM_RR);
servo[1].SetTrim(TRIM_RL);
servo[2].SetTrim(TRIM_YR);
servo[3].SetTrim(TRIM_YL);
}
for(int i=0;i<4;i++) servo[i].SetPosition(90);
}
// TEMPO: 97 BPM
int t=620;
double pause=0;
void loop() {
pasitos(8,t*2);
crusaito(1,t);
patada(t);
delay(t);
twist(2,t);
twist(3,t/2);
upDown(1,t*2);
patada(t*2);
drunk(t*2);
flapping(1,t*2);
walk(2,t);
walk(1,t*2);
backyard(2,t);
patada(t*2);
flapping(1,t*2);
patada(t*2);
twist(8,t/2);
moonWalkLeft(2,t);
crusaito(1,t*2);
for(int i=0; i<2 ;i++){
lateral_fuerte(0,t);
lateral_fuerte(1,t);
upDown(1,t*2);
}
saludo(1,t*2);
saludo(1,t);
delay(t);
swing(3,t);
for(int i=0;i<4;i++) servo[i].SetPosition(90);
delay(t);
lateral_fuerte(0,t);
lateral_fuerte(1,t);
lateral_fuerte(0,t/2);
lateral_fuerte(1,t/2);
lateral_fuerte(0,t/2);
delay(t/2);
lateral_fuerte(0,t);
lateral_fuerte(1,t);
lateral_fuerte(0,t/2);
lateral_fuerte(1,t/2);
delay(t);
pasitos(1,t*2);
pasitos(1,t);
delay(t/2);
pasitos(1,t*2);
pasitos(1,t);
delay(t/2);
crusaito(2,t);
crusaito(1,t*2);
crusaito(2,t);
crusaito(1,t*2);
crusaito(2,t);
crusaito(1,t*2);
upDown(2,t);
crusaito(1,t*2);
for(int i=0;i<4;i++) servo[i].SetPosition(90);
delay(t/2);
pasitos(2,t*2);
pasitos(2,t);
flapping(1,t*2);
upDown(2,t);
upDown(1,t*2);
for (int i=0; i<4; i++){
pasitos(1,t);
delay(t);
}
reverencia1(1,t*4);
reverencia2(1,t*4);
upDown(1,t);
run(2,t/2);
patada(t*2);
lateral_fuerte(0,t);
lateral_fuerte(1,t);
upDown(2,t);
lateral_fuerte(0,t);
lateral_fuerte(1,t);
upDown(2,t);
pasitos(4,t);
lateral_fuerte(0,t);
lateral_fuerte(1,t);
upDown(2,t);
patada(t*2);
pasitos(2,t);
patada(t*2);
pasitos(2,t);
swing(2,t*2);
pasitos(4,t);
for (int i=0; i<4; i++){
lateral_fuerte(0,t);
lateral_fuerte(1,t);
lateral_fuerte(0,t/2);
lateral_fuerte(1,t/2);
lateral_fuerte(0,t/2);
delay(t/2);
}
pasitos(6,t);
delay(t);
pasitos(1,t);
delay(t/2);
pasitos(3,t);
delay(t/2);
swing(4,t);
twist(2,t/2);
delay(t/2);
twist(2,t/2);
delay(t/2);
drunk(t*2);
drunk(t/2);
drunk(t*2);
delay(t/2);
walk(1,t);
backyard(1,t);
servo[0].SetPosition(110);
servo[1].SetPosition(130);
delay(t);
crusaito(3,t);
crusaito(1,2*t);
upDown(1,t*2);
upDown(2,t/2);
kickLeft(t/2);
kickRight(t/2);
moonWalkLeft(1,t*2);
moonWalkLeft(2,t);
moonWalkRight(1,t*2);
moonWalkRight(2,t);
walk(4,t);
backyard(4,t);
lateral_fuerte(0,t);
lateral_fuerte(0,t);
lateral_fuerte(1,t);
lateral_fuerte(1,t);
walk(2,t);
backyard(2,t);
pasitos(6,t*2);
swing(1,t);
upDown(1,t);
delay(t);
upDown(6,t);
delay(t);
for (int i=0;i<4;i++){
lateral_fuerte(0,t);
lateral_fuerte(1,t);
}
delay(t);
for (int i=0;i<7;i++){
pasitos(2,t);
swing(2,t);
}
pasitos(1,t);
crusaito(1,t*2);
upDown(1,t);
delay(2000);
}
//////////////////////////////////CONTROL FUNCTIONS//////////////////////////////////
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];
}
}
////////////////////////////////Dance Steps////////////////////////////////
void pasitos(int steps, int tempo){
int move1[4] = {90,120,60,60};
int move2[4] = {90,90,90,90};
int move3[4] = {60,90,120,120};
int move4[4] = {90,90,90,90};
for(int i=0; i<steps; i++){
pause=millis();
moveNServos(tempo*0.25,move1);
moveNServos(tempo*0.25,move2);
moveNServos(tempo*0.25,move3);
moveNServos(tempo*0.25,move4);
while(millis()<(pause+t));
}
}
void patada (int tempo){
for(int i=0;i<4;i++) servo[i].SetPosition(90);
servo[0].SetPosition(115);
servo[1].SetPosition(120);
delay(tempo/4);
servo[0].SetPosition(115);
servo[1].SetPosition(70);
delay(tempo/4);
servo[0].SetPosition(100);
servo[1].SetPosition(80);
delay(tempo/4);
servo[0].SetPosition(90);
servo[1].SetPosition(90);
delay(tempo/4);
}
void twist(int steps, int tempo){
int move1[4] = {90,90,50,130};
int move2[4] = {90,90,90,90};
for(int x=0; x<steps; x++){
pause=millis();
moveNServos(tempo*0.1,move1);
moveNServos(tempo*0.1,move2);
while(millis()<(pause+tempo));
}
}
void reverencia1 (int steps, int tempo){
int move1[4] = {130,50,90,90};
int move2[4] = {90,90,90,90};
for(int x=0; x<steps; x++){
pause=millis();
for(int i=0;i<4;i++) servo[i].SetPosition(90);
moveNServos(tempo*0.3,move1);
delay(tempo*0.2);
moveNServos(tempo*0.3,move2);
while(millis()<(pause+tempo));
}
}
void reverencia2 (int steps, int tempo){
int move1[4] = {130,50,90,90};
int move2[4] = {130,50,60,120};
int move3[4] = {90,90,90,90};
for(int x=0; x<steps; x++){
pause=millis();
for(int i=0;i<4;i++) servo[i].SetPosition(90);
delay(tempo*0.2);
moveNServos(tempo*0.05,move1);
moveNServos(tempo*0.05,move2);
moveNServos(tempo*0.05,move1);
moveNServos(tempo*0.05,move2);
delay(tempo*0.2);
moveNServos(tempo*0.1,move3);
while(millis()<(pause+tempo));
}
}
void saludo(int steps, int tempo){
int move1[4] = {60,60,90,90};
int move2[4] = {120,60,90,90};
for(int x=0; x<steps; x++){
pause=millis();
for(int i=0;i<4;i++) servo[i].SetPosition(90);
moveNServos(tempo*0.25,move1);
moveNServos(tempo*0.25,move2);
moveNServos(tempo*0.25,move1);
moveNServos(tempo*0.25,move2);
while(millis()<(pause+tempo));
}
}
void upDown(int steps, int tempo){
int move1[4] = {50,130,90,90};
int move2[4] = {90,90,90,90};
for(int x=0; x<steps; x++){
pause=millis();
moveNServos(tempo*0.2,move1);
delay(tempo*0.4);
moveNServos(tempo*0.2,move2);
while(millis()<(pause+tempo));
}
}
void lateral_fuerte(boolean side, int tempo){
for(int i=0;i<4;i++) 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 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 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};
int move5[] = {90,90,90,90};
moveNServos(tempo*0.235,move1);
moveNServos(tempo*0.235,move2);
moveNServos(tempo*0.235,move3);
moveNServos(tempo*0.235,move4);
moveNServos(tempo*0.06,move5);
while(millis()<(pause+tempo));
}
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(60); //pie izquiero
delay(tempo);
servo[0].SetPosition(80); //pie derecho
servo[1].SetPosition(60); //pie izquiero
delay(tempo/4);
servo[0].SetPosition(40); //pie derecho
servo[1].SetPosition(60); //pie izquiero
delay(tempo/4);
servo[0].SetPosition(80); //pie derecho
servo[1].SetPosition(60); //pie izquiero
delay(tempo/4);
servo[0].SetPosition(40); //pie derecho
servo[1].SetPosition(60); //pie izquiero
delay(tempo/4);
servo[0].SetPosition(80); //pie derecho
servo[1].SetPosition(60); //pie izquiero
delay(tempo);
}
void kickRight(int tempo){
for(int i=0;i<4;i++) servo[i].SetPosition(90);
delay(tempo);
servo[0].SetPosition(120); //pie derecho
servo[1].SetPosition(130); //pie izquiero
delay(tempo);
servo[0].SetPosition(120); //pie derecho
servo[1].SetPosition(100); //pie izquiero
delay(tempo/4);
servo[0].SetPosition(120); //pie derecho
servo[1].SetPosition(140); //pie izquiero
delay(tempo/4);
servo[0].SetPosition(120); //pie derecho
servo[1].SetPosition(80); //pie izquiero
delay(tempo/4);
servo[0].SetPosition(120); //pie derecho
servo[1].SetPosition(140); //pie izquiero
delay(tempo/4);
servo[0].SetPosition(120); //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 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 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 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);
}
================================================
FILE: examples/Otto_smoothcriminal/Otto_smoothcriminal.ino
================================================
//----------------------------------------------------------------
//-- Otto Dance smooth criminal
//-- This code will make Otto dance play the by Michael Jackson song at the same time and see it in action
//-- https://www.ottodiy.com/
//-----------------------------------------------------------------
#include <Servo.h>
#include <Oscillator.h>
#include <EEPROM.h>
#define N_SERVOS 4
//-- Make sure the servos are in the right pin
/* --------
| O O |
|--------|
RIGHT LEG (YR) 3 | | LEFT LEG 2 (YL)
--------
|| ||
RIGHT FOOT (RR) 5 |--- ---| LEFT FOOT 4 (RL)
*/
#define EEPROM_TRIM false
// Activate to take callibration data from internal memory
#define TRIM_RR 7
#define TRIM_RL 4
#define TRIM_YR 4
#define TRIM_YL -7
//OTTO.setTrims(-7,-4,-4,7);
#define PIN_RR 5
#define PIN_RL 4
#define PIN_YR 3
#define PIN_YL 2
#define INTERVALTIME 10.0
Oscillator servo[N_SERVOS];
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 setup()
{
Serial.begin(19200);
servo[0].attach(PIN_RR);
servo[1].attach(PIN_RL);
servo[2].attach(PIN_YR);
servo[3].attach(PIN_YL);
//EEPROM.write(0,TRIM_RR);
//EEPROM.write(1,TRIM_RL);
//EEPROM.write(2,TRIM_YR);
//EEPROM.write(3,TRIM_YL);
int trim;
if(EEPROM_TRIM){
for(int x=0;x<4;x++){
trim=EEPROM.read(x);
if(trim>128)trim=trim-256;
Serial.print("TRIM ");
Serial.print(x);
Serial.print(" en ");
Serial.println(trim);
servo[x].SetTrim(trim);
}
}
else{
servo[0].SetTrim(TRIM_RR);
servo[1].SetTrim(TRIM_RL);
servo[2].SetTrim(TRIM_YR);
servo[3].SetTrim(TRIM_YL);
}
for(int i=0;i<4;i++) servo[i].SetPosition(90);
}
// TEMPO: 121 BPM
int t=495;
double pause=0;
void loop()
{
// if(Serial.available()){
// char init = Serial.read();
// if (init=='X'){
// delay(4000); //3000 - 4500
dance();
//for(int i=0;i<4;i++) servo[i].SetPosition(90);
for(int i=0;i<4;i++) servo[i].SetPosition(90);
// }
// }
}
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);}
//////////////////////////////////CONTROL FUNCTIONS//////////////////////////////////
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];
}
}
////////////////////////////////Dance Steps////////////////////////////////
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<4;i++) 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);
}
================================================
FILE: examples/Otto_testSensor/Otto_testSensor.ino
================================================
//----------------------------------------------------------------
//-- Otto All moves test
//-- Otto DIY invests time and resources providing open source code and hardware,
//-- please support by purchasing kits from https://www.ottodiy.com/
//-- Make sure to have installed all libraries: https://github.com/OttoDIY/OttoDIYLib
//-----------------------------------------------------------------
///////////////////////////////////////////////////////////////////
//-- Setup ------------------------------------------------------//
///////////////////////////////////////////////////////////////////
void setup() {
Serial.begin(9600);
pinMode( D5 , OUTPUT);
pinMode(2, OUTPUT);
tone( D5,523 ,125);
delay(125);
tone( D5, 587 ,125);
delay(125);
tone( D5, 659 ,125);
delay(125);
tone( D5, 698 ,125);
delay(125);
tone( D5, 784 ,125);
delay(125);
tone( D5,880,125);
delay(125);
tone( D5,261,125);
delay(125);
}
///////////////////////////////////////////////////////////////////
//-- Principal Loop ---------------------------------------------//
///////////////////////////////////////////////////////////////////
void loop() {
digitalWrite(2, LOW);
Serial.println("LIGHT:");
Serial.print(analogRead(A0));
if (1==1) {
digitalWrite(2, HIGH);
tone( D5,440,125);
delay(125);
}
}
================================================
FILE: examples/Otto_touchmodes/Otto_touchmodes.ino
================================================
//-----------------------------------------------------------------
//-- This Otto uses a touch sensor to switch three modes
//-- Mode 1: Otto avoid obstacles
//-- Mode 2: Otto follow the hand
//-- Mode 3: Otto dances!
//-- Otto DIY invests time and resources providing open source code and hardware,
//-- please support by purchasing kits from https://www.ottodiy.com/
//-- Make sure to have installed all libraries: https://github.com/OttoDIY/OttoDIYLib
//-----------------------------------------------------------------
#include <Otto.h>
Otto Otto; //This is Otto!
//---------------------------------------------------------
//-- First step: Make sure the pins for servos are in the right position
/* --------
| O O |
|--------|
RIGHT LEG 3 | | LEFT LEG 2
--------
|| ||
RIGHT FOOT 5 |--- ---| LEFT FOOT 4
*/
#define LeftLeg 2
#define RightLeg 3
#define LeftFoot 4
#define RightFoot 5
#define Buzzer 13
#define Trigger 8 // ultrasonic sensor trigger pin
#define Echo 9 // ultrasonic sensor echo pin
const int sensorPin = A0;
long ultrasound() {
long duration, distance;
digitalWrite(Trigger,LOW);
delayMicroseconds(2);
digitalWrite(Trigger, HIGH);
delayMicroseconds(10);
digitalWrite(Trigger, LOW);
duration = pulseIn(Echo, HIGH);
distance = duration/58;
return distance;
}
int movement = 0;
boolean izqder = true; // TEMPO: 97 BPM
bool obstacleDetected = false;
///////////////////////////////////////////////////////////////////
//-- Setup ------------------------------------------------------//
///////////////////////////////////////////////////////////////////
void setup(){
Otto.init(LeftLeg, RightLeg, LeftFoot, RightFoot, true, Buzzer); //Set the servo pins and Buzzer pin
pinMode(sensorPin, INPUT);
pinMode(Trigger, OUTPUT);
pinMode(Echo, INPUT);
Otto.home();
Otto.sing(S_happy); // a happy Otto :)
}
// touch sensor is in "toggle mode", initial value LOW
// program expects HIGH value for first touch
// and then expects LOW value for second touch
// and then again HIGH and LOW etc.
//
int estado = HIGH; //first expected touch value
///////////////////////////////////////////////////////////////////
//-- Principal Loop ---------------------------------------------//
///////////////////////////////////////////////////////////////////
void loop() {
if (digitalRead(sensorPin) == estado)
{
if (estado == HIGH)
{
estado = LOW; //toggle expect value
}
else
{
estado = HIGH; //toggle expect value
}
Otto.sing(S_buttonPushed);
movement = movement + 1;
delay(500);
}
if (movement == 1)
{
if(obstacleDetected){
Serial.println("OBJETO DETECTADO");
Otto.sing(S_OhOoh);
if (izqder == true)
{
Otto.walk(2,1000,-1);
Otto.turn(2,1000,1);//2 steps turning RIGHT
izqder = false;
}
else
{
Otto.walk(2,1000,-1);
Otto.turn(2,1000,-1);//2 steps turning LEFT
izqder = true;
}
//Otto.home();
delay(50);
obstacleDetector();
}
else
{
Otto.walk(1,500,1);
delay(50);
//Otto.home();
obstacleDetector();
}
}
if (movement == 2)
{
if(obstacleDetected){
Serial.println("Object detected");
Otto.walk(2,1000,1);
Otto.home();
//delay(60);
obstacleDetector();
//delay(10) ;
}
else{
obstacleDetector();
}
}
if (movement == 3)
{
Otto.jitter(10,500,40);
Otto.home();
Otto.moonwalker(2,1000,30,1);
Otto.home();
Otto.ascendingTurn(2,500,50);
Otto.home();
Otto.tiptoeSwing(2,1000,30);
Otto.home();
Otto.flapping(2,500,40,1);
Otto.home();
Otto.crusaito(2,3000,40,1);
Otto.home();
Otto.shakeLeg(2,1000,1);
Otto.home();
Otto.sing(S_disconnection);
movement = 0;
}
}
///////////////////////////////////////////////////////////////////
//-- Function to read distance sensor & to update obstacleDetected variable
void obstacleDetector(){
int distance = ultrasound();
if(distance<15){
obstacleDetected = true;
}else{
obstacleDetected = false;
}
}
================================================
FILE: keywords.txt
================================================
#######################################
# Syntax Coloring Map For OttoDIYLib
#######################################
#######################################
# Datatypes (KEYWORD1)
#######################################
Otto KEYWORD1
#######################################
# Methods and Functions (KEYWORD2)
#######################################
init KEYWORD2
initDC KEYWORD2
initMATRIX KEYWORD2
home KEYWORD2
putMouth KEYWORD2
writeText KEYWORD2
clearMouth KEYWORD2
sing KEYWORD2
walk KEYWORD2
playGesture KEYWORD2
#######################################
# Instances (KEYWORD2)
#######################################
#######################################
# Constants (LITERAL1)
#######################################
FORWARD LITERAL1
BACKWARD LITERAL1
LEFT LITERAL1
RIGHT LITERAL1
SMALL LITERAL1
MEDIUM LITERAL1
BIG LITERAL1
S_connection LITERAL1
S_disconnection LITERAL1
S_buttonPushed LITERAL1
S_mode1 LITERAL1
S_mode2 LITERAL1
S_mode3 LITERAL1
S_surprise LITERAL1
S_OhOoh LITERAL1
S_OhOoh2 LITERAL1
S_cuddly LITERAL1
S_sleeping LITERAL1
S_happy LITERAL1
S_superHappy LITERAL1
S_happy_short LITERAL1
S_sad LITERAL1
S_confused LITERAL1
S_fart1 LITERAL1
S_fart2 LITERAL1
S_fart3 LITERAL1
================================================
FILE: library.json
================================================
{
"name": "OttoDIYLib",
"version": "13.0.0",
"description": "Official Arduino library for controlling original Otto DIY bipedal robots",
"keywords": "otto, ottodiy, robot, servo",
"repository": {
"type": "git",
"url": "https://github.com/OttoDIY/OttoDIYLib"
},
"authors": [
{
"name": "Otto DIY community",
"url": "https://github.com/OttoDIY",
"maintainer": true
}
],
"license": "GPL-3.0-or-later",
"frameworks": "arduino",
"platforms": "atmelavr"
}
================================================
FILE: library.properties
================================================
name=OttoDIYLib
version=13.0.0
author=Otto DIY, Camilo Parra Palacio
maintainer=@cparrapa
sentence=Otto DIY official Arduino Libraries.
paragraph=OttoDIYLib contains all the main Otto robot libraries to program Arduino avr, ESP8266 or ESP32 compatible boards.
category=Device Control
url=https://www.ottodiy.com/
architectures=avr, esp8266, esp32
includes=Otto.h
================================================
FILE: src/Oscillator.cpp
================================================
//--------------------------------------------------------------
//-- Oscillator.pde
//-- Generate sinusoidal oscillations in the servos
//--------------------------------------------------------------
//-- (c) Juan Gonzalez-Gomez (Obijuan), Dec 2011
//-- GPL license
//--------------------------------------------------------------
#if defined(ARDUINO) && ARDUINO >= 100
#include "Arduino.h"
#else
#include "WProgram.h"
#include <pins_arduino.h>
#endif
#include "Oscillator.h"
//-- This function returns true if another sample
//-- should be taken (i.e. the TS time has passed since
//-- the last sample was taken
bool Oscillator::next_sample()
{
//-- Read current time
_currentMillis = millis();
//-- Check if the timeout has passed
if(_currentMillis - _previousMillis > _samplingPeriod) {
_previousMillis = _currentMillis;
return true;
}
return false;
}
//-- Attach an oscillator to a servo
//-- Input: pin is the arduino pin were the servo
//-- is connected
void Oscillator::attach(int pin, bool rev)
{
//-- If the oscillator is detached, attach it.
if(!_servo.attached()){
//-- Attach the servo and move it to the home position
_servo.attach(pin);
_pos = 90;
_servo.write(90);
_previousServoCommandMillis = millis();
//-- Initialization of oscilaltor parameters
_samplingPeriod=30;
_period=2000;
_numberSamples = _period/_samplingPeriod;
_inc = 2*M_PI/_numberSamples;
_previousMillis=0;
//-- Default parameters
_amplitude=45;
_phase=0;
_phase0=0;
_offset=0;
_stop=false;
//-- Reverse mode
_rev = rev;
}
}
//-- Detach an oscillator from his servo
void Oscillator::detach()
{
//-- If the oscillator is attached, detach it.
if(_servo.attached())
_servo.detach();
}
/*************************************/
/* Set the oscillator period, in ms */
/*************************************/
void Oscillator::SetT(unsigned int T)
{
//-- Assign the new period
_period=T;
//-- Recalculate the parameters
_numberSamples = _period/_samplingPeriod;
_inc = 2*M_PI/_numberSamples;
};
/*******************************/
/* Manual set of the position */
/******************************/
void Oscillator::SetPosition(int position)
{
write(position);
};
/*******************************************************************/
/* This function should be periodically called */
/* in order to maintain the oscillations. It calculates */
/* if another sample should be taken and position the servo if so */
/*******************************************************************/
void Oscillator::refresh()
{
//-- Only When TS milliseconds have passed, the new sample is obtained
if (next_sample()) {
//-- If the oscillator is not stopped, calculate the servo position
if (!_stop) {
//-- Sample the sine function and set the servo pos
int pos = round(_amplitude * sin(_phase + _phase0) + _offset);
if (_rev) pos=-pos;
write(pos+90);
}
//-- Increment the phase
//-- It is always increased, even when the oscillator is stop
//-- so that the coordination is always kept
_phase = _phase + _inc;
}
}
void Oscillator::write(int position)
{
long currentMillis = millis();
if (_diff_limit > 0) {
int limit = max(1,(((int)(currentMillis - _previousServoCommandMillis)) * _diff_limit) / 1000);
if (abs(position - _pos) > limit) {
_pos += position < _pos ? -limit : limit;
} else {
_pos = position;
}
}
else {
_pos = position;
}
_previousServoCommandMillis = currentMillis;
_servo.write(_pos + _trim);
}
================================================
FILE: src/Oscillator.h
================================================
//--------------------------------------------------------------
//-- Oscillator.pde
//-- Generate sinusoidal oscillations in the servos
//--------------------------------------------------------------
//-- (c) Juan Gonzalez-Gomez (Obijuan), Dec 2011
//-- GPL license
//--------------------------------------------------------------
#ifndef Oscillator_h
#define Oscillator_h
#ifdef ARDUINO_ARCH_ESP32
#include <ESP32Servo.h>
#else
#include <Servo.h>
#endif
//-- Macro for converting from degrees to radians
#ifndef DEG2RAD
#define DEG2RAD(g) ((g)*M_PI)/180
#endif
class Oscillator
{
public:
Oscillator(int trim=0) {_trim=trim; _diff_limit = 0; };
void attach(int pin, bool rev =false);
void detach();
void SetA(unsigned int amplitude) {_amplitude=amplitude;};
void SetO(int offset) {_offset=offset;};
void SetPh(double Ph) {_phase0=Ph;};
void SetT(unsigned int period);
void SetTrim(int trim){_trim=trim;};
void SetLimiter(int diff_limit) { _diff_limit = diff_limit; };
void DisableLimiter() { _diff_limit = 0; };
int getTrim() {return _trim;};
void SetPosition(int position);
void Stop() {_stop=true;};
void Play() {_stop=false;};
void Reset() {_phase=0;};
void refresh();
int getPosition() { return _pos;}
private:
bool next_sample();
void write(int position);
private:
//-- Servo that is attached to the oscillator
Servo _servo;
//-- Oscillators parameters
unsigned int _amplitude; //-- Amplitude (degrees)
int _offset; //-- Offset (degrees)
unsigned int _period; //-- Period (miliseconds)
double _phase0; //-- Phase (radians)
//-- Internal variables
int _pos; //-- Current servo pos
int _trim; //-- Calibration offset
double _phase; //-- Current phase
double _inc; //-- Increment of phase
double _numberSamples; //-- Number of samples
unsigned int _samplingPeriod; //-- sampling period (ms)
long _previousMillis;
long _currentMillis;
//-- Oscillation mode. If true, the servo is stopped
bool _stop;
//-- Reverse mode
bool _rev;
// -- Limit of the angle delta send to servos
// This is for smooth movement and preventing Ardino to crash
// because of the high current consumed by servo motors.
// set 0 for disabling the limiter
int _diff_limit;
long _previousServoCommandMillis;
};
#endif
================================================
FILE: src/Otto.cpp
================================================
#if defined(ARDUINO) && ARDUINO >= 100
#include "Arduino.h"
#else
#include "WProgram.h"
#include <pins_arduino.h>
#endif
#include "Otto.h"
#include <Oscillator.h>
void Otto::init(int YL, int YR, int RL, int RR, bool load_calibration, int Buzzer) {
servo_pins[0] = YL;
servo_pins[1] = YR;
servo_pins[2] = RL;
servo_pins[3] = RR;
attachServos();
isOttoResting=false;
if (load_calibration) {
for (int i = 0; i < 4; i++) {
int servo_trim = EEPROM.read(i);
if (servo_trim > 128) servo_trim -= 256;
servo[i].SetTrim(servo_trim);
}
}
//Buzzer pin:
pinBuzzer = Buzzer;
pinMode(Buzzer,OUTPUT);
}
///////////////////////////////////////////////////////
void Otto::initMATRIX(int DIN, int CS, int CLK, int rotate){
ledmatrix.init( DIN, CS, CLK, 1, rotate); // set up Matrix display
}
void Otto::matrixIntensity(int intensity){
ledmatrix.setIntensity(intensity);
}
///////////////////////////////////////////////////////////////////
//-- ATTACH & DETACH FUNCTIONS ----------------------------------//
///////////////////////////////////////////////////////////////////
void Otto::attachServos(){
servo[0].attach(servo_pins[0]);
servo[1].attach(servo_pins[1]);
servo[2].attach(servo_pins[2]);
servo[3].attach(servo_pins[3]);
}
void Otto::detachServos(){
servo[0].detach();
servo[1].detach();
servo[2].detach();
servo[3].detach();
}
///////////////////////////////////////////////////////////////////
//-- OSCILLATORS TRIMS ------------------------------------------//
///////////////////////////////////////////////////////////////////
void Otto::setTrims(int YL, int YR, int RL, int RR) {
servo[0].SetTrim(YL);
servo[1].SetTrim(YR);
servo[2].SetTrim(RL);
servo[3].SetTrim(RR);
}
void Otto::saveTrimsOnEEPROM() {
for (int i = 0; i < 4; i++){
EEPROM.write(i, servo[i].getTrim());
}
}
///////////////////////////////////////////////////////////////////
//-- BASIC MOTION FUNCTIONS -------------------------------------//
///////////////////////////////////////////////////////////////////
void Otto::_moveServos(int time, int servo_target[]) {
attachServos();
if(getRestState()==true){
setRestState(false);
}
final_time = millis() + time;
if(time>10){
for (int i = 0; i < 4; i++) increment[i] = (servo_target[i] - servo[i].getPosition()) / (time / 10.0);
for (int iteration = 1; millis() < final_time; iteration++) {
partial_time = millis() + 10;
for (int i = 0; i < 4; i++) servo[i].SetPosition(servo[i].getPosition() + increment[i]);
while (millis() < partial_time); //pause
}
}
else{
for (int i = 0; i < 4; i++) servo[i].SetPosition(servo_target[i]);
while (millis() < final_time); //pause
}
// final adjustment to the target. if servo speed limiter is turned on, reaching to the goal may take longer than
// requested time.
bool f = true;
while(f) {
f = false;
for (int i = 0; i < 4; i++) {
if (servo_target[i] != servo[i].getPosition()) {
f = true;
break;
}
}
if (f) {
for (int i = 0; i < 4; i++) {
servo[i].SetPosition(servo_target[i]);
}
partial_time = millis() + 10;
while (millis() < partial_time); //pause
}
};
}
void Otto::_moveSingle(int position, int servo_number) {
if (position > 180) position = 90;
if (position < 0) position = 90;
attachServos();
if(getRestState()==true){
setRestState(false);
}
int servoNumber = servo_number;
if (servoNumber == 0){
servo[0].SetPosition(position);
}
if (servoNumber == 1){
servo[1].SetPosition(position);
}
if (servoNumber == 2){
servo[2].SetPosition(position);
}
if (servoNumber == 3){
servo[3].SetPosition(position);
}
}
void Otto::oscillateServos(int A[4], int O[4], int T, double phase_diff[4], float cycle=1){
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*cycle+ref; x=millis()){
for (int i=0; i<4; i++){
servo[i].refresh();
}
}
}
void Otto::_execute(int A[4], int O[4], int T, double phase_diff[4], float steps = 1.0){
attachServos();
if(getRestState()==true){
setRestState(false);
}
int cycles=(int)steps;
//-- Execute complete cycles
if (cycles >= 1)
for(int i = 0; i < cycles; i++)
oscillateServos(A,O, T, phase_diff);
//-- Execute the final not complete cycle
oscillateServos(A,O, T, phase_diff,(float)steps-cycles);
}
///////////////////////////////////////////////////////////////////
//-- HOME = Otto at rest position -------------------------------//
///////////////////////////////////////////////////////////////////
void Otto::home(){
if(isOttoResting==false){ //Go to rest position only if necessary
int homes[4]={90, 90, 90, 90}; //All the servos at rest position
_moveServos(500,homes); //Move the servos in half a second
detachServos();
isOttoResting=true;
}
}
bool Otto::getRestState(){
return isOttoResting;
}
void Otto::setRestState(bool state){
isOttoResting = state;
}
///////////////////////////////////////////////////////////////////
//-- PREDETERMINED MOTION SEQUENCES -----------------------------//
///////////////////////////////////////////////////////////////////
//-- Otto movement: Jump
//-- Parameters:
//-- steps: Number of steps
//-- T: Period
//---------------------------------------------------------
void Otto::jump(float steps, int T){
int up[]={90,90,150,30};
_moveServos(T,up);
int down[]={90,90,90,90};
_moveServos(T,down);
}
//---------------------------------------------------------
//-- Otto gait: Walking (forward or backward)
//-- Parameters:
//-- * steps: Number of steps
//-- * T : Period
//-- * Dir: Direction: FORWARD / BACKWARD
//---------------------------------------------------------
void Otto::walk(float steps, int T, int dir){
//-- Oscillator parameters for walking
//-- Hip sevos are in phase
//-- Feet servos are in phase
//-- Hip and feet are 90 degrees out of phase
//-- -90 : Walk forward
//-- 90 : Walk backward
//-- Feet servos also have the same offset (for tiptoe a little bit)
int A[4]= {30, 30, 20, 20};
int O[4] = {0, 0, 4, -4};
double phase_diff[4] = {0, 0, DEG2RAD(dir * -90), DEG2RAD(dir * -90)};
//-- Let's oscillate the servos!
_execute(A, O, T, phase_diff, steps);
}
//---------------------------------------------------------
//-- Otto gait: Turning (left or right)
//-- Parameters:
//-- * Steps: Number of steps
//-- * T: Period
//-- * Dir: Direction: LEFT / RIGHT
//---------------------------------------------------------
void Otto::turn(float steps, int T, int dir){
//-- Same coordination than for walking (see Otto::walk)
//-- The Amplitudes of the hip's oscillators are not igual
//-- When the right hip servo amplitude is higher, the steps taken by
//-- the right leg are bigger than the left. So, the robot describes an
//-- left arc
int A[4]= {30, 30, 20, 20};
int O[4] = {0, 0, 4, -4};
double phase_diff[4] = {0, 0, DEG2RAD(-90), DEG2RAD(-90)};
if (dir == LEFT) {
A[0] = 30; //-- Left hip servo
A[1] = 10; //-- Right hip servo
}
else {
A[0] = 10;
A[1] = 30;
}
//-- Let's oscillate the servos!
_execute(A, O, T, phase_diff, steps);
}
//---------------------------------------------------------
//-- Otto gait: Lateral bend
//-- Parameters:
//-- steps: Number of bends
//-- T: Period of one bend
//-- dir: RIGHT=Right bend LEFT=Left bend
//---------------------------------------------------------
void Otto::bend (int steps, int T, int dir){
//Parameters of all the movements. Default: Left bend
int bend1[4]={90, 90, 62, 35};
int bend2[4]={90, 90, 62, 105};
int homes[4]={90, 90, 90, 90};
//Time of one bend, constrained in order to avoid movements too fast.
//T=max(T, 600);
//Changes in the parameters if right direction is chosen
if(dir==-1)
{
bend1[2]=180-35;
bend1[3]=180-60; //Not 65. Otto is unbalanced
bend2[2]=180-105;
bend2[3]=180-60;
}
//Time of the bend movement. Fixed parameter to avoid falls
int T2=800;
//Bend movement
for (int i=0;i<steps;i++)
{
_moveServos(T2/2,bend1);
_moveServos(T2/2,bend2);
delay(T*0.8);
_moveServos(500,homes);
}
}
//---------------------------------------------------------
//-- Otto gait: Shake a leg
//-- Parameters:
//-- steps: Number of shakes
//-- T: Period of one shake
//-- dir: RIGHT=Right leg LEFT=Left leg
//---------------------------------------------------------
void Otto::shakeLeg (int steps,int T,int dir){
//This variable change the amount of shakes
int numberLegMoves=2;
//Parameters of all the movements. Default: Right leg
int shake_leg1[4]={90, 90, 58, 35};
int shake_leg2[4]={90, 90, 58, 120};
int shake_leg3[4]={90, 90, 58, 60};
int homes[4]={90, 90, 90, 90};
//Changes in the parameters if left leg is chosen
if(dir==-1)
{
shake_leg1[2]=180-35;
shake_leg1[3]=180-58;
shake_leg2[2]=180-120;
shake_leg2[3]=180-58;
shake_leg3[2]=180-60;
shake_leg3[3]=180-58;
}
//Time of the bend movement. Fixed parameter to avoid falls
int T2=1000;
//Time of one shake, constrained in order to avoid movements too fast.
T=T-T2;
T=max(T,200*numberLegMoves);
for (int j=0; j<steps;j++)
{
//Bend movement
_moveServos(T2/2,shake_leg1);
_moveServos(T2/2,shake_leg2);
//Shake movement
for (int i=0;i<numberLegMoves;i++)
{
_moveServos(T/(2*numberLegMoves),shake_leg3);
_moveServos(T/(2*numberLegMoves),shake_leg2);
}
_moveServos(500,homes); //Return to home position
}
delay(T);
}
//---------------------------------------------------------
//-- Otto movement: up & down
//-- Parameters:
//-- * steps: Number of jumps
//-- * T: Period
//-- * h: Jump height: SMALL / MEDIUM / BIG
//-- (or a number in degrees 0 - 90)
//---------------------------------------------------------
void Otto::updown(float steps, int T, int h){
//-- Both feet are 180 degrees out of phase
//-- Feet amplitude and offset are the same
//-- Initial phase for the right foot is -90, so that it starts
//-- in one extreme position (not in the middle)
int A[4]= {0, 0, h, h};
int O[4] = {0, 0, h, -h};
double phase_diff[4] = {0, 0, DEG2RAD(-90), DEG2RAD(90)};
//-- Let's oscillate the servos!
_execute(A, O, T, phase_diff, steps);
}
//---------------------------------------------------------
//-- Otto movement: swinging side to side
//-- Parameters:
//-- steps: Number of steps
//-- T : Period
//-- h : Amount of swing (from 0 to 50 aprox)
//---------------------------------------------------------
void Otto::swing(float steps, int T, int h){
//-- Both feets are in phase. The offset is half the amplitude
//-- It causes the robot to swing from side to side
int A[4]= {0, 0, h, h};
int O[4] = {0, 0, h/2, -h/2};
double phase_diff[4] = {0, 0, DEG2RAD(0), DEG2RAD(0)};
//-- Let's oscillate the servos!
_execute(A, O, T, phase_diff, steps);
}
//---------------------------------------------------------
//-- Otto movement: swinging side to side without touching the floor with the heel
//-- Parameters:
//-- steps: Number of steps
//-- T : Period
//-- h : Amount of swing (from 0 to 50 aprox)
//---------------------------------------------------------
void Otto::tiptoeSwing(float steps, int T, int h){
//-- Both feets are in phase. The offset is not half the amplitude in order to tiptoe
//-- It causes the robot to swing from side to side
int A[4]= {0, 0, h, h};
int O[4] = {0, 0, h, -h};
double phase_diff[4] = {0, 0, 0, 0};
//-- Let's oscillate the servos!
_execute(A, O, T, phase_diff, steps);
}
//---------------------------------------------------------
//-- Otto gait: Jitter
//-- Parameters:
//-- steps: Number of jitters
//-- T: Period of one jitter
//-- h: height (Values between 5 - 25)
//---------------------------------------------------------
void Otto::jitter(float steps, int T, int h){
//-- Both feet are 180 degrees out of phase
//-- Feet amplitude and offset are the same
//-- Initial phase for the right foot is -90, so that it starts
//-- in one extreme position (not in the middle)
//-- h is constrained to avoid hit the feets
h=min(25,h);
int A[4]= {h, h, 0, 0};
int O[4] = {0, 0, 0, 0};
double phase_diff[4] = {DEG2RAD(-90), DEG2RAD(90), 0, 0};
//-- Let's oscillate the servos!
_execute(A, O, T, phase_diff, steps);
}
//---------------------------------------------------------
//-- Otto gait: Ascending & turn (Jitter while up&down)
//-- Parameters:
//-- steps: Number of bends
//-- T: Period of one bend
//-- h: height (Values between 5 - 15)
//---------------------------------------------------------
void Otto::ascendingTurn(float steps, int T, int h){
//-- Both feet and legs are 180 degrees out of phase
//-- Initial phase for the right foot is -90, so that it starts
//-- in one extreme position (not in the middle)
//-- h is constrained to avoid hit the feets
h=min(13,h);
int A[4]= {h, h, h, h};
int O[4] = {0, 0, h+4, -h+4};
double phase_diff[4] = {DEG2RAD(-90), DEG2RAD(90), DEG2RAD(-90), DEG2RAD(90)};
//-- Let's oscillate the servos!
_execute(A, O, T, phase_diff, steps);
}
//---------------------------------------------------------
//-- Otto gait: Moonwalker. Otto moves like Michael Jackson
//-- Parameters:
//-- Steps: Number of steps
//-- T: Period
//-- h: Height. Typical valures between 15 and 40
//-- dir: Direction: LEFT / RIGHT
//---------------------------------------------------------
void Otto::moonwalker(float steps, int T, int h, int dir){
//-- This motion is similar to that of the caterpillar robots: A travelling
//-- wave moving from one side to another
//-- The two Otto's feet are equivalent to a minimal configuration. It is known
//-- that 2 servos can move like a worm if they are 120 degrees out of phase
//-- In the example of Otto, the two feet are mirrored so that we have:
//-- 180 - 120 = 60 degrees. The actual phase difference given to the oscillators
//-- is 60 degrees.
//-- Both amplitudes are equal. The offset is half the amplitud plus a little bit of
//- offset so that the robot tiptoe lightly
int A[4]= {0, 0, h, h};
int O[4] = {0, 0, h/2+2, -h/2 -2};
int phi = -dir * 90;
double phase_diff[4] = {0, 0, DEG2RAD(phi), DEG2RAD(-60 * dir + phi)};
//-- Let's oscillate the servos!
_execute(A, O, T, phase_diff, steps);
}
//----------------------------------------------------------
//-- Otto gait: Crusaito. A mixture between moonwalker and walk
//-- Parameters:
//-- steps: Number of steps
//-- T: Period
//-- h: height (Values between 20 - 50)
//-- dir: Direction: LEFT / RIGHT
//-----------------------------------------------------------
void Otto::crusaito(float steps, int T, int h, int dir){
int A[4]= {25, 25, h, h};
int O[4] = {0, 0, h/2+ 4, -h/2 - 4};
double phase_diff[4] = {90, 90, DEG2RAD(0), DEG2RAD(-60 * dir)};
//-- Let's oscillate the servos!
_execute(A, O, T, phase_diff, steps);
}
//---------------------------------------------------------
//-- Otto gait: Flapping
//-- Parameters:
//-- steps: Number of steps
//-- T: Period
//-- h: height (Values between 10 - 30)
//-- dir: direction: FOREWARD, BACKWARD
//---------------------------------------------------------
void Otto::flapping(float steps, int T, int h, int dir){
int A[4]= {12, 12, h, h};
int O[4] = {0, 0, h - 10, -h + 10};
double phase_diff[4] = {DEG2RAD(0), DEG2RAD(180), DEG2RAD(-90 * dir), DEG2RAD(90 * dir)};
//-- Let's oscillate the servos!
_execute(A, O, T, phase_diff, steps);
}
///////////////////////////////////////////////////////////////////
//-- MOUTHS & ANIMATIONS ----------------------------------------//
///////////////////////////////////////////////////////////////////
void Otto::setLed(byte X, byte Y, byte value){
ledmatrix.setDot( X, Y, value);
}
// EXAMPLE putAnimationMouth(dreamMouth,0);
void Otto::putAnimationMouth(unsigned long int aniMouth, int index){
ledmatrix.writeFull(PROGMEM_getAnything (&Gesturetable[aniMouth][index]));
}
//EXAMPLE putMouth(smile);
void Otto::putMouth(unsigned long int mouth, bool predefined){
if (predefined){
// Here a direct entry into the Progmem Mouthttable is used!!
ledmatrix.writeFull(PROGMEM_getAnything(&Mouthtable[mouth]));
}
else{
ledmatrix.writeFull(mouth);
}
}
void Otto::clearMouth(){
ledmatrix.clearMatrix();
}
void Otto::writeText(const char * s, byte scrollspeed){
int a ;
int b ;
for(a = 0; s[a] != '\0'; a++){
b = a +1 ;
if (b > 9 ) b = 9; // only maximum of nine characters allowed
}
for(int charNUMBER = 0; charNUMBER <b; charNUMBER++){
if ((* s < 48) || (* s > 91)) {
if (* s == 32){
ledmatrix.sendChar (44, charNUMBER, b, scrollspeed);
}
else
{
ledmatrix.sendChar (43, charNUMBER, b, scrollspeed);
}
}
else
{
ledmatrix.sendChar ((* s - 48), charNUMBER, b, scrollspeed);
}
* s++;
}
}
///////////////////////////////////////////////////////////////////
//-- SOUNDS -----------------------------------------------------//
///////////////////////////////////////////////////////////////////
void Otto::_tone (float noteFrequency, long noteDuration, int silentDuration){
// tone(10,261,500);
// delay(500);
if(silentDuration==0){silentDuration=1;}
tone(Otto::pinBuzzer, noteFrequency, noteDuration);
delay(noteDuration); //milliseconds to microseconds
//noTone(PIN_Buzzer);
delay(silentDuration);
}
void Otto::bendTones (float initFrequency, float finalFrequency, float prop, long noteDuration, int silentDuration){
//Examples:
// bendTones (880, 2093, 1.02, 18, 1);
// bendTones (note_A5, note_C7, 1.02, 18, 0);
if(silentDuration==0){silentDuration=1;}
if(initFrequency < finalFrequency)
{
for (int i=initFrequency; i<finalFrequency; i=i*prop) {
_tone(i, noteDuration, silentDuration);
}
} else{
for (int i=initFrequency; i>finalFrequency; i=i/prop) {
_tone(i, noteDuration, silentDuration);
}
}
}
void Otto::sing(int songName){
switch(songName){
case S_connection:
_tone(note_E5,50,30);
_tone(note_E6,55,25);
_tone(note_A6,60,10);
break;
case S_disconnection:
_tone(note_E5,50,30);
_tone(note_A6,55,25);
_tone(note_E6,50,10);
break;
case S_buttonPushed:
bendTones (note_E6, note_G6, 1.03, 20, 2);
delay(30);
bendTones (note_E6, note_D7, 1.04, 10, 2);
break;
case S_mode1:
bendTones (note_E6, note_A6, 1.02, 30, 10); //1318.51 to 1760
break;
case S_mode2:
bendTones (note_G6, note_D7, 1.03, 30, 10); //1567.98 to 2349.32
break;
case S_mode3:
_tone(note_E6,50,100); //D6
_tone(note_G6,50,80); //E6
_tone(note_D7,300,0); //G6
break;
case S_surprise:
bendTones(800, 2150, 1.02, 10, 1);
bendTones(2149, 800, 1.03, 7, 1);
break;
case S_OhOoh:
bendTones(880, 2000, 1.04, 8, 3); //A5 = 880
delay(200);
for (int i=880; i<2000; i=i*1.04) {
_tone(note_B5,5,10);
}
break;
case S_OhOoh2:
bendTones(1880, 3000, 1.03, 8, 3);
delay(200);
for (int i=1880; i<3000; i=i*1.03) {
_tone(note_C6,10,10);
}
break;
case S_cuddly:
bendTones(700, 900, 1.03, 16, 4);
bendTones(899, 650, 1.01, 18, 7);
break;
case S_sleeping:
bendTones(100, 500, 1.04, 10, 10);
delay(500);
bendTones(400, 100, 1.04, 10, 1);
break;
case S_happy:
bendTones(1500, 2500, 1.05, 20, 8);
bendTones(2499, 1500, 1.05, 25, 8);
break;
case S_superHappy:
bendTones(2000, 6000, 1.05, 8, 3);
delay(50);
bendTones(5999, 2000, 1.05, 13, 2);
break;
case S_happy_short:
bendTones(1500, 2000, 1.05, 15, 8);
delay(100);
bendTones(1900, 2500, 1.05, 10, 8);
break;
case S_sad:
bendTones(880, 669, 1.02, 20, 200);
break;
case S_confused:
bendTones(1000, 1700, 1.03, 8, 2);
bendTones(1699, 500, 1.04, 8, 3);
bendTones(1000, 1700, 1.05, 9, 10);
break;
case S_fart1:
bendTones(1600, 3000, 1.02, 2, 15);
break;
case S_fart2:
bendTones(2000, 6000, 1.02, 2, 20);
break;
case S_fart3:
bendTones(1600, 4000, 1.02, 2, 20);
bendTones(4000, 3000, 1.02, 2, 20);
break;
}
}
///////////////////////////////////////////////////////////////////
//-- GESTURES ---------------------------------------------------//
///////////////////////////////////////////////////////////////////
void Otto::playGesture(int gesture){
int gesturePOSITION[4];
switch(gesture){
case OttoHappy:
_tone(note_E5,50,30);
putMouth(smile);
sing(S_happy_short);
swing(1,800,20);
sing(S_happy_short);
home();
putMouth(happyOpen);
break;
case OttoSuperHappy:
putMouth(happyOpen);
sing(S_happy);
putMouth(happyClosed);
tiptoeSwing(1,500,20);
putMouth(happyOpen);
sing(S_superHappy);
putMouth(happyClosed);
tiptoeSwing(1,500,20);
home();
putMouth(happyOpen);
break;
case OttoSad:
putMouth(sad);
gesturePOSITION[0] = 110;//int sadPos[6]= {110, 70, 20, 160};
gesturePOSITION[1] = 70;
gesturePOSITION[2] = 20;
gesturePOSITION[3] = 160;
_moveServos(700, gesturePOSITION);
bendTones(880, 830, 1.02, 20, 200);
putMouth(sadClosed);
bendTones(830, 790, 1.02, 20, 200);
putMouth(sadOpen);
bendTones(790, 740, 1.02, 20, 200);
putMouth(sadClosed);
bendTones(740, 700, 1.02, 20, 200);
putMouth(sadOpen);
bendTones(700, 669, 1.02, 20, 200);
putMouth(sad);
delay(500);
home();
delay(300);
putMouth(happyOpen);
break;
case OttoSleeping:
gesturePOSITION[0] = 100;//int bedPos[6]= {100, 80, 60, 120};
gesturePOSITION[1] = 80;
gesturePOSITION[2] = 60;
gesturePOSITION[3] = 120;
_moveServos(700, gesturePOSITION);
for(int i=0; i<4;i++){
putAnimationMouth(dreamMouth,0);
bendTones (100, 200, 1.04, 10, 10);
putAnimationMouth(dreamMouth,1);
bendTones (200, 300, 1.04, 10, 10);
putAnimationMouth(dreamMouth,2);
bendTones (300, 500, 1.04, 10, 10);
delay(500);
putAnimationMouth(dreamMouth,1);
bendTones (400, 250, 1.04, 10, 1);
putAnimationMouth(dreamMouth,0);
bendTones (250, 100, 1.04, 10, 1);
delay(500);
}
putMouth(lineMouth);
sing(S_cuddly);
home();
putMouth(happyOpen);
break;
case OttoFart:
gesturePOSITION[0] = 90;// int fartPos_1[6]= {90, 90, 145, 122};
gesturePOSITION[1] = 90;
gesturePOSITION[2] = 145;
gesturePOSITION[3] = 122;
_moveServos(500,gesturePOSITION);
delay(300);
putMouth(lineMouth);
sing(S_fart1);
putMouth(tongueOut);
delay(250);
gesturePOSITION[0] = 90;// int fartPos_2[6]= {90, 90, 80, 122};
gesturePOSITION[1] = 90;
gesturePOSITION[2] = 80;
gesturePOSITION[3] = 122;
_moveServos(500,gesturePOSITION);
delay(300);
putMouth(lineMouth);
sing(S_fart2);
putMouth(tongueOut);
delay(250);
gesturePOSITION[0] = 90;// int fartPos_3[6]= {90, 90, 145, 80};
gesturePOSITION[1] = 90;
gesturePOSITION[2] = 145;
gesturePOSITION[3] = 80;
_moveServos(500,gesturePOSITION);
delay(300);
putMouth(lineMouth);
sing(S_fart3);
putMouth(tongueOut);
delay(300);
home();
delay(500);
putMouth(happyOpen);
break;
case OttoConfused:
gesturePOSITION[0] = 110;//int confusedPos[6]= {110, 70, 90, 90};
gesturePOSITION[1] = 70;
gesturePOSITION[2] = 90;
gesturePOSITION[3] = 90;
_moveServos(300, gesturePOSITION);
putMouth(confused);
sing(S_confused);
delay(500);
home();
putMouth(happyOpen);
break;
case OttoLove:
putMouth(heart);
sing(S_cuddly);
crusaito(2,1500,15,1);
home();
sing(S_happy_short);
putMouth(happyOpen);
break;
case OttoAngry:
gesturePOSITION[0] = 90;//int angryPos[6]= {90, 90, 70, 110};
gesturePOSITION[1] = 90;
gesturePOSITION[2] = 70;
gesturePOSITION[3] = 110;
_moveServos(300, gesturePOSITION);
putMouth(angry);
_tone(note_A5,100,30);
bendTones(note_A5, note_D6, 1.02, 7, 4);
bendTones(note_D6, note_G6, 1.02, 10, 1);
bendTones(note_G6, note_A5, 1.02, 10, 1);
delay(15);
bendTones(note_A5, note_E5, 1.02, 20, 4);
delay(400);
gesturePOSITION[0] = 110;//int headLeft[6]= {110, 110, 90, 90};
gesturePOSITION[1] = 110;
gesturePOSITION[2] = 90;
gesturePOSITION[3] = 90;
_moveServos(200, gesturePOSITION);
bendTones(note_A5, note_D6, 1.02, 20, 4);
gesturePOSITION[0] = 70;//int headRight[6]= {70, 70, 90, 90};
gesturePOSITION[1] = 70;
gesturePOSITION[2] = 90;
gesturePOSITION[3] = 90;
_moveServos(200, gesturePOSITION);
bendTones(note_A5, note_E5, 1.02, 20, 4);
home();
putMouth(happyOpen);
break;
case OttoFretful:
putMouth(angry);
bendTones(note_A5, note_D6, 1.02, 20, 4);
bendTones(note_A5, note_E5, 1.02, 20, 4);
delay(300);
putMouth(lineMouth);
for(int i=0; i<4; i++){
gesturePOSITION[0] = 90;//int fretfulPos[6]= {90, 90, 90, 110};
gesturePOSITION[1] = 90;
gesturePOSITION[2] = 90;
gesturePOSITION[3] = 110;
_moveServos(100, gesturePOSITION);
home();
}
putMouth(angry);
delay(500);
home();
putMouth(happyOpen);
break;
case OttoMagic:
//Initial note frecuency = 400
//Final note frecuency = 1000
// Reproduce the animation four times
for(int i = 0; i<4; i++){
int noteM = 400;
for(int index = 0; index<6; index++){
putAnimationMouth(adivinawi,index);
bendTones(noteM, noteM+100, 1.04, 10, 10); //400 -> 1000
noteM+=100;
}
clearMouth();
bendTones(noteM-100, noteM+100, 1.04, 10, 10); //900 -> 1100
for(int index = 0; index<6; index++){
putAnimationMouth(adivinawi,index);
bendTones(noteM, noteM+100, 1.04, 10, 10); //1000 -> 400
noteM-=100;
}
}
delay(300);
putMouth(happyOpen);
break;
case OttoWave:
// Reproduce the animation four times
for(int i = 0; i<2; i++){
int noteW = 500;
for(int index = 0; index<10; index++){
putAnimationMouth(wave,index);
bendTones(noteW, noteW+100, 1.02, 10, 10);
noteW+=101;
}
for(int index = 0; index<10; index++){
putAnimationMouth(wave,index);
bendTones(noteW, noteW+100, 1.02, 10, 10);
noteW+=101;
}
for(int index = 0; index<10; index++){
putAnimationMouth(wave,index);
bendTones(noteW, noteW-100, 1.02, 10, 10);
noteW-=101;
}
for(int index = 0; index<10; index++){
putAnimationMouth(wave,index);
bendTones(noteW, noteW-100, 1.02, 10, 10);
noteW-=101;
}
}
clearMouth();
delay(100);
putMouth(happyOpen);
break;
case OttoVictory:
putMouth(smallSurprise);
//final pos = {90,90,150,30}
for (int i = 0; i < 60; ++i){
int pos[]={90,90,90+i,90-i};
_moveServos(10,pos);
_tone(1600+i*20,15,1);
}
putMouth(bigSurprise);
//final pos = {90,90,90,90}
for (int i = 0; i < 60; ++i){
int pos[]={90,90,150-i,30+i};
_moveServos(10,pos);
_tone(2800+i*20,15,1);
}
putMouth(happyOpen);
//SUPER HAPPY
//-----
tiptoeSwing(1,500,20);
sing(S_superHappy);
putMouth(happyClosed);
tiptoeSwing(1,500,20);
//-----
home();
clearMouth();
putMouth(happyOpen);
break;
case OttoFail:
putMouth(sadOpen);
gesturePOSITION[0] = 90;//int bendPos_1[6]= {90, 90, 70, 35};
gesturePOSITION[1] = 90;
gesturePOSITION[2] = 70;
gesturePOSITION[3] = 35;
_moveServos(300,gesturePOSITION);
_tone(900,200,1);
putMouth(sadClosed);
gesturePOSITION[0] = 90;//int bendPos_2[6]= {90, 90, 55, 35};
gesturePOSITION[1] = 90;
gesturePOSITION[2] = 55;
gesturePOSITION[3] = 35;
_moveServos(300,gesturePOSITION);
_tone(600,200,1);
putMouth(confused);
gesturePOSITION[0] = 90;//int bendPos_3[6]= {90, 90, 42, 35};
gesturePOSITION[1] = 90;
gesturePOSITION[2] = 42;
gesturePOSITION[3] = 35;
_moveServos(300,gesturePOSITION);
_tone(300,200,1);
gesturePOSITION[0] = 90;//int bendPos_4[6]= {90, 90, 34, 35};
gesturePOSITION[1] = 90;
gesturePOSITION[2] = 34;
gesturePOSITION[3] = 35;
_moveServos(300,gesturePOSITION);
putMouth(xMouth);
detachServos();
_tone(150,2200,1);
delay(600);
clearMouth();
putMouth(happyOpen);
home();
break;
}
}
void Otto::enableServoLimit(int diff_limit) {
for (int i = 0; i < 4; i++) {
servo[i].SetLimiter(diff_limit);
}
}
void Otto::disableServoLimit() {
for (int i = 0; i < 4; i++) {
servo[i].DisableLimiter();
}
}
================================================
FILE: src/Otto.h
================================================
#ifndef Otto_h
#define Otto_h
#ifdef ARDUINO_ARCH_ESP32
#include <ESP32Servo.h>
#else
#include <Servo.h>
#endif
#include <Oscillator.h>
#include <EEPROM.h>
#include "Otto_sounds.h"
#include "Otto_gestures.h"
#include "Otto_mouths.h"
#include "Otto_matrix.h"
//-- Constants
#define FORWARD 1
#define BACKWARD -1
#define LEFT 1
#define RIGHT -1
#define SMALL 5
#define MEDIUM 15
#define BIG 30
// -- Servo delta limit default. degree / sec
#define SERVO_LIMIT_DEFAULT 240
class Otto
{
public:
//-- Otto initialization
void init(int YL, int YR, int RL, int RR, bool load_calibration, int Buzzer);
//-- Attach & detach functions
void attachServos();
void detachServos();
//-- Oscillator Trims
void setTrims(int YL, int YR, int RL, int RR);
void saveTrimsOnEEPROM();
//-- Predetermined Motion Functions
void _moveServos(int time, int servo_target[]);
void _moveSingle(int position,int servo_number);
void oscillateServos(int A[4], int O[4], int T, double phase_diff[4], float cycle);
//-- HOME = Otto at rest position
void home();
bool getRestState();
void setRestState(bool state);
//-- Predetermined Motion Functions
void jump(float steps=1, int T = 2000);
void walk(float steps=4, int T=1000, int dir = FORWARD);
void turn(float steps=4, int T=2000, int dir = LEFT);
void bend (int steps=1, int T=1400, int dir=LEFT);
void shakeLeg (int steps=1, int T = 2000, int dir=RIGHT);
void updown(float steps=1, int T=1000, int h = 20);
void swing(float steps=1, int T=1000, int h=20);
void tiptoeSwing(float steps=1, int T=900, int h=20);
void jitter(float steps=1, int T=500, int h=20);
void ascendingTurn(float steps=1, int T=900, int h=20);
void moonwalker(float steps=1, int T=900, int h=20, int dir=LEFT);
void crusaito(float steps=1, int T=900, int h=20, int dir=FORWARD);
void flapping(float steps=1, int T=1000, int h=20, int dir=FORWARD);
//-- Mouth & Animations
void putMouth(unsigned long int mouth, bool predefined = true);
void putAnimationMouth(unsigned long int anim, int index);
void clearMouth();
//-- Sounds
void _tone (float noteFrequency, long noteDuration, int silentDuration);
void bendTones (float initFrequency, float finalFrequency, float prop, long noteDuration, int silentDuration);
void sing(int songName);
//-- Gestures
void playGesture(int gesture);
void initMATRIX(int DIN, int CS, int CLK, int rotate);
void matrixIntensity(int intensity);
void setLed(byte X, byte Y, byte value);
void writeText (const char * s, byte scrollspeed);
// -- Servo limiter
void enableServoLimit(int speed_limit_degree_per_sec = SERVO_LIMIT_DEFAULT);
void disableServoLimit();
private:
Oscillator servo[4];
Otto_Matrix ledmatrix;
int servo_pins[4];
int servo_trim[4];
int pinBuzzer;
unsigned long final_time;
unsigned long partial_time;
float increment[4];
bool isOttoResting;
unsigned long int getMouthShape(int number);
unsigned long int getAnimShape(int anim, int index);
void _execute(int A[4], int O[4], int T, double phase_diff[4], float steps);
};
#endif
================================================
FILE: src/Otto_gestures.h
================================================
#ifndef Otto_gestures_h
#define Otto_gestures_h
//***********************************************************************************
//*********************************GESTURE DEFINES***********************************
//***********************************************************************************
#define OttoHappy 0
#define OttoSuperHappy 1
#define OttoSad 2
#define OttoSleeping 3
#define OttoFart 4
#define OttoConfused 5
#define OttoLove 6
#define OttoAngry 7
#define OttoFretful 8
#define OttoMagic 9
#define OttoWave 10
#define OttoVictory 11
#define OttoFail 12
//*** MOUTH ANIMATIONS***
#define littleUuh 0
#define dreamMouth 1
#define adivinawi 2
#define wave 3
//*** MOUTH ANIMATIONS***
#define littleUuh 0
#define dreamMouth 1
#define adivinawi 2
#define wave 3
#define otto 4 // Wordt niet gebruikt.
typedef struct
{
uint8_t Character[1];
uint8_t data[6];
}
LED_Matrix_Font_6x8_TypeDef;
//Terminal
const LED_Matrix_Font_6x8_TypeDef Character_font_6x8[] PROGMEM =
{
'0', 0x00,0x7C,0x82,0x82,0x7C,0x00,
'1', 0x00,0x42,0xFE,0x02,0x00,0x00,
'2', 0x00,0x46,0x8A,0x92,0x62,0x00,
'3', 0x00,0x44,0x92,0x92,0x6C,0x00,
'4', 0x00,0x1C,0x64,0xFE,0x04,0x00,
'5', 0x00,0xF2,0x92,0x92,0x8C,0x00,
'6', 0x00,0x7C,0x92,0x92,0x4C,0x00,
'7', 0x00,0xC0,0x8E,0x90,0xE0,0x00,
'8', 0x00,0x6C,0x92,0x92,0x6C,0x00,
'9', 0x00,0x64,0x92,0x92,0x7C,0x00,
':', 0x00,0x00,0x14,0x00,0x00,0x00,
';', 0x00,0x02,0x24,0x00,0x00,0x00,
'<', 0x00,0x10,0x28,0x44,0x82,0x00,
'=', 0x00,0x28,0x28,0x28,0x28,0x00,
'>', 0x00,0x82,0x44,0x28,0x10,0x00,
'?', 0x00,0x20,0x4a,0x30,0x00,0x00, //
'@', 0x00,0x00,0x00,0x00,0x00,0x00,
'A', 0x00,0x7E,0x88,0x88,0x7E,0x00,
'B', 0x00,0xFE,0x92,0x92,0x6C,0x00,
'C', 0x00,0x7C,0x82,0x82,0x44,0x00,
'D', 0x00,0xFE,0x82,0x82,0x7C,0x00,
'E', 0x00,0xFE,0x92,0x92,0x82,0x00,
'F', 0x00,0xFE,0x90,0x90,0x80,0x00,
'G', 0x00,0x7C,0x82,0x92,0x5C,0x00,
'H', 0x00,0xFE,0x10,0x10,0xFE,0x00,
'I', 0x00,0x82,0xFE,0x82,0x00,0x00,
'J', 0x00,0x0C,0x02,0x02,0xFC,0x00,
'K', 0x00,0xFE,0x10,0x28,0xC6,0x00,
'L', 0x00,0xFE,0x02,0x02,0x02,0x00,
'M', 0x00,0xFE,0x40,0x30,0x40,0xFE,
'N', 0x00,0xFE,0x40,0x30,0x08,0xFE,
'O', 0x00,0x7C,0x82,0x82,0x82,0x7C,
'P', 0x00,0xFE,0x90,0x90,0x60,0x00,
'Q', 0x00,0x7C,0x82,0x8A,0x84,0x7A,
'R', 0x00,0xFE,0x98,0x94,0x62,0x00,
'S', 0x00,0x64,0x92,0x92,0x4C,0x00,
'T', 0x00,0x80,0xFE,0x80,0x80,0x00,
'U', 0x00,0xFC,0x02,0x02,0xFC,0x00,
'V', 0x00,0xF0,0x0C,0x02,0x0C,0xF0,
'W', 0x00,0xFE,0x04,0x38,0x04,0xFE,
'X', 0x00,0xC6,0x38,0x38,0xC6,0x00,
'Y', 0xC0,0x20,0x1E,0x20,0xC0,0x00,
'Z', 0x00,0x86,0x9A,0xB2,0xC2,0x00,
'!', 0x00,0x00,0x7a,0x00,0x00,0x00,
' ', 0x00,0x00,0x00,0x00,0x00,0x00,
};
const unsigned long int Gesturetable[4][10] PROGMEM = {
{
0b00000000000000001100001100000000, // littleUuh_code1
0b00000000000000000110000110000000, // littleUuh_code2
0b00000000000000000011000011000000, // littleUuh_code3
0b00000000000000000110000110000000, // littleUuh_code4
0b00000000000000001100001100000000, // littleUuh_code5
0b00000000000000011000011000000000, // littleUuh_code6
0b00000000000000110000110000000000, // littleUuh_code7
0b00000000000000011000011000000000
} // littleUuh_code8
,
{
0b00000000000000000000110000110000, // dreamMouth_code1
0b00000000000000010000101000010000, // dreamMouth_code2
0b00000000011000100100100100011000, // dreamMouth_code3
0b00000000000000010000101000010000 // dreamMouth_code4
}
,
{
0b00100001000000000000000000100001, // adivinawi_code1
0b00010010100001000000100001010010, // adivinawi_code2
0b00001100010010100001010010001100, // adivinawi_code3
0b00000000001100010010001100000000, // adivinawi_code4
0b00000000000000001100000000000000, // adivinawi_code5
0b00000000000000000000000000000000 // adivinawi_code6
}
,
{
0b00001100010010100001000000000000, // wave_code1
0b00000110001001010000100000000000, // wave_code2
0b00000011000100001000010000100000, // wave_code3
0b00000001000010000100001000110000, // wave_code4
0b00000000000001000010100100011000, // wave_code5
0b00000000000000100001010010001100, // wave_code6
0b00000000100000010000001001000110, // wave_code7
0b00100000010000001000000100000011, // wave_code8
0b00110000001000000100000010000001, // wave_code9
0b00011000100100000010000001000000 // wave_code10
}
};
//"PROGMEM_readAnything.h" FROM http://www.gammon.com.au/progmem
// modified for OTTO use by Paul Van De Veen along with all PROGMEM mouths and gestures
#include <Arduino.h> // for type definitions
template <typename T> void PROGMEM_readAnything (const T * sce, T& dest)
{
memcpy_P (&dest, sce, sizeof (T));
}
template <typename T> T PROGMEM_getAnything (const T * sce)
{
static T temp;
memcpy_P (&temp, sce, sizeof (T));
return temp;
}
#endif
================================================
FILE: src/Otto_matrix.cpp
================================================
/*
* MaxMatrix
* Version 1.0 Feb 2013
* Copyright 2013 Oscar Kin-Chung Au
* Adapted for OTTO version 9 use
*/
#include "Arduino.h"
#include "Otto_matrix.h"
Otto_Matrix::Otto_Matrix()
{
//data = _data;
//load = _load;
//clock = _clock;
//num = _num;
}
void Otto_Matrix::init(byte _data, byte _load, byte _clock, byte _num, int _rotation)
{
data = _data;
load = _load;
clock = _clock;
num = _num;
rotation = _rotation;
if ((rotation > 4) || (rotation == 0)) rotation = 1; // we have to have number between 1 and 4
for (int i=0; i<8; i++)
buffer[i] = 0;
for (int i=0; i<80; i++)
CHARbuffer[i] = 0;
#if defined(ESP32)
SPI.begin ( clock, -1, data, load);
SPI.setDataMode(SPI_MODE0);
SPI.setClockDivider(SPI_CLOCK_DIV128);
SPI.setHwCs(true);
#else
pinMode(data, OUTPUT);
pinMode(clock, OUTPUT);
pinMode(load, OUTPUT);
digitalWrite(clock, HIGH);
#endif
setCommand(max7219_reg_scanLimit, 0x07);
setCommand(max7219_reg_decodeMode, 0x00); // using an led matrix (not digits)
setCommand(max7219_reg_shutdown, 0x01); // not in shutdown mode
setCommand(max7219_reg_displayTest, 0x00); // no display test
// empty registers, turn all LEDs off
clearMatrix();
setIntensity(0x0f); // the first 0x0f is the value you can set
}
void Otto_Matrix::setIntensity(byte intensity)
{
setCommand(max7219_reg_intensity, intensity);
}
void Otto_Matrix::clearMatrix()
{
for (int i=0; i<8; i++)
setColumnAll(i,0);
for (int i=0; i<8; i++)
buffer[i] = 0;
for (int i=0; i<80; i++)
CHARbuffer[i] = 0;
}
void Otto_Matrix::setCommand(byte command, byte value)
{
#if defined(ESP32)
SPI.transfer16(command << 8 | value);
#else
digitalWrite(load, LOW);
for (int i=0; i<num; i++)
{
shiftOut(data, clock, MSBFIRST, command);
shiftOut(data, clock, MSBFIRST, value);
}
digitalWrite(load, LOW);
digitalWrite(load, HIGH);
#endif
}
void Otto_Matrix::setColumn(byte col, byte value)
{
int n = col / 8;
int c = col % 8;
#if defined(ESP32)
for (int i=0; i<num; i++)
{
if (i == n)
{
SPI.transfer16((c + 1) << 8 | value);
}
//else
//{
// SPI.transfer16(0);
//}
}
#else
digitalWrite(load, LOW);
for (int i=0; i<num; i++)
{
if (i == n)
{
shiftOut(data, clock, MSBFIRST, c + 1);
shiftOut(data, clock, MSBFIRST, value);
}
//else
//{
//shiftOut(data, clock, MSBFIRST, 0);
//shiftOut(data, clock, MSBFIRST, 0);
//}
}
digitalWrite(load, LOW);
digitalWrite(load, HIGH);
#endif
buffer[col] = value;
}
void Otto_Matrix::setColumnAll(byte col, byte value)
{
#if defined(ESP32)
for (int i=0; i<num; i++)
{
SPI.transfer16((col + 1) << 8 | value);
buffer[col * i] = value;
}
#else
digitalWrite(load, LOW);
for (int i=0; i<num; i++)
{
shiftOut(data, clock, MSBFIRST, col + 1);
shiftOut(data, clock, MSBFIRST, value);
buffer[col * i] = value;
}
digitalWrite(load, LOW);
digitalWrite(load, HIGH);
#endif
}
void Otto_Matrix::setDot(byte col, byte row, byte value)
{
bitWrite(buffer[col], row, value);
int n = col / 8;
int c = col % 8;
#if defined(ESP32)
for (int i=0; i<num; i++)
{
if (i == n)
{
SPI.transfer16((c + 1) << 8 | buffer[col]);
}
else
{
SPI.transfer16(0);
}
}
#else
digitalWrite(load, LOW);
for (int i=0; i<num; i++)
{
if (i == n)
{
shiftOut(data, clock, MSBFIRST, c + 1);
shiftOut(data, clock, MSBFIRST, buffer[col]);
}
else
{
shiftOut(data, clock, MSBFIRST, 0);
shiftOut(data, clock, MSBFIRST, 0);
}
}
digitalWrite(load, LOW);
digitalWrite(load, HIGH);
#endif
}
// routine for OTTO and ZOWI, for the 6 x 5 matrix
void Otto_Matrix::writeFull(unsigned long value) {
if (rotation == 1) {
for (int r=0; r<5;r++){
for (int c=0; c<6; c++){
setDot(6-c,7-r,(1L & (value >> r*6+c)));
}
}
}
if (rotation == 2) {
for (int r=0; r<5;r++){
for (int c=0; c<6; c++){
//setDot(6-c,7-r,(1L & (value >> r*6+c)));
setDot(1+c,r, (1L & (value >> r*6+c)));
}
}
}
if (rotation == 3) {
for (int r=0; r<5;r++){
for (int c=0; c<6; c++){
//setDot(6-c,7-r,(1L & (value >> r*6+c)));
setDot(r,6-c, (1L & (value >> r*6+c)));
}
}
}
if (rotation == 4) {
for (int r=0; r<5;r++){
for (int c=0; c<6; c++){
//setDot(6-c,7-r,(1L & (value >> r*6+c)));
setDot(7-r,1+c, (1L & (value >> r*6+c)));
}
}
}
}
void Otto_Matrix::sendChar (const byte data, byte pos, byte number, byte scrollspeed){
if (scrollspeed < 50 ) scrollspeed = 50;
if (scrollspeed > 150 ) scrollspeed = 150;
int charPos;
charPos = pos * 8;
//Serial.print ("sendchar ");
//Serial.print (pos);
//Serial.print (" - ");
//Serial.print (number);
//Serial.print (" - ");
//Serial.print (charPos);
//Serial.print (" - ");
//Serial.println (data);
//we need to add 8 for each character
CHARbuffer[0 + charPos] = 0;
CHARbuffer[1 + charPos] = pgm_read_byte(&Character_font_6x8[data].data[0]);
CHARbuffer[2 + charPos] = pgm_read_byte(&Character_font_6x8[data].data[1]);
CHARbuffer[3 + charPos] = pgm_read_byte(&Character_font_6x8[data].data[2]);
CHARbuffer[4 + charPos] = pgm_read_byte(&Character_font_6x8[data].data[3]);
CHARbuffer[5 + charPos] = pgm_read_byte(&Character_font_6x8[data].data[4]);
CHARbuffer[6 + charPos] = pgm_read_byte(&Character_font_6x8[data].data[5]);
CHARbuffer[7 + charPos] = 0;
if (number == (pos + 1)){ // last character so display the total text
// we need to display first character and scroll left until each charater is shown.
for (int c=0; c<8;c++){ // show first character
byte value = CHARbuffer[c];
for (int r=0; r<8; r++){
if (rotation == 1) {
setDot(c,7-r,(0b00000001 & (value >> r)));//
}
if (rotation == 2) {
setDot(7-c,r,(0b00000001 & (value >> r)));//
}
if (rotation == 3) {
//setDot(r,c,(1));// top LH corner
setDot(r,c,(0b00000001 & (value >> r)));//
}
if (rotation == 4) {
setDot(7-r,7-c,(0b00000001 & (value >> r)));//
}
}
}
delay(500); // show first digit for longer
for (int i=0; i<((number*8)-1); i++){ // shift buffer the correct number of characters (8 lines per character)
CHARbuffer[i] = CHARbuffer[i+1];
for (int c=0; c<8;c++){ //
byte value = CHARbuffer[(1+c)+i];
for (int r=0; r<8; r++){
if (rotation == 1) {
setDot(c,7-r,(0b00000001 & (value >> r)));//
}
if (rotation == 2) {
setDot(7-c,r,(0b00000001 & (value >> r)));//
}
if (rotation == 3) {
setDot(r,c,(0b00000001 & (value >> r)));//
}
if (rotation == 4) {
setDot(7-r,7-c,(0b00000001 & (value >> r)));//
}
}
}
delay(scrollspeed);// this sets the scroll speed
}
clearMatrix();
}
}
================================================
FILE: src/Otto_matrix.h
================================================
/*
* MaxMatrix
* Version 1.0 Feb 2013
* Copyright 2013 Oscar Kin-Chung Au
* Adapted for OTTO version 9 use
*/
#ifndef _Otto_matrix_H_
#define _Otto_matrix_H_
#include "Arduino.h"
#include "Otto_gestures.h"
#if defined(ESP32)
# include <SPI.h>
#endif
#define max7219_reg_noop 0x00
#define max7219_reg_digit0 0x01
#define max7219_reg_digit1 0x02
#define max7219_reg_digit2 0x03
#define max7219_reg_digit3 0x04
#define max7219_reg_digit4 0x05
#define max7219_reg_digit5 0x06
#define max7219_reg_digit6 0x07
#define max7219_reg_digit7 0x08
#define max7219_reg_decodeMode 0x09
#define max7219_reg_intensity 0x0a
#define max7219_reg_scanLimit 0x0b
#define max7219_reg_shutdown 0x0c
#define max7219_reg_displayTest 0x0f
class Otto_Matrix
{
private:
byte data;
byte load;
byte clock;
byte num;
byte buffer[8];
byte CHARbuffer[80];
int rotation;
void reload();
char rotation2;
public:
Otto_Matrix();
void init(byte data, byte load, byte clock, byte num, int rotation);
void clearMatrix();
void setCommand(byte command, byte value);
void setIntensity(byte intensity);
void setColumn(byte col, byte value);
void setColumnAll(byte col, byte value);
void setDot(byte col, byte row, byte value);
void writeFull(unsigned long value);
void sendChar ( const byte data, byte pos, byte number, byte scrollspeed);
};
#endif
================================================
FILE: src/Otto_mouths.h
================================================
#ifndef Otto_mouths_h
#define Otto_mouths_h
//***********************************************************************************
//*********************************MOUTHS DEFINES************************************
//***********************************************************************************
const int NUMBER_OF_ELEMENTS = 31;
const unsigned long int Mouthtable[NUMBER_OF_ELEMENTS] PROGMEM = {
0b00001100010010010010010010001100, //zero_code
0b00000100001100000100000100001110, //one_code
0b00001100010010000100001000011110, //two_code
0b00001100010010000100010010001100, //three_code
0b00010010010010011110000010000010, //four_code
0b00011110010000011100000010011100, //five_code
0b00000100001000011100010010001100, //six_code
0b00011110000010000100001000010000, //seven_code
0b00001100010010001100010010001100, //eight_code
0b00001100010010001110000010001110, //nine_code
0b00000000100001010010001100000000, //smile_code
0b00000000111111010010001100000000, //happyOpen_code
0b00000000111111011110000000000000, //happyClosed_code
0b00010010101101100001010010001100, //heart_code
0b00001100010010100001010010001100, //bigSurprise_code
0b00000000000000001100001100000000, //smallSurprise_code
0b00111111001001001001000110000000, //tongueOut_code
0b00111111101101101101010010000000, //vamp1_code
0b00111111101101010010000000000000, //vamp2_code
0b00000000000000111111000000000000, //lineMouth_code
0b00000000001000010101100010000000, //confused_code
0b00100000010000001000000100000010, //diagonal_code
0b00000000001100010010100001000000, //sad_code
0b00000000001100010010111111000000, //sadOpen_code
0b00000000001100011110110011000000, //sadClosed_code
0b00000001000010010100001000000000, //okMouth_code
0b00100001010010001100010010100001, //xMouth_code
0b00001100010010000100000100000100, //interrogation_code
0b00000100001000011100001000010000, //thunder_code
0b00000000100001101101010010000000, //culito_code
0b00000000011110100001100001000000 //angry_code
} ;
//Mouths sorted by numbers, and after, by happy to sad mouths
#define zero 0
#define one 1
#define two 2
#define three 3
#define four 4
#define five 5
#define six 6
#define seven 7
#define eight 8
#define nine 9
#define smile 10
#define happyOpen 11
#define happyClosed 12
#define heart 13
#define bigSurprise 14
#define smallSurprise 15
#define tongueOut 16
#define vamp1 17
#define vamp2 18
#define lineMouth 19
#define confused 20
#define diagonal 21
#define sad 22
#define sadOpen 23
#define sadClosed 24
#define okMouth 25
#define xMouth 26
#define interrogation 27
#define thunder 28
#define culito 29
#define angry 30
#endif
================================================
FILE: src/Otto_sounds.h
================================================
#ifndef Otto_sounds_h
#define Otto_sounds_h
// Reference: This list was adapted from the table located here:
// http://www.phy.mtu.edu/~suits/notefreqs.html
#define note_C0 16.35 //C0
#define note_Db0 17.32 //C#0/Db0
#define note_D0 18.35 //D0
#define note_Eb0 19.45 //D#0/Eb0
#define note_E0 20.6 //E0
#define note_F0 21.83 //F0
#define note_Gb0 23.12 //F#0/Gb0
#define note_G0 24.5 //G0
#define note_Ab0 25.96 //G#0/Ab0
#define note_A0 27.5 //A0
#define note_Bb0 29.14 //A#0/Bb0
#define note_B0 30.87 //B0
#define note_C1 32.7 //C1
#define note_Db1 34.65 //C#1/Db1
#define note_D1 36.71 //D1
#define note_Eb1 38.89 //D#1/Eb1
#define note_E1 41.2 //E1
#define note_F1 43.65 //F1
#define note_Gb1 46.25 //F#1/Gb1
#define note_G1 49 //G1
#define note_Ab1 51.91 //G#1/Ab1
#define note_A1 55 //A1
#define note_Bb1 58.27 //A#1/Bb1
#define note_B1 61.74 //B1
#define note_C2 65.41 //C2 (Middle C)
#define note_Db2 69.3 //C#2/Db2
#define note_D2 73.42 //D2
#define note_Eb2 77.78 //D#2/Eb2
#define note_E2 82.41 //E2
#define note_F2 87.31 //F2
#define note_Gb2 92.5 //F#2/Gb2
#define note_G2 98 //G2
#define note_Ab2 103.83 //G#2/Ab2
#define note_A2 110 //A2
#define note_Bb2 116.54 //A#2/Bb2
#define note_B2 123.47 //B2
#define note_C3 130.81 //C3
#define note_Db3 138.59 //C#3/Db3
#define note_D3 146.83 //D3
#define note_Eb3 155.56 //D#3/Eb3
#define note_E3 164.81 //E3
#define note_F3 174.61 //F3
#define note_Gb3 185 //F#3/Gb3
#define note_G3 196 //G3
#define note_Ab3 207.65 //G#3/Ab3
#define note_A3 220 //A3
#define note_Bb3 233.08 //A#3/Bb3
#define note_B3 246.94 //B3
#define note_C4 261.63 //C4
#define note_Db4 277.18 //C#4/Db4
#define note_D4 293.66 //D4
#define note_Eb4 311.13 //D#4/Eb4
#define note_E4 329.63 //E4
#define note_F4 349.23 //F4
#define note_Gb4 369.99 //F#4/Gb4
#define note_G4 392 //G4
#define note_Ab4 415.3 //G#4/Ab4
#define note_A4 440 //A4
#define note_Bb4 466.16 //A#4/Bb4
#define note_B4 493.88 //B4
#define note_C5 523.25 //C5
#define note_Db5 554.37 //C#5/Db5
#define note_D5 587.33 //D5
#define note_Eb5 622.25 //D#5/Eb5
#define note_E5 659.26 //E5
#define note_F5 698.46 //F5
#define note_Gb5 739.99 //F#5/Gb5
#define note_G5 783.99 //G5
#define note_Ab5 830.61 //G#5/Ab5
#define note_A5 880 //A5
#define note_Bb5 932.33 //A#5/Bb5
#define note_B5 987.77 //B5
#define note_C6 1046.5 //C6
#define note_Db6 1108.73 //C#6/Db6
#define note_D6 1174.66 //D6
#define note_Eb6 1244.51 //D#6/Eb6
#define note_E6 1318.51 //E6
#define note_F6 1396.91 //F6
#define note_Gb6 1479.98 //F#6/Gb6
#define note_G6 1567.98 //G6
#define note_Ab6 1661.22 //G#6/Ab6
#define note_A6 1760 //A6
#define note_Bb6 1864.66 //A#6/Bb6
#define note_B6 1975.53 //B6
#define note_C7 2093 //C7
#define note_Db7 2217.46 //C#7/Db7
#define note_D7 2349.32 //D7
#define note_Eb7 2489.02 //D#7/Eb7
#define note_E7 2637.02 //E7
#define note_F7 2793.83 //F7
#define note_Gb7 2959.96 //F#7/Gb7
#define note_G7 3135.96 //G7
#define note_Ab7 3322.44 //G#7/Ab7
#define note_A7 3520 //A7
#define note_Bb7 3729.31 //A#7/Bb7
#define note_B7 3951.07 //B7
#define note_C8 4186.01 //C8
#define note_Db8 4434.92 //C#8/Db8
#define note_D8 4698.64 //D8
#define note_Eb8 4978.03 //D#8/Eb8
#define S_connection 0
#define S_disconnection 1
#define S_buttonPushed 2
#define S_mode1 3
#define S_mode2 4
#define S_mode3 5
#define S_surprise 6
#define S_OhOoh 7
#define S_OhOoh2 8
#define S_cuddly 9
#define S_sleeping 10
#define S_happy 11
#define S_superHappy 12
#define S_happy_short 13
#define S_sad 14
#define S_confused 15
#define S_fart1 16
#define S_fart2 17
#define S_fart3 18
#endif
================================================
FILE: src/SerialCommand.cpp
================================================
/*******************************************************************************
SerialCommand - An Arduino library to tokenize and parse commands received over
a serial port.
Copyright (C) 2011-2013 Steven Cogswell <steven.cogswell@gmail.com>
http://awtfy.com
See SerialCommand.h for version history.
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
***********************************************************************************/
#if defined(ARDUINO) && ARDUINO >= 100
#include "Arduino.h"
#else
#include "WProgram.h"
#endif
#include "SerialCommand.h"
#include <string.h>
#ifndef SERIALCOMMAND_HARDWAREONLY
#include <SoftwareSerial.h>
#endif
// Constructor makes sure some things are set.
SerialCommand::SerialCommand()
{
usingSoftwareSerial=0;
strncpy(delim," ",MAXDELIMETER); // strtok_r needs a null-terminated string
term='\r'; // return character, default terminator for commands
numCommand=0; // Number of callback handlers installed
clearBuffer();
}
#ifndef SERIALCOMMAND_HARDWAREONLY
// Constructor to use a SoftwareSerial object
SerialCommand::SerialCommand(Stream &_ser)
{
usingSoftwareSerial=1;
_serialPort = &_ser;
strncpy(delim," ",MAXDELIMETER); // strtok_r needs a null-terminated string
term='\r'; // return character, default terminator for commands
numCommand=0; // Number of callback handlers installed
clearBuffer();
}
#endif
//
// Initialize the command buffer being processed to all null characters
//
void SerialCommand::clearBuffer()
{
for (int i=0; i<SERIALCOMMANDBUFFER; i++)
{
buffer[i]='\0';
}
bufPos=0;
}
// Retrieve the next token ("word" or "argument") from the Command buffer.
// returns a NULL if no more tokens exist.
char *SerialCommand::next()
{
char *nextToken;
nextToken = strtok_r(NULL, delim, &last);
return nextToken;
}
// This checks the Serial stream for characters, and assembles them into a buffer.
// When the terminator character (default '\r') is seen, it starts parsing the
// buffer for a prefix command, and calls handlers setup by addCommand() member
void SerialCommand::readSerial()
{
// If we're using the Hardware port, check it. Otherwise check the user-created SoftwareSerial Port
#ifdef SERIALCOMMAND_HARDWAREONLY
while (Serial.available() > 0)
#else
while ((usingSoftwareSerial==0 && Serial.available() > 0) || (usingSoftwareSerial==1 && _serialPort->available() > 0) )
#endif
{
int i;
boolean matched;
if (usingSoftwareSerial==0) {
// Hardware serial port
inChar=Serial.read(); // Read single available character, there may be more waiting
} else {
#ifndef SERIALCOMMAND_HARDWAREONLY
// SoftwareSerial port
inChar = _serialPort->read(); // Read single available character, there may be more waiting
#endif
}
#ifdef SERIALCOMMANDDEBUG
Serial.print(inChar); // Echo back to serial stream
#endif
if (inChar==term) { // Check for the terminator (default '\r') meaning end of command
#ifdef SERIALCOMMANDDEBUG
Serial.print("Received: ");
Serial.println(buffer);
#endif
bufPos=0; // Reset to start of buffer
token = strtok_r(buffer,delim,&last); // Search for command at start of buffer
if (token == NULL) return;
matched=false;
for (i=0; i<numCommand; i++) {
#ifdef SERIALCOMMANDDEBUG
Serial.print("Comparing [");
Serial.print(token);
Serial.print("] to [");
Serial.print(CommandList[i].command);
Serial.println("]");
#endif
// Compare the found command against the list of known commands for a match
if (strncmp(token,CommandList[i].command,MAXDELIMETER) == 0)
{
#ifdef SERIALCOMMANDDEBUG
Serial.print("Matched Command: ");
Serial.println(token);
#endif
// Execute the stored handler function for the command
(*CommandList[i].function)();
clearBuffer();
matched=true;
break;
}
}
if (matched==false) {
(*defaultHandler)();
clearBuffer();
}
}
if (isprint(inChar)) // Only printable characters into the buffer
{
buffer[bufPos++]=inChar; // Put character into buffer
buffer[bufPos]='\0'; // Null terminate
if (bufPos > SERIALCOMMANDBUFFER-1) bufPos=0; // wrap buffer around if full
}
}
}
// Adds a "command" and a handler function to the list of available commands.
// This is used for matching a found token in the buffer, and gives the pointer
// to the handler function to deal with it.
void SerialCommand::addCommand(const char *command, void (*function)())
{
if (numCommand < MAXSERIALCOMMANDS) {
#ifdef SERIALCOMMANDDEBUG
Serial.print(numCommand);
Serial.print("-");
Serial.print("Adding command for ");
Serial.println(command);
#endif
strncpy(CommandList[numCommand].command,command,MAXDELIMETER);
CommandList[numCommand].function = function;
numCommand++;
} else {
// In this case, you tried to push more commands into the buffer than it is compiled to hold.
// Not much we can do since there is no real visible error assertion, we just ignore adding
// the command
#ifdef SERIALCOMMANDDEBUG
Serial.println("Too many handlers - recompile changing MAXSERIALCOMMANDS");
#endif
}
}
// This sets up a handler to be called in the event that the receveived command string
// isn't in the list of things with handlers.
void SerialCommand::addDefaultHandler(void (*function)())
{
defaultHandler = function;
}
================================================
FILE: src/SerialCommand.h
================================================
/*******************************************************************************
SerialCommand - An Arduino library to tokenize and parse commands received over
a serial port.
Copyright (C) 2011-2013 Steven Cogswell <steven.cogswell@gmail.com>
http://awtfy.com
Version 20131021A.
Version History:
May 11 2011 - Initial version
May 13 2011 - Prevent overwriting bounds of SerialCommandCallback[] array in addCommand()
defaultHandler() for non-matching commands
Mar 2012 - Some const char * changes to make compiler happier about deprecated warnings.
Arduino 1.0 compatibility (Arduino.h header)
Oct 2013 - SerialCommand object can be created using a SoftwareSerial object, for SoftwareSerial
support. Requires #include <SoftwareSerial.h> in your sketch even if you don't use
a SoftwareSerial port in the project. sigh. See Example Sketch for usage.
Oct 2013 - Conditional compilation for the SoftwareSerial support, in case you really, really
hate it and want it removed.
Jun 2022 - Using MAXDELIMETER as maximum length of serial command added when calling addCommand
order to reduce the usage of dynamic memory/RAM footprint.
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
***********************************************************************************/
#ifndef SerialCommand_h
#define SerialCommand_h
#if defined(ARDUINO) && ARDUINO >= 100
#include "Arduino.h"
#else
#include "WProgram.h"
#endif
// If you want to use SerialCommand with the hardware serial port only, and want to disable
// SoftwareSerial support, and thus don't have to use "#include <SoftwareSerial.h>" in your
// sketches, then uncomment this define for SERIALCOMMAND_HARDWAREONLY, and comment out the
// corresponding #undef line.
//
// You don't have to use SoftwareSerial features if this is not defined, you can still only use
// the Hardware serial port, just that this way lets you get out of having to include
// the SoftwareSerial.h header.
//#define SERIALCOMMAND_HARDWAREONLY 1
#undef SERIALCOMMAND_HARDWAREONLY
#ifdef SERIALCOMMAND_HARDWAREONLY
#warning "Warning: Building SerialCommand without SoftwareSerial Support"
#endif
#ifndef SERIALCOMMAND_HARDWAREONLY
#include <SoftwareSerial.h>
#endif
#include <string.h>
#define SERIALCOMMANDBUFFER 35
#define MAXSERIALCOMMANDS 16
#define MAXDELIMETER 2
#define SERIALCOMMANDDEBUG 1
#undef SERIALCOMMANDDEBUG // Comment this out to run the library in debug mode (verbose messages)
class SerialCommand
{
public:
SerialCommand(); // Constructor
#ifndef SERIALCOMMAND_HARDWAREONLY
SerialCommand(Stream &SoftSer); // Constructor for using SoftwareSerial objects
#endif
void clearBuffer(); // Sets the command buffer to all '\0' (nulls)
char *next(); // returns pointer to next token found in command buffer (for getting arguments to commands)
void readSerial(); // Main entry point.
void addCommand(const char *, void(*)()); // Add commands to processing dictionary
void addDefaultHandler(void (*function)()); // A handler to call when no valid command received.
private:
char inChar; // A character read from the serial stream
char buffer[SERIALCOMMANDBUFFER]; // Buffer of stored characters while waiting for terminator character
int bufPos; // Current position in the buffer
char delim[MAXDELIMETER]; // null-terminated list of character to be used as delimeters for tokenizing (default " ")
char term; // Character that signals end of command (default '\r')
char *token; // Returned token from the command buffer as returned by strtok_r
char *last; // State variable used by strtok_r during processing
typedef struct _callback {
char command[MAXDELIMETER];
void (*function)();
} SerialCommandCallback; // Data structure to hold Command/Handler function key-value pairs
int numCommand;
SerialCommandCallback CommandList[MAXSERIALCOMMANDS]; // Actual definition for command/handler array
void (*defaultHandler)(); // Pointer to the default handler function
int usingSoftwareSerial; // Used as boolean to see if we're using SoftwareSerial object or not
#ifndef SERIALCOMMAND_HARDWAREONLY
Stream *_serialPort; // Pointer to a user-created SoftwareSerial object
#endif
};
#endif //SerialCommand_h
gitextract_e2qkp0pn/
├── .github/
│ └── FUNDING.yml
├── LICENSE
├── README.md
├── examples/
│ ├── Otto_APP/
│ │ └── Otto_APP.ino
│ ├── Otto_CalibrationWalk/
│ │ └── Otto_CalibrationWalk.ino
│ ├── Otto_allmoves/
│ │ └── Otto_allmoves.ino
│ ├── Otto_avoid/
│ │ └── Otto_avoid.ino
│ ├── Otto_happybirthday/
│ │ └── Otto_happybirthday.ino
│ ├── Otto_photoresistorTest/
│ │ └── Otto_photoresistorTest.ino
│ ├── Otto_singleladies/
│ │ └── Otto_singleladies.ino
│ ├── Otto_smoothcriminal/
│ │ └── Otto_smoothcriminal.ino
│ ├── Otto_testSensor/
│ │ └── Otto_testSensor.ino
│ └── Otto_touchmodes/
│ └── Otto_touchmodes.ino
├── keywords.txt
├── library.json
├── library.properties
└── src/
├── Oscillator.cpp
├── Oscillator.h
├── Otto.cpp
├── Otto.h
├── Otto_gestures.h
├── Otto_matrix.cpp
├── Otto_matrix.h
├── Otto_mouths.h
├── Otto_sounds.h
├── SerialCommand.cpp
└── SerialCommand.h
SYMBOL INDEX (16 symbols across 5 files)
FILE: src/Oscillator.h
function class (line 22) | class Oscillator
function SetA (line 29) | void SetA(unsigned int amplitude) {_amplitude=amplitude;}
function SetO (line 30) | void SetO(int offset) {_offset=offset;}
function SetPh (line 31) | void SetPh(double Ph) {_phase0=Ph;}
function SetTrim (line 33) | void SetTrim(int trim){_trim=trim;}
function SetLimiter (line 34) | void SetLimiter(int diff_limit) { _diff_limit = diff_limit; }
function DisableLimiter (line 35) | void DisableLimiter() { _diff_limit = 0; }
function getTrim (line 36) | int getTrim() {return _trim;}
function Stop (line 38) | void Stop() {_stop=true;}
function Play (line 39) | void Play() {_stop=false;}
function Reset (line 40) | void Reset() {_phase=0;}
function getPosition (line 42) | int getPosition() { return _pos;}
FILE: src/Otto.h
function class (line 28) | class Otto
FILE: src/Otto_gestures.h
type LED_Matrix_Font_6x8_TypeDef (line 36) | typedef struct
FILE: src/Otto_matrix.h
function class (line 33) | class Otto_Matrix
FILE: src/SerialCommand.h
function class (line 74) | class SerialCommand
Condensed preview — 27 files, each showing path, character count, and a content snippet. Download the .json file or copy for the full structured content (182K chars).
[
{
"path": ".github/FUNDING.yml",
"chars": 711,
"preview": "# These are supported funding model platforms\n\ngithub: # Replace with up to 4 GitHub Sponsors-enabled usernames e.g., [u"
},
{
"path": "LICENSE",
"chars": 35149,
"preview": " GNU GENERAL PUBLIC LICENSE\n Version 3, 29 June 2007\n\n Copyright (C) 2007 Free "
},
{
"path": "README.md",
"chars": 9859,
"preview": "# Otto DIY Robot Arduino Libraries\n\n[](https://ww"
},
{
"path": "examples/Otto_APP/Otto_APP.ino",
"chars": 8082,
"preview": "//----------------------------------------------------------------------------------------------------------------------"
},
{
"path": "examples/Otto_CalibrationWalk/Otto_CalibrationWalk.ino",
"chars": 4272,
"preview": "//----------------------------------------------------------------\n//-- Otto DIY invests time and resources providing op"
},
{
"path": "examples/Otto_allmoves/Otto_allmoves.ino",
"chars": 4882,
"preview": "//----------------------------------------------------------------\n//-- Otto All moves test\n//-- Otto DIY invests time a"
},
{
"path": "examples/Otto_avoid/Otto_avoid.ino",
"chars": 1648,
"preview": "//----------------------------------------------------------------------------------------------------------------------"
},
{
"path": "examples/Otto_happybirthday/Otto_happybirthday.ino",
"chars": 2095,
"preview": "//----------------------------------------------------------------\n//-- Otto Happy Birthday\n//-- With this code Otto wil"
},
{
"path": "examples/Otto_photoresistorTest/Otto_photoresistorTest.ino",
"chars": 670,
"preview": "// Define the pin to which the photoresistor is connected\nconst int photoresistorPin = A0;\nint voltage_intensity = 0;\nin"
},
{
"path": "examples/Otto_singleladies/Otto_singleladies.ino",
"chars": 12894,
"preview": "//----------------------------------------------------------------\n//-- Otto Dance single ladies\n//-- This code will mak"
},
{
"path": "examples/Otto_smoothcriminal/Otto_smoothcriminal.ino",
"chars": 13155,
"preview": "//----------------------------------------------------------------\n//-- Otto Dance smooth criminal\n//-- This code will m"
},
{
"path": "examples/Otto_testSensor/Otto_testSensor.ino",
"chars": 1376,
"preview": "//----------------------------------------------------------------\n//-- Otto All moves test\n//-- Otto DIY invests time a"
},
{
"path": "examples/Otto_touchmodes/Otto_touchmodes.ino",
"chars": 4517,
"preview": "//-----------------------------------------------------------------\n//-- This Otto uses a touch sensor to switch three m"
},
{
"path": "keywords.txt",
"chars": 1353,
"preview": "#######################################\n# Syntax Coloring Map For OttoDIYLib\n#######################################\n\n##"
},
{
"path": "library.json",
"chars": 505,
"preview": "{\n \"name\": \"OttoDIYLib\",\n \"version\": \"13.0.0\",\n \"description\": \"Official Arduino library for controlling original Ott"
},
{
"path": "library.properties",
"chars": 363,
"preview": "name=OttoDIYLib\nversion=13.0.0\nauthor=Otto DIY, Camilo Parra Palacio\nmaintainer=@cparrapa\nsentence=Otto DIY official Ard"
},
{
"path": "src/Oscillator.cpp",
"chars": 3752,
"preview": "//--------------------------------------------------------------\n//-- Oscillator.pde\n//-- Generate sinusoidal oscillatio"
},
{
"path": "src/Oscillator.h",
"chars": 2472,
"preview": "//--------------------------------------------------------------\n//-- Oscillator.pde\n//-- Generate sinusoidal oscillatio"
},
{
"path": "src/Otto.cpp",
"chars": 30805,
"preview": "#if defined(ARDUINO) && ARDUINO >= 100\n #include \"Arduino.h\"\n#else\n #include \"WProgram.h\"\n #include <pins_arduino.h>\n"
},
{
"path": "src/Otto.h",
"chars": 3267,
"preview": "#ifndef Otto_h\n#define Otto_h\n\n#ifdef ARDUINO_ARCH_ESP32\n#include <ESP32Servo.h>\n#else\n#include <Servo.h>\n#endif\n#includ"
},
{
"path": "src/Otto_gestures.h",
"chars": 5099,
"preview": "#ifndef Otto_gestures_h\n#define Otto_gestures_h\n\n//*********************************************************************"
},
{
"path": "src/Otto_matrix.cpp",
"chars": 7430,
"preview": "/*\n * MaxMatrix\n * Version 1.0 Feb 2013\n * Copyright 2013 Oscar Kin-Chung Au\n * Adapted for OTTO version 9 use\n */\n\n\n#in"
},
{
"path": "src/Otto_matrix.h",
"chars": 1461,
"preview": "/*\n * MaxMatrix\n * Version 1.0 Feb 2013\n * Copyright 2013 Oscar Kin-Chung Au\n * Adapted for OTTO version 9 use\n */\n\n#ifn"
},
{
"path": "src/Otto_mouths.h",
"chars": 3160,
"preview": "#ifndef Otto_mouths_h\n#define Otto_mouths_h\n\n\n//************************************************************************"
},
{
"path": "src/Otto_sounds.h",
"chars": 3862,
"preview": "#ifndef Otto_sounds_h\n#define Otto_sounds_h\n\n// Reference: This list was adapted from the table located here:\n// htt"
},
{
"path": "src/SerialCommand.cpp",
"chars": 6085,
"preview": "/******************************************************************************* \nSerialCommand - An Arduino library to "
},
{
"path": "src/SerialCommand.h",
"chars": 5124,
"preview": "/******************************************************************************* \nSerialCommand - An Arduino library to "
}
]
About this extraction
This page contains the full source code of the OttoDIY/OttoDIYLib GitHub repository, extracted and formatted as plain text for AI agents and large language models (LLMs). The extraction includes 27 files (170.0 KB), approximately 51.5k tokens, and a symbol index with 16 extracted functions, classes, methods, constants, and types. Use this with OpenClaw, Claude, ChatGPT, Cursor, Windsurf, or any other AI tool that accepts text input. You can copy the full output to your clipboard or download it as a .txt file.
Extracted by GitExtract — free GitHub repo to text converter for AI. Built by Nikandr Surkov.