2026年5月26日 星期二

[水井USR] OTTO Biped 軟體更新

 


連線控制程式：https://chengminlin2.github.io/OTTOBLE2/

接腳：

#define LEFTLEG 2

#define RIGHTLEG 3

#define LEFTFOOT 4

#define RIGHTFOOT 5

#define TRIG 8

#define ECHO 9

#define BLE_TX 11

#define BLE_RX 12

#define BUZZER 13


HTML程式：

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<!DOCTYPE html>
<html lang="zh-TW">
<head>
<meta charset="UTF-8" />
<meta name="viewport" content="width=device-width, initial-scale=1" />
<title>Otto Web BLE Controller</title>
<style>
  body { font-family: Arial, sans-serif; text-align:center; background:#f9f9f9; margin:0; padding:24px; }
  button{
      width:160px; height:56px; margin:8px; font-size:16px;
      border:none; border-radius:10px; background:#4CAF50; color:white;
      cursor:pointer;
  }
  button:disabled{ opacity:.5; cursor:not-allowed; }
  button.red{ background:#d9534f; }
  button.blue{ background:#0275d8; }
  button.gray{ background:#6c757d; }
  .container{ margin-top:18px; }
  .panel{
      max-width:760px; margin:14px auto; background:#fff; border-radius:14px;
      padding:14px 12px; box-shadow:0 2px 10px rgba(0,0,0,.06);
  }
  .row{ display:flex; flex-wrap:wrap; justify-content:center; gap:8px; margin:8px 0; }
  .row button{ margin:0; }
  .status{ font-size:14px; color:#333; }
  .hint{ font-size:12px; color:#666; margin-top:6px; }
  .mono{ font-family: ui-monospace, SFMono-Regular, Menlo, Monaco, Consolas, "Liberation Mono", "Courier New", monospace; }
  .log{
      text-align:left; max-width:760px; margin:10px auto 0; background:#111; color:#eee;
      padding:10px 12px; border-radius:10px; font-size:12px; height:160px; overflow:auto;
  }
  input[type="range"]{ width:260px; }
  .badge{ display:inline-block; padding:2px 8px; border-radius:999px; background:#eee; font-size:12px; }
</style>
</head>

<body>
  <h2>OTTO BLE 遙控器</h2>

  <div class="panel">
    <div class="row">
      <button id="connectBle" class="blue">連線 / Connect</button>
      <button id="disconnectBle" class="red" disabled>中斷 / Disconnect</button>
    </div>
    <p id="status" class="status">尚未連線</p>

    <div class="row" style="align-items:center;">
      <span class="badge">速度</span>
      <input id="speed" type="range" min="0" max="5" step="1" value="2" />
      <span id="speedLabel" class="mono">2</span>
    </div>
    <div class="hint">
      指令格式：<span class="mono">command + speedIndex + "\\n"</span>（例如 <span class="mono">forward2</span>）
    </div>
  </div>

  <div class="panel">
    <h3>移動 / Move</h3>
    <div class="container">
      <div class="row">
        <button onclick="sendMove('forward')">⬆ 前進 / Forward</button>
      </div>

      <div class="row">
        <button onclick="sendMove('left')">⬅ 左轉 / Left</button>
        <button onclick="sendMove('stop')" class="red">⏹ 停止 / Stop</button>
        <button onclick="sendMove('right')">➡ 右轉 / Right</button>
      </div>

      <div class="row">
        <button onclick="sendMove('backward')">⬇ 後退 / Backward</button>
      </div>
    </div>
  </div>

  <div class="panel">
    <h3>超音波互動 / Ultrasound</h3>
    <div class="row">
      <button id="btnUsOnce" class="blue">量測一次 (ultrasound)</button>
      <button id="btnAutoOn" class="gray">自動避障 ON</button>
      <button id="btnAutoOff" class="gray">自動避障 OFF</button>
    </div>
    <div class="row">
      <button id="btnStreamOn" class="gray">距離串流 ON</button>
      <button id="btnStreamOff" class="gray">距離串流 OFF</button>
    </div>

    <p class="status">
      距離：<span id="usValue" class="mono">--</span> cm
      <span id="autoBadge" class="badge">AUTOAVOID:OFF</span>
      <span id="streamBadge" class="badge">US_STREAM:OFF</span>
    </p>
    <div class="hint">
      需要 Arduino 端支援指令：<span class="mono">autoavoid_on</span> / <span class="mono">autoavoid_off</span> /
      <span class="mono">us_stream_on</span> / <span class="mono">us_stream_off</span>（皆會帶 speedIndex 與換行）
    </div>
  </div>

  <div class="panel">
    <h3>表情與動作 / Emotions & Gestures</h3>
    <div class="row">
      <button onclick="sendGesture('happy')">開心 / Happy</button>
      <button onclick="sendGesture('superhappy')">超開心 / Super Happy</button>
      <button onclick="sendGesture('sad')">難過 / Sad</button>
      <button onclick="sendGesture('sleeping')">睡覺 / Sleeping</button>
    </div>
    <div class="row">
      <button onclick="sendGesture('confused')">困惑 / Confused</button>
      <button onclick="sendGesture('fretful')">煩躁 / Fretful</button>
      <button onclick="sendGesture('love')">愛心 / Love</button>
      <button onclick="sendGesture('angry')">生氣 / Angry</button>
    </div>
    <div class="row">
      <button onclick="sendGesture('magic')">魔法 / Magic</button>
      <button onclick="sendGesture('wave')">揮手 / Wave</button>
      <button onclick="sendGesture('victory')">勝利 / Victory</button>
      <button onclick="sendGesture('fail')">失敗 / Fail</button>
    </div>
    <div class="row">
      <button onclick="sendGesture('fart')">放屁 / Fart</button>
    </div>
  </div>

  <div class="panel">
    <img src="2_01.png" alt="Otto" style="max-width:320px; width:100%; height:auto;" />
  </div>

  <div id="log" class="log" aria-label="log"></div>

<script>
let device, server, uartService, tx, rx;
let speedIndex = 2;

const SERVICE_UUID = "0000ffe0-0000-1000-8000-00805f9b34fb";
const CHAR_UUID    = "0000ffe1-0000-1000-8000-00805f9b34fb";

const connectBtn    = document.getElementById("connectBle");
const disconnectBtn = document.getElementById("disconnectBle");
const statusEl      = document.getElementById("status");
const logEl         = document.getElementById("log");

const speedEl       = document.getElementById("speed");
const speedLabelEl  = document.getElementById("speedLabel");

const usValueEl     = document.getElementById("usValue");
const autoBadgeEl   = document.getElementById("autoBadge");
const streamBadgeEl = document.getElementById("streamBadge");

const btnUsOnce     = document.getElementById("btnUsOnce");
const btnAutoOn     = document.getElementById("btnAutoOn");
const btnAutoOff    = document.getElementById("btnAutoOff");
const btnStreamOn   = document.getElementById("btnStreamOn");
const btnStreamOff  = document.getElementById("btnStreamOff");

let rxBuffer = "";

// UI：速度滑桿
speedEl.addEventListener("input", () => {
  speedIndex = Number(speedEl.value);
  speedLabelEl.textContent = String(speedIndex);
});

// Log helper
function logLine(s){
  const time = new Date().toLocaleTimeString();
  logEl.textContent += `[${time}] ${s}\n`;
  logEl.scrollTop = logEl.scrollHeight;
}

function setConnectedUI(connected){
  connectBtn.disabled = connected;
  disconnectBtn.disabled = !connected;

  // 超音波按鈕也跟著鎖定
  btnUsOnce.disabled   = !connected;
  btnAutoOn.disabled   = !connected;
  btnAutoOff.disabled  = !connected;
  btnStreamOn.disabled = !connected;
  btnStreamOff.disabled= !connected;
}

// 連線
connectBtn.onclick = async () => {
  try{
    device = await navigator.bluetooth.requestDevice({
      // namePrefix 用在不同模組命名（Otto / NFU-...）比較彈性
      filters: [
        { namePrefix: "Otto" },
        { namePrefix: "NFU" }
      ],
      optionalServices: [SERVICE_UUID]
    });

    device.addEventListener("gattserverdisconnected", onDisconnected);

    server = await device.gatt.connect();
    uartService = await server.getPrimaryService(SERVICE_UUID);

    // 多數 BLE 串口模組是同一個 characteristic 負責讀/寫
    tx = await uartService.getCharacteristic(CHAR_UUID);
    rx = tx;

    // 開啟通知：接收 Arduino 回傳（US:xx / AUTOAVOID:ON / US_STREAM:ON 等）
    await rx.startNotifications();
    rx.addEventListener("characteristicvaluechanged", handleNotify);

    statusEl.textContent = "已連線: " + (device.name || "(unknown)");
    setConnectedUI(true);
    logLine("已連線，通知已開啟");
  }catch(e){
    alert("連線失敗: " + e);
    logLine("連線失敗: " + e);
  }
};

// 斷線
disconnectBtn.onclick = () => disconnect();

function disconnect(){
  try{
    if (rx){
      rx.removeEventListener("characteristicvaluechanged", handleNotify);
    }
  }catch(_){}

  if (device && device.gatt && device.gatt.connected){
    device.gatt.disconnect();
  } else {
    onDisconnected();
  }
}

function onDisconnected(){
  tx = null; rx = null;
  uartService = null;
  server = null;

  statusEl.textContent = "尚未連線";
  setConnectedUI(false);
  logLine("藍牙已斷線");
}

// 寫入（WebBT 常見限制一次 20 bytes 左右，保險起見做切片）
async function writeLine(str){
  if(!tx){
    alert("請先連線 BLE");
    return;
  }
  const data = new TextEncoder().encode(str);

  // 20 bytes 分包（含換行）
  const CHUNK = 20;
  for(let i=0;i<data.length;i+=CHUNK){
    const chunk = data.slice(i, i+CHUNK);
    await tx.writeValue(chunk);
  }
  logLine(">>> " + JSON.stringify(str));
}

// 指令：cmd + speedIndex + \n
function sendMove(cmd){
  const line = cmd + String(speedIndex) + "\n";
  writeLine(line);
}

// 表情：保持你原做法（用 0 當速度字尾）
function sendGesture(cmd){
  const line = cmd + "0\n";
  writeLine(line);
}

// 超音波：依 Arduino 端邏輯也要附 speedIndex（最後一碼會被拿去當速度）
function sendUltra(cmd){
  const line = cmd + String(speedIndex) + "\n";
  writeLine(line);
}

// 超音波互動按鈕
btnUsOnce.onclick   = () => sendUltra("ultrasound");
btnAutoOn.onclick   = () => sendUltra("autoavoid_on");
btnAutoOff.onclick  = () => sendUltra("autoavoid_off");
btnStreamOn.onclick = () => sendUltra("us_stream_on");
btnStreamOff.onclick= () => sendUltra("us_stream_off");

// 解析通知（Arduino 端回傳：
// "US:12", "AUTOAVOID:ON", "US_STREAM:ON", "AVOID:10" 等）
function handleNotify(event){
  const value = event.target.value;
  const chunk = new TextDecoder().decode(value);

  rxBuffer += chunk;

  // 盡量以換行切割（Arduino 用 println 會有 \r\n）
  let idx;
  while ((idx = rxBuffer.indexOf("\n")) !== -1){
    const line = rxBuffer.slice(0, idx).trim();
    rxBuffer = rxBuffer.slice(idx + 1);

    if(!line) continue;
    logLine("<<< " + line);
    applyIncoming(line);
  }

  // 若對端沒送換行，也嘗試處理單行關鍵字（保底）
  if (rxBuffer.length > 200){
    rxBuffer = rxBuffer.slice(-200);
  }
}

function applyIncoming(line){
  // 距離
  if (line.startsWith("US:")){
    const v = parseInt(line.slice(3), 10);
    if (!Number.isNaN(v)) usValueEl.textContent = String(v);
    return;
  }
  if (line.startsWith("AVOID:")){
    const v = parseInt(line.slice(6), 10);
    if (!Number.isNaN(v)) usValueEl.textContent = String(v);
    return;
  }

  // 狀態徽章
  if (line.startsWith("AUTOAVOID:")){
    const s = line.slice("AUTOAVOID:".length).trim().toUpperCase();
    autoBadgeEl.textContent = "AUTOAVOID:" + s;
    return;
  }
  if (line.startsWith("US_STREAM:")){
    const s = line.slice("US_STREAM:".length).trim().toUpperCase();
    streamBadgeEl.textContent = "US_STREAM:" + s;
    return;
  }
}

// 初始 UI
setConnectedUI(false);
</script>
</body>
</html>

Arduino程式：


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/*  
*                        
*    ______________      ____                                _____    _  _     _
*   |   __     __  |    / __ \ _________ _________   ____   |  __ \  | | \\   //  
*   |  |__|   |__| |   | |  | |___   ___ ___   ___  / __ \  | |  | | | |  \\ //  
*   |_    _________|   | |  | |   | |       | |    | |  | | | |  | | | |   | |
*   | \__/         |   | |__| |   | |       | |    | |__| | | |__| | | |   | |
*   |              |    \____/    |_|       |_|     \____/  |_____/  |_|   |_|
*   |_    _________|
*     \__/            
*
*    This Sketch was created to control Otto Starter with the Offical Web Bluetooth Controller for Otto DIY Robots.
*    For any question about this script you can contact us at education@ottodiy.com
*    By: Iván R. Artiles
*/

#include <Otto.h>
#include <EEPROM.h>

#define LEFTLEG 2
#define RIGHTLEG 3
#define LEFTFOOT 4
#define RIGHTFOOT 5

#define TRIG 8
#define ECHO 9

#define BLE_TX 11
#define BLE_RX 12

#define BUZZER 13

#if defined(ARDUINO_ARCH_ESP32)
#include "BluetoothSerial.h"
String device_name = "Otto BT Esp32 A24";
BluetoothSerial bluetooth;
#else
#include <SoftwareSerial.h>
String device_name = "NFU-OSSR-A24";
SoftwareSerial bluetooth(BLE_TX, BLE_RX);
#endif

Otto Ottobot;

int move_speed[] = {3000, 2000, 1000, 750, 500, 250};
int n = 2;

int ultrasound_threeshold = 15;
String command = "";

bool autoAvoid = false;
bool usStream = false;

unsigned long lastUsStreamTime = 0;
const unsigned long usStreamInterval = 500;

int v = 0;
int i;
int positions[] = {90, 90, 90, 90};
int8_t trims[4] = {0, 0, 0, 0};
unsigned long sync_time = 0;

bool calibration = false;
int isavailable = 1;

long ultrasound_distance() {
  long duration;
  long distance;

  digitalWrite(TRIG, LOW);
  delayMicroseconds(2);

  digitalWrite(TRIG, HIGH);
  delayMicroseconds(10);
  digitalWrite(TRIG, LOW);

  duration = pulseIn(ECHO, HIGH, 30000);

  if (duration == 0) {
    return 999;
  }

  distance = duration / 58;
  return distance;
}

void setup() {
  Serial.begin(9600);

  Ottobot.init(LEFTLEG, RIGHTLEG, LEFTFOOT, RIGHTFOOT, true, BUZZER);

  pinMode(TRIG, OUTPUT);
  pinMode(ECHO, INPUT);

#if defined(ARDUINO_ARCH_ESP32)
  Serial.println("ESP32");
  bluetooth.begin(device_name);
#else
  Serial.println("No ESP32");
  Serial.println(device_name);

  bluetooth.begin(9600);
  bluetooth.print("AT+NAME" + device_name + "\r\n");
#endif

  Ottobot.home();
}

void loop() {
  checkBluetooth();

  if (Serial.available() > 0) {
    command = Serial.readStringUntil('\n');
    command.trim();

    Serial.print("Received: ");
    Serial.println(command);
  }

  if (autoAvoid) {
    AutoAvoidance();
  }

  if (usStream) {
    sendUltrasoundStream();
  }

  if (command == "forward") {
    Forward();
  }
  else if (command == "backward") {
    Backward();
  }
  else if (command == "right") {
    Right();
  }
  else if (command == "left") {
    Left();
  }
  else if (command == "stop") {
    Stop();
  }
  else if (command == "avoidance") {
    AutoAvoidance();
  }
  else if (command == "force") {
    UseForce();
  }
}

void checkBluetooth() {
  char charBuffer[30];

  if (bluetooth.available() > 0) {
    isavailable = 1;

    int numberOfBytesReceived = bluetooth.readBytesUntil('\n', charBuffer, 29);
    if (numberOfBytesReceived <= 0) return;

    charBuffer[numberOfBytesReceived] = '\0';

    String received = String(charBuffer);
    received.trim();

    Serial.print("Received by BLE: ");
    Serial.println(received);

    char last = received.charAt(received.length() - 1);

    if (last >= '0' && last <= '9') {
      n = last - '0';

      if (n < 0) n = 0;
      if (n > 5) n = 5;

      received.remove(received.length() - 1);
    }

    if (received == "forward") {
      command = "forward";
      autoAvoid = false;
    }
    else if (received == "backward") {
      command = "backward";
      autoAvoid = false;
    }
    else if (received == "right") {
      command = "right";
      autoAvoid = false;
    }
    else if (received == "left") {
      command = "left";
      autoAvoid = false;
    }
    else if (received == "stop") {
      command = "stop";
      autoAvoid = false;
      usStream = false;

      bluetooth.println("AUTOAVOID:OFF");
      bluetooth.println("US_STREAM:OFF");
    }

    else if (received == "ultrasound") {
      command = "";
      sendUltrasoundOnce();
    }
    else if (received == "autoavoid_on") {
      command = "";
      autoAvoid = true;
      bluetooth.println("AUTOAVOID:ON");
    }
    else if (received == "autoavoid_off") {
      command = "";
      autoAvoid = false;
      Ottobot.home();
      bluetooth.println("AUTOAVOID:OFF");
    }
    else if (received == "us_stream_on") {
      command = "";
      usStream = true;
      bluetooth.println("US_STREAM:ON");
    }
    else if (received == "us_stream_off") {
      command = "";
      usStream = false;
      bluetooth.println("US_STREAM:OFF");
    }

    else if (received == "happy") {
      command = "";
      Ottobot.playGesture(OttoHappy);
    }
    else if (received == "superhappy") {
      command = "";
      Ottobot.playGesture(OttoSuperHappy);
    }
    else if (received == "sad") {
      command = "";
      Ottobot.playGesture(OttoSad);
    }
    else if (received == "sleeping") {
      command = "";
      Ottobot.playGesture(OttoSleeping);
    }
    else if (received == "confused") {
      command = "";
      Ottobot.playGesture(OttoConfused);
    }
    else if (received == "fretful") {
      command = "";
      Ottobot.playGesture(OttoFretful);
    }
    else if (received == "love") {
      command = "";
      Ottobot.playGesture(OttoLove);
    }
    else if (received == "angry") {
      command = "";
      Ottobot.playGesture(OttoAngry);
    }
    else if (received == "magic") {
      command = "";
      Ottobot.playGesture(OttoMagic);
    }
    else if (received == "wave") {
      command = "";
      Ottobot.playGesture(OttoWave);
    }
    else if (received == "victory") {
      command = "";
      Ottobot.playGesture(OttoVictory);
    }
    else if (received == "fail") {
      command = "";
      Ottobot.playGesture(OttoFail);
    }
    else if (received == "fart") {
      command = "";
      Ottobot.playGesture(OttoFart);
    }

    else if (received.startsWith("C")) {
      if (calibration == false) {
        Ottobot._moveServos(10, positions);
        calibration = true;
        delay(50);
      }

      command = "calibration";
      Calibration(received);
    }
    else if (received == "walk_test") {
      command = "";
      Ottobot.walk(3, 1000, FORWARD);
    }
    else if (received == "save_calibration") {
      command = "";
      readChar('s');
    }
  }
  else {
    if (isavailable == 1) {
      Serial.println("No Bluetooth is available.");
      isavailable = 0;
    }
  }
}

void sendUltrasoundOnce() {
  long d = ultrasound_distance();

  bluetooth.print("US:");
  bluetooth.println(d);

  Serial.print("US:");
  Serial.println(d);
}

void sendUltrasoundStream() {
  if (millis() - lastUsStreamTime >= usStreamInterval) {
    lastUsStreamTime = millis();

    long d = ultrasound_distance();

    bluetooth.print("US:");
    bluetooth.println(d);

    Serial.print("US:");
    Serial.println(d);
  }
}

void Forward() {
  Ottobot.walk(1, move_speed[n], FORWARD);
}

void Backward() {
  Ottobot.walk(1, move_speed[n], BACKWARD);
}

void Right() {
  Ottobot.turn(1, move_speed[n], RIGHT);
}

void Left() {
  Ottobot.turn(1, move_speed[n], LEFT);
}

void Stop() {
  Ottobot.home();
  command = "";
}

void AutoAvoidance() {
  long d = ultrasound_distance();

  bluetooth.print("AVOID:");
  bluetooth.println(d);

  Serial.print("AVOID:");
  Serial.println(d);

  if (d <= ultrasound_threeshold) {
    Ottobot.playGesture(OttoConfused);
    delay(100);

    unsigned long startBack = millis();
    while (millis() - startBack < 5000) {
      Ottobot.walk(1, move_speed[n], BACKWARD);
    }

    Ottobot.home();
    delay(200);

    unsigned long startTurn = millis();
    while (millis() - startTurn < 5000) {
      Ottobot.turn(1, move_speed[n], LEFT);
    }

    Ottobot.home();
    delay(200);
  }
  else {
    Ottobot.walk(1, move_speed[n], FORWARD);
  }
}

void UseForce() {
  long d = ultrasound_distance();

  if (d <= ultrasound_threeshold) {
    Ottobot.walk(1, move_speed[n], BACKWARD);
  }
  else if (d > 10 && d < 15) {
    Ottobot.home();
  }
  else if (d >= 15 && d < 30) {
    Ottobot.walk(1, move_speed[n], FORWARD);
  }
  else {
    Ottobot.home();
  }
}

void Settings(String ts_ultrasound) {
  ultrasound_threeshold = ts_ultrasound.toInt();
}

void Calibration(String c) {
  if (sync_time < millis()) {
    sync_time = millis() + 50;

    for (int k = 1; k < c.length(); k++) {
      readChar(c[k]);
    }
  }
}

void readChar(char ch) {
  if (ch >= '0' && ch <= '9') {
    v = (v * 10 + ch) - 48;
    return;
  }

  switch (ch) {
    case 'a':
      trims[0] = v - 90;
      setTrims();
      v = 0;
      break;

    case 'b':
      trims[1] = v - 90;
      setTrims();
      v = 0;
      break;

    case 'c':
      trims[2] = v - 90;
      setTrims();
      v = 0;
      break;

    case 'd':
      trims[3] = v - 90;
      setTrims();
      v = 0;
      break;

    case 's':
      for (i = 0; i <= 3; i++) {
        EEPROM.write(i, trims[i]);
      }

      delay(500);
      Ottobot.sing(S_superHappy);
      Ottobot.crusaito(1, 1000, 25, -1);
      Ottobot.crusaito(1, 1000, 25, 1);
      Ottobot.sing(S_happy_short);
      break;
  }
}

void setTrims() {
  Ottobot.setTrims(trims[0], trims[1], trims[2], trims[3]);
  Ottobot._moveServos(10, positions);
}


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