2025年12月12日 星期五

會跳舞機器人奧托雙足(Otto Biped)

前一篇：OTTO 忍者機器人
奧托雙足：Otto DIY build your own robot

操作介面：



HTML腳本：



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<!DOCTYPE html>
<html lang="zh-TW">
<head>
<meta charset="UTF-8">
<title>Otto Web BLE Controller</title>
<style>
body { font-family: Arial, sans-serif; text-align:center; background:#f9f9f9; }
button{
    width:140px; height:60px; margin:10px; font-size:16px;
    border:none; border-radius:10px; background:#4CAF50; color:white;
}
button.red{ background:#d9534f; }
button.blue{ background:#0275d8;}
.container{ margin-top:30px; }
</style>
</head>
<body>

<h2>OTTO BLE 遙控器</h2>
<button id="connectBle">連線 / Connect</button>
<button id="disconnectBle" disabled>中斷連線 / Disconnect</button>
<p id="status">尚未連線</p>

<div class="container">
    <button onclick="sendMove('forward')">⬆ 前進 / Forward (forward)</button><br>
    <button onclick="sendMove('left')">⬅ 左轉 / Left (left)</button>
    <button onclick="sendMove('stop')" class="red">⏹ 停止 / Stop (stop)</button>
    <button onclick="sendMove('right')">➡ 右轉 / Right (right)</button><br>
    <button onclick="sendMove('backward')">⬇ 後退 / Backward (backward)</button>
</div>

<h3>表情與動作 / Emotions & Gestures</h3>
<!-- 第一列 -->
<button onclick="sendGesture('happy')">開心 / Happy (happy)</button>
<button onclick="sendGesture('superhappy')">超開心 / Super Happy (superhappy)</button>
<button onclick="sendGesture('sad')">難過 / Sad (sad)</button>
<button onclick="sendGesture('sleeping')">睡覺 / Sleeping (sleeping)</button><br>
<!-- 第二列 -->
<button onclick="sendGesture('confused')">困惑 / Confused (confused)</button>
<button onclick="sendGesture('fretful')">煩躁 / Fretful (fretful)</button>
<button onclick="sendGesture('love')">愛心 / Love (love)</button>
<button onclick="sendGesture('angry')">生氣 / Angry (angry)</button><br>
<!-- 第三列 -->
<button onclick="sendGesture('magic')">魔法 / Magic (magic)</button>
<button onclick="sendGesture('wave')">揮手 / Wave (wave)</button>
<button onclick="sendGesture('victory')">勝利 / Victory (victory)</button>
<button onclick="sendGesture('fail')">失敗 / Fail (fail)</button><br>
<!-- 第四列 -->
<button onclick="sendGesture('fart')">放屁 / Fart (fart)</button>
<br/>
<img src="2_01.png">
<script>
let device, server, uartService, tx;

// 速度索引 0~5，先固定 2，如果要加 slider 再改這裡
let speedIndex = 2;

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

connectBtn.onclick = async () => {
    try{
        device = await navigator.bluetooth.requestDevice({
            filters:[
                { namePrefix: "Otto" },
                { services: ["0000ffe0-0000-1000-8000-00805f9b34fb"] }
            ]
        });

        device.addEventListener("gattserverdisconnected", onDisconnected);

        server = await device.gatt.connect();
        uartService = await server.getPrimaryService("0000ffe0-0000-1000-8000-00805f9b34fb");
        tx = await uartService.getCharacteristic("0000ffe1-0000-1000-8000-00805f9b34fb");

        statusEl.innerHTML = "已連線: " + device.name;
        connectBtn.disabled = true;
        disconnectBtn.disabled = false;
    }catch(e){
        alert("連線失敗: " + e);
    }
};

disconnectBtn.onclick = () => {
    disconnect();
};

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

function onDisconnected(){
    tx = null;
    uartService = null;
    server = null;
    statusEl.innerHTML = "尚未連線";
    connectBtn.disabled = false;
    disconnectBtn.disabled = true;
    console.log("藍牙已斷線");
}

function sendRaw(str){
    if(!tx) { 
        alert("請先連線 BLE"); 
        return; 
    }
    const data = new TextEncoder().encode(str);
    tx.writeValue(data);
    console.log(">>> Sent:", JSON.stringify(str));
}

// 移動 / 模式：指令 + 速度數字 + 換行
function sendMove(cmd){
    const line = cmd + String(speedIndex) + "\n";
    sendRaw(line);
}

// 表情：指令 + "0" + 換行，讓 Arduino 那邊 n 會被設成 0（合法索引）
function sendGesture(cmd){
    const line = cmd + "0\n";
    sendRaw(line);
}
</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 A21";
  BluetoothSerial bluetooth;
#else
  #include <SoftwareSerial.h>
  String device_name = "NFU-OSSR-A21";
  SoftwareSerial bluetooth(BLE_TX, BLE_RX);
#endif

int move_speed[] = {3000, 2000, 1000, 750, 500, 250};
int n = 2;
int ultrasound_threeshold = 15;
String command = "";

int v;
int ch;
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;
  
Otto Ottobot;

long ultrasound_distance() {
   long duration, distance;
   digitalWrite(TRIG,LOW);
   delayMicroseconds(2);
   digitalWrite(TRIG, HIGH);
   delayMicroseconds(10);
   digitalWrite(TRIG, LOW);
   duration = pulseIn(ECHO, HIGH);
   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.print("ESP32");
  bluetooth.begin(device_name);
  //bluetooth.deleteAllBondedDevices(); // Uncomment this to delete paired devices; Must be called after begin
#else
  Serial.print("No ESP32");
  Serial.print(device_name);
  bluetooth.begin(9600);
  bluetooth.print("AT+NAME" + device_name+ "\r\n");
#endif
  
  Ottobot.home();
  v = 0;
}

void loop() {
  checkBluetooth();//if something is coming at us
    if (Serial.available() > 0) {
    command = Serial.readStringUntil('\n');
    command.trim(); // 去掉換行與空白
    Serial.print("Received: ");
    Serial.println(command);
  }
  if (command == "forward") {
    Forward();
  }
  else if (command == "backward") {
    Backward();
  }
  else if (command == "right") {
    Right();
  }
  else if (command == "left") {
    Left();
  }
  else if (command == "avoidance") {
    Avoidance();
  }
  else if (command == "force") {
    UseForce();
  }
}
void checkBluetooth() {
  char charBuffer[20]; // 最多讀 19 字元 + 結尾 0
  
  if (bluetooth.available() > 0) {
    isavailable = 1;

    int numberOfBytesReceived = bluetooth.readBytesUntil('\n', charBuffer, 19);
    if (numberOfBytesReceived <= 0) return;

    charBuffer[numberOfBytesReceived] = '\0'; // C 字串結尾
    Serial.print("Received by BLE: ");
    Serial.println(charBuffer);

    // 最後一個字元當作速度 index（0~9），避免不是數字時出錯可稍微檢查
    char last = charBuffer[numberOfBytesReceived - 1];
    if (last >= '0' && last <= '9') {
      n = last - '0';
      if (n < 0) n = 0;
      if (n > 5) n = 5;  // 限制在 0~5
    }

    // 前面幾個字元當作指令名稱
    if (strstr(charBuffer, "forward") == &charBuffer[0]) {
      command = "forward";
    }   
    else if (strstr(charBuffer, "backward") == &charBuffer[0]) {
      command = "backward";
    }
    else if (strstr(charBuffer, "right") == &charBuffer[0]) {
      command = "right";
    }
    else if (strstr(charBuffer, "left") == &charBuffer[0]) {
      command = "left";
    }
    else if (strstr(charBuffer, "stop") == &charBuffer[0]) {
      command = "stop";
      Stop();
    }
    else if (strstr(charBuffer, "ultrasound") == &charBuffer[0]) {
      Stop();
      bluetooth.print(ultrasound_distance());
    }
    else if (strstr(charBuffer, "avoidance") == &charBuffer[0]) {
      command = "avoidance";
    }
    else if (strstr(charBuffer, "force") == &charBuffer[0]) {
      command = "force";
    }

    // ===== 表情 / 手勢指令區 =====
    else if (strstr(charBuffer, "happy") == &charBuffer[0]) {
      command = "";
      Ottobot.playGesture(OttoHappy);
    }
    else if (strstr(charBuffer, "superhappy") == &charBuffer[0]) {
      command = "";
      Ottobot.playGesture(OttoSuperHappy);
    }
    else if (strstr(charBuffer, "sad") == &charBuffer[0]) {
      command = "";
      Ottobot.playGesture(OttoSad);
    }
    else if (strstr(charBuffer, "sleeping") == &charBuffer[0]) {
      command = "";
      Ottobot.playGesture(OttoSleeping);
    }
    else if (strstr(charBuffer, "confused") == &charBuffer[0]) {
      command = "";
      Ottobot.playGesture(OttoConfused);
    }
    else if (strstr(charBuffer, "fretful") == &charBuffer[0]) {
      command = "";
      Ottobot.playGesture(OttoFretful);
    }
    else if (strstr(charBuffer, "love") == &charBuffer[0]) {
      command = "";
      Ottobot.playGesture(OttoLove);
    }
    else if (strstr(charBuffer, "angry") == &charBuffer[0]) {
      command = "";
      Ottobot.playGesture(OttoAngry);
    }
    else if (strstr(charBuffer, "magic") == &charBuffer[0]) {
      command = "";
      Ottobot.playGesture(OttoMagic);
    }
    else if (strstr(charBuffer, "wave") == &charBuffer[0]) {
      command = "";
      Ottobot.playGesture(OttoWave);
    }
    else if (strstr(charBuffer, "victory") == &charBuffer[0]) {
      command = "";
      Ottobot.playGesture(OttoVictory);
    }
    else if (strstr(charBuffer, "fail") == &charBuffer[0]) {
      command = "";
      Ottobot.playGesture(OttoFail);
    }
    else if (strstr(charBuffer, "fart") == &charBuffer[0]) {
      command = "";
      Ottobot.playGesture(OttoFart);
    }

    // 校正與測試
    else if (strstr(charBuffer, "C") == &charBuffer[0]) {
      if (calibration == false) {
        Ottobot._moveServos(10, positions);
        calibration = true;
        delay(50);
      } 
      command = "calibration";
      Calibration(String(charBuffer));
    }
    else if (strstr(charBuffer, "walk_test") == &charBuffer[0]) {
      command = "";
      Ottobot.walk(3, 1000, FORWARD);
    }
    else if (strstr(charBuffer, "save_calibration") == &charBuffer[0]) {
      command = "";
      readChar('s');
    }
  }
  else {
    if (isavailable == 1) {
      Serial.println("No Bluetooth is available.");
      isavailable = 0;
    }
  }
}

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

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

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

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

void Stop() {
  Ottobot.home();
}

void Avoidance() {
  if (ultrasound_distance() <= ultrasound_threeshold) {
    Ottobot.playGesture(OttoConfused);
    for (int count=0 ; count<2 ; count++) {
      Ottobot.walk(1,move_speed[n],-1); // BACKWARD
    }
    for (int count=0 ; count<4 ; count++) {
      Ottobot.turn(1,move_speed[n],1); // LEFT
    }
  }
  Ottobot.walk(1,move_speed[n],1); // FORWARD
}

void UseForce() {
  if (ultrasound_distance() <= ultrasound_threeshold) {
      Ottobot.walk(1,move_speed[n],-1); // BACKWARD
    }
    if ((ultrasound_distance() > 10) && ( ultrasound_distance() < 15)) {
      Ottobot.home();
    }
    if ((ultrasound_distance() > 15) && ( ultrasound_distance() < 30)) {
      Ottobot.walk(1,move_speed[n],1); // FORWARD
    }
    if (ultrasound_distance() > 30) {
      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) {
  switch (ch) {
  case '0'...'9':
    v = (v * 10 + ch) - 48;
    break;
   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=i+1) {
      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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