[OTTO Biped]讓OTTO雙足機器人走路

軟體：ottoblockly

範例：向前走

arduino程式：

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#include <Otto.h> Otto Otto; #define LeftLeg 2 // left leg pin, servo[0] #define RightLeg 3 // right leg pin, servo[1] #define LeftFoot 4 // left foot pin, servo[2] #define RightFoot 5 // right foot pin, servo[3] #define Buzzer 13 //buzzer pin void setup() { Otto.init(LeftLeg, RightLeg, LeftFoot, RightFoot, true, Buzzer); Otto.home(); // Here is where your robot is configured, the servo pins connections and buzzer } void loop() { Otto.walk(1,1000,1); // FORWARD }

範例二、前進與後退

arduino程式：

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#include <Otto.h> Otto Otto; #define LeftLeg 2 // left leg pin, servo[0] #define RightLeg 3 // right leg pin, servo[1] #define LeftFoot 4 // left foot pin, servo[2] #define RightFoot 5 // right foot pin, servo[3] #define Buzzer 13 //buzzer pin void setup() { Otto.init(LeftLeg, RightLeg, LeftFoot, RightFoot, true, Buzzer); Otto.home(); } void loop() { Otto.walk(1,1000,1); // FORWARD delay(3*1000); Otto.walk(1,1000,-1); // BACKWARD delay(3*1000); }

範例三、加上重覆迴圈

arduino程式：

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#include <Otto.h> Otto Otto; #define LeftLeg 2 // left leg pin, servo[0] #define RightLeg 3 // right leg pin, servo[1] #define LeftFoot 4 // left foot pin, servo[2] #define RightFoot 5 // right foot pin, servo[3] #define Buzzer 13 //buzzer pin void setup() { Otto.init(LeftLeg, RightLeg, LeftFoot, RightFoot, true, Buzzer); Otto.home(); } void loop() { for (int count=0 ; count<3 ; count++) { Otto.walk(1,1000,1); // FORWARD delay(3*1000); } for (int count=0 ; count<3 ; count++) { Otto.walk(1,1000,-1); // BACKWARD delay(3*1000); } }

範例四、所有動作

arduino程式：

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#include <Otto.h> Otto Otto; #define LeftLeg 2 // left leg pin, servo[0] #define RightLeg 3 // right leg pin, servo[1] #define LeftFoot 4 // left foot pin, servo[2] #define RightFoot 5 // right foot pin, servo[3] #define Buzzer 13 //buzzer pin void setup() { Otto.init(LeftLeg, RightLeg, LeftFoot, RightFoot, true, Buzzer); Otto.home(); } void loop() { for (int count=0 ; count<3 ; count++) { Otto.walk(1,1000,1); // FORWARD } delay(2*1000); for (int count=0 ; count<3 ; count++) { Otto.walk(1,1000,-1); // BACKWARD } delay(2*1000); for (int count=0 ; count<3 ; count++) { Otto.turn(1,1000,1); // LEFT } delay(2*1000); for (int count=0 ; count<3 ; count++) { Otto.turn(1,1000,-1); // RIGHT } delay(2*1000); for (int count=0 ; count<3 ; count++) { Otto.bend(1,1000,1); } delay(2*1000); for (int count=0 ; count<3 ; count++) { Otto.bend(1,1000,-1); } delay(2*1000); for (int count=0 ; count<3 ; count++) { Otto.shakeLeg(1,1000,-1); } delay(2*1000); for (int count=0 ; count<3 ; count++) { Otto.shakeLeg(1,1000,1); } delay(2*1000); for (int count=0 ; count<3 ; count++) { Otto.jump(1,1000); } delay(2*1000); }