[OTTO Biped]OTTO雙足機器人藍芽通訊

 

Web 控制器：https://chengminlin2.github.io/OttoBLE/

範例一、前後退控制

Arduino程式：

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#include <Otto.h> Otto Otto; #include <SoftwareSerial.h> SoftwareSerial mySerialBT(11,12); String data = ""; #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(); mySerialBT.begin(9600); } void loop() { if (mySerialBT.available()) { data = mySerialBT.readStringUntil('\n'); if (data.indexOf("forward") >= 0) { Otto.walk(1,1000,1); // FORWARD } if (data.indexOf("backward") >= 0) { Otto.walk(1,1000,1); // FORWARD } } }

範例二、持續前進和後退

Arduino程式：

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#include <Otto.h> Otto Otto; #include <SoftwareSerial.h> SoftwareSerial mySerialBT(11,12); String data = ""; int command = 0; #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(); mySerialBT.begin(9600); } void loop() { if (mySerialBT.available()) { data = mySerialBT.readStringUntil('\n'); if (data.indexOf("stop") >= 0) { command = 0; } if (data.indexOf("forward") >= 0) { command = 1; } if (data.indexOf("backward") >= 0) { command = 2; } } // stop // forward switch (command) { case 0: Otto.home(); break; case 1: Otto.walk(1,1000,1); // FORWARD break; case 2: Otto.walk(1,1000,-1); // BACKWARD break; } }