2026年1月5日 星期一

[OTTO Ninja] OTTO忍者機器人新增走路速度功能

 


程式碼：


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#include <ESP8266WiFi.h>
#include <ESP8266WebServer.h>
#include <WebSocketsServer.h>
#include <Servo.h>

/* ========= WiFi AP ========= */
const char* ssid = "OTTO NINJA";
const char* password = "12345678";

/* ========= Web ========= */
ESP8266WebServer server(80);
WebSocketsServer webSocket(81);

/* ========= Servo Pins（不改你原本） ========= */
#define PIN_LF D7   // 左腳
#define PIN_LL D8   // 左腿
#define PIN_RF D3   // 右腳
#define PIN_RL D4   // 右腿

Servo servoLF, servoLL, servoRF, servoRL;

/* ========= 校正 / 姿態參數（已調到接近影片） ========= */
int LA0 = 60;     // 人形站立左腿
int RA0 = 120;    // 人形站立右腿
int LA1 = 180;    // 車形左腿
int RA1 = 0;      // 車形右腿

// 走路側傾（關鍵）
int LATL = 80;
int RATL = 150;
int LATR = 40;
int RATR = 100;

/* ========= 控制輸入 ========= */
int CTRL_JX = 0;   // -100 ~ 100
int CTRL_JY = 0;   // -100 ~ 100

/* ========= 模式 ========= */
enum MODE { WALK, ROLL };
MODE currentMode = WALK;

/* ========= 三段走路速度 ========= */
enum WALK_SPEED { SLOW, NORMAL, FAST };
WALK_SPEED walkSpeed = NORMAL;

/* ========= 計時 ========= */
unsigned long stepTimer = 0;

/* ========= 依速度模式取得步態參數 ========= */
void getWalkParams(int &baseTime, int &stepMin, int &stepMax, int &holdTime){
  switch(walkSpeed){
    case SLOW:
      baseTime = 380;
      stepMin  = 14;
      stepMax  = 26;
      holdTime = 160;
      break;
    case NORMAL:
      baseTime = 260;
      stepMin  = 18;
      stepMax  = 40;
      holdTime = 120;
      break;
    case FAST:
      baseTime = 190;
      stepMin  = 22;
      stepMax  = 45;
      holdTime = 70;
      break;
  }
}

/* ========= HTML（虛擬搖桿＋死區＋三段速度） ========= */
const char MAIN_PAGE[] PROGMEM = R"=====(<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8">
<meta name="viewport" content="width=device-width,initial-scale=1">
<title>OTTO NINJA</title>
<style>
body{font-family:Arial;background:#f4f6f8;text-align:center;margin:0;padding:16px}
.card{max-width:420px;margin:auto;background:#fff;border-radius:16px;padding:16px}
canvas{background:#ecf0f1;border-radius:50%;touch-action:none}
button{width:120px;height:42px;margin:4px;border:none;border-radius:10px;background:#2d7ef7;color:#fff}
.green{background:#00a86b}
.gray{background:#6c757d}
</style>
</head>
<body>
<div class="card">
<h2>OTTO NINJA</h2>

<div id="status">未連線</div>
<canvas id="joy" width="220" height="220"></canvas>

<div>
<button class="gray" onclick="connectWS()">連線</button>
</div>

<div>
<button onclick="sendCmd('mode_walk')">人形</button>
<button onclick="sendCmd('mode_roll')">車形</button>
</div>

<div>
<button onclick="sendCmd('walk_slow')">慢走</button>
<button onclick="sendCmd('walk_normal')">正常</button>
<button onclick="sendCmd('walk_fast')">快走</button>
</div>
</div>

<script>
let ws=null;
const canvas=document.getElementById("joy");
const ctx=canvas.getContext("2d");
const cx=canvas.width/2, cy=canvas.height/2;
const R=cx-10, knobR=26;
const DEAD=20;
let dragging=false,x=0,y=0;

function connectWS(){
  ws=new WebSocket("ws://"+location.hostname+":81/");
  ws.onopen=()=>document.getElementById("status").innerText="已連線";
  ws.onclose=()=>document.getElementById("status").innerText="中斷";
}
function sendCmd(c){ if(ws&&ws.readyState===1) ws.send(c); }

function draw(){
  ctx.clearRect(0,0,canvas.width,canvas.height);
  ctx.beginPath();ctx.arc(cx,cy,R,0,Math.PI*2);ctx.fillStyle="#ddd";ctx.fill();
  ctx.beginPath();ctx.arc(cx+x,cy+y,knobR,0,Math.PI*2);ctx.fillStyle="#0984e3";ctx.fill();
}
function update(px,py){
  let dx=px-cx,dy=py-cy;
  let d=Math.hypot(dx,dy);
  if(d>R){dx*=R/d;dy*=R/d;}
  x=dx;y=dy;
  let X=Math.round(x/R*100);
  let Y=Math.round(-y/R*100);
  let m=Math.hypot(X,Y);
  if(m<DEAD){X=0;Y=0;}
  else{
    let s=(m-DEAD)/(100-DEAD);
    X=Math.round(X/m*s*100);
    Y=Math.round(Y/m*s*100);
  }
  if(ws&&ws.readyState===1) ws.send(`move ${X} ${Y}`);
  draw();
}
function reset(){
  x=0;y=0;
  if(ws&&ws.readyState===1) ws.send("move 0 0");
  draw();
}
canvas.addEventListener("pointerdown",e=>{dragging=true;update(e.offsetX,e.offsetY);});
canvas.addEventListener("pointermove",e=>{if(dragging)update(e.offsetX,e.offsetY);});
canvas.addEventListener("pointerup",e=>{dragging=false;reset();});
canvas.addEventListener("pointercancel",reset);
draw();
</script>
</body>
</html>)=====";

/* ========= 動作基礎 ========= */
void stand(){
  servoLL.attach(PIN_LL); servoRL.attach(PIN_RL);
  servoLF.attach(PIN_LF); servoRF.attach(PIN_RF);
  servoLL.write(LA0); servoRL.write(RA0);
  servoLF.write(90); servoRF.write(90);
}
void setRoll(){
  servoLL.attach(PIN_LL); servoRL.attach(PIN_RL);
  servoLL.write(LA1); servoRL.write(RA1);
}

/* ========= WebSocket ========= */
void webSocketEvent(uint8_t n,WStype_t t,uint8_t* p,size_t l){
  if(t!=WStype_TEXT) return;
  String cmd=String((char*)p).substring(0,l);
  if(cmd=="mode_walk"){currentMode=WALK;stand();}
  else if(cmd=="mode_roll"){currentMode=ROLL;setRoll();}
  else if(cmd=="walk_slow") walkSpeed=SLOW;
  else if(cmd=="walk_normal") walkSpeed=NORMAL;
  else if(cmd=="walk_fast") walkSpeed=FAST;
  else if(cmd.startsWith("move")){
    int a=cmd.indexOf(' '),b=cmd.lastIndexOf(' ');
    CTRL_JX=cmd.substring(a+1,b).toInt();
    CTRL_JY=cmd.substring(b+1).toInt();
  }
}

/* ========= SETUP ========= */
void setup(){
  Serial.begin(115200);
  stand();
  WiFi.mode(WIFI_AP);
  WiFi.softAP(ssid,password);
  server.on("/",[](){server.send_P(200,"text/html",MAIN_PAGE);});
  server.begin();
  webSocket.begin();
  webSocket.onEvent(webSocketEvent);
}

/* ========= LOOP ========= */
void loop(){
  server.handleClient();
  webSocket.loop();

  bool idle = abs(CTRL_JX)<10 && abs(CTRL_JY)<10;
  if(currentMode==WALK){
    if(idle){stand();return;}
    int baseTime,stepMin,stepMax,hold;
    getWalkParams(baseTime,stepMin,stepMax,hold);
    int STEP=map(abs(CTRL_JY),0,100,stepMin,stepMax);
    unsigned long now=millis();
    int base=baseTime;
    int t=(now-stepTimer)%(base*2+hold);
    servoLL.attach(PIN_LL); servoRL.attach(PIN_RL);
    servoLF.attach(PIN_LF); servoRF.attach(PIN_RF);
    if(t<base){
      servoLL.write(LATR); servoRL.write(RATR);
      servoRF.write(90-STEP);
    }else if(t<base+hold){
    }else{
      servoLL.write(LATL); servoRL.write(RATL);
      servoLF.write(90+STEP);
    }
  }
  else{
    if(idle){servoLF.write(90);servoRF.write(90);return;}
    servoLF.attach(PIN_LF); servoRF.attach(PIN_RF);
    int l=map(CTRL_JY+CTRL_JX,-200,200,45,135);
    int r=map(CTRL_JY-CTRL_JX,-200,200,45,135);
    servoLF.write(l); servoRF.write(r);
  }
}
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