OTTO机器人之MAX7219点阵
·
接线
在IN方向的针脚
Arduino Uno — MAX7219
5V <—> VCC
GND <—> GND
12 <—> DIN
11 <—> CS
10 <—> CLK
所需的库
https://github.com/wayoda/LedControl
代码
#include <LedControl.h>
byte e[8]= {0x7C,0x7C,0x60,0x7C,0x7C,0x60,0x7C,0x7C}; //E
byte d[8]= {0x78,0x7C,0x66,0x66,0x66,0x66,0x7C,0x78}; //D
byte u[8]= {0x66,0x66,0x66,0x66,0x66,0x66,0x7E,0x7E}; //U
byte c[8]= {0x7E,0x7E,0x60,0x60,0x60,0x60,0x7E,0x7E}; //C
byte eight[8]= {0x7E,0x7E,0x66,0x7E,0x7E,0x66,0x7E,0x7E}; //8
byte s[8]= {0x7E,0x7C,0x60,0x7C,0x3E,0x06,0x3E,0x7E}; //S
byte dot[8]= {0x00,0x00,0x00,0x00,0x00,0x00,0x18,0x18}; //.
byte o[8]= {0x7E,0x7E,0x66,0x66,0x66,0x66,0x7E,0x7E}; //O
byte m[8]= {0xE7,0xFF,0xFF,0xDB,0xDB,0xDB,0xC3,0xC3}; //M
byte smile[8]= {0x3C,0x42,0xA5,0x81,0xA5,0x99,0x42,0x3C};//笑脸
byte neutral[8]= {0x3C,0x42,0xA5,0x81,0xBD,0x81,0x42,0x3C};//标准脸
LedControl lc=LedControl(12,11,10,4);
void setup(){
lc.shutdown(0,false); //启动时，MAX72XX处于省电模式
lc.setIntensity(0,8); //将亮度设置为最大值
lc.clearDisplay(0); //清除显示
}
void loop(){
printByte(smile);//显示8
delay(1000);//延时1秒
printByte(neutral);//显示标准脸
delay(1000);
}
//点阵显示函数
void printByte(byte character [])
{
int i = 0;
for(i=0;i<8;i++)
{
lc.setRow(0,i,character[i]);
}
}
点阵+胳膊
#include <Servo.h>
#include <Oscillator.h>
#include <EEPROM.h>
#include <LedControl.h>
#include <FlexiTimer2.h>
#define N_SERVOS 6 // 共6个舵机
#define PIN_AR 7 // 右胳膊
#define PIN_AL 6 // 左胳膊
#define PIN_RR 5 // 右脚
#define PIN_RL 4 // 左脚
#define PIN_YR 3 // 右腿
#define PIN_YL 2 // 左腿
#define INTERVALTIME 10.0
Oscillator servo[N_SERVOS];
LedControl lc=LedControl(12,10,11,4);
byte smile[8]= {0x3C,0x42,0xA5,0x81,0xA5,0x99,0x42,0x3C};//笑脸
byte neutral[8]= {0x3C,0x42,0xA5,0x81,0xBD,0x81,0x42,0x3C};//标准脸
byte sad[8] = {0x3C,0x42,0xA5,0x81,0x99,0xA5,0x42,0x3C};//悲伤脸
byte tbyte[8] = {0xFF,0xFF,0x18,0x18,0x18,0x18,0x18,0x18};
byte obyte[8]= {0x7E,0x7E,0x66,0x66,0x66,0x66,0x7E,0x7E}; //O
byte ddd[8] = { 0x00,0x7E,0x81,0x81,0x81,0x81,0x81,0x7E};
byte kkk[8] = {0x00,0x00,0x00,0x00,0x7E,0x00,0x00,0x00};
byte xxx[8] = {0x00,0x00,0x3C,0x42,0x42,0x42,0x3C,0x00};
byte zzz[8] = {0x00,0x00,0x7E,0xC3,0x7E,0x00,0x00,0x00};
void goingUp(int tempo);
void drunk (int tempo);
void noGravity(int tempo);
void kickLeft(int tempo);
void kickRight(int tempo);
void run(int steps, int T=500);
void walk(int steps, int T=1000);
void backyard(int steps, int T=3000);
void backyardSlow(int steps, int T=5000);
void turnLeft(int steps, int T=3000);
void turnRight(int steps, int T=3000);
void moonWalkLeft(int steps, int T=1000);
void moonWalkRight(int steps, int T=1000);
void crusaito(int steps, int T=1000);
void swing(int steps, int T=1000);
void upDown(int steps, int T=1000);
void flapping(int steps, int T=1000);
void event()
{
static int tmr = 0;
if(tmr == 0) printByte(kkk);
if(tmr == 1) printByte(xxx);
if(tmr == 2) printByte(zzz);
if(tmr == 3) printByte(xxx);
if(tmr == 4) printByte(zzz);
if(tmr == 5) printByte(xxx);
if(tmr == 6) printByte(zzz);
if(tmr == 8) printByte(xxx);
if(tmr == 9) printByte(kkk);
tmr++;
if(tmr >= 10)
{
tmr = 0;
}
}
void setup()
{
lc.shutdown(0,false); //启动时，MAX72XX处于省电模式
lc.setIntensity(0,8); //将亮度设置为最大值
lc.clearDisplay(0); //清除显示
Serial.begin(9600);
Serial.println("Hello OTTO~");
//设置舵机引脚
servo[0].attach(PIN_RR);
servo[1].attach(PIN_RL);
servo[2].attach(PIN_YR);
servo[3].attach(PIN_YL);
servo[4].attach(PIN_AR); //右胳膊 90-垂下去、0-平直
servo[5].attach(PIN_AL); //左胳膊 90-垂下去、180-平直
for(int i=0;i<6;i++) // 舵机归位
{
servo[i].SetPosition(90);
}
FlexiTimer2::set(500,1.0/2,event);
FlexiTimer2::start();
/*printByte(kkk);
delay(500);
printByte(xxx);
delay(500);
printByte(zzz);
delay(500);
printByte(xxx);
delay(500);
printByte(zzz);
delay(500);
printByte(xxx);
delay(500);
printByte(zzz);
delay(500);
printByte(ddd);
delay(500);
printByte(xxx);
delay(500);
printByte(kkk);
delay(500);*/
}
int t=495;
double pause=0;
void loop()
{
dance();
// for(int i=0;i<6;i++) //舵机归位
// {
// servo[i].SetPosition(90);
// }
}
//点阵显示函数
void printByte(byte character [])
{
int i = 0;
for(i=0;i<8;i++)
{
lc.setRow(0,i,character[i]);
}
}
void dance()
{
primera_parte();
/*segunda_parte();*/
moonWalkLeft(4,t*2);
moonWalkRight(4,t*2);
moonWalkLeft(4,t*2);
moonWalkRight(4,t*2);
/*primera_parte();
crusaito(1,t*8);
crusaito(1,t*7);/*
/*for (int i=0; i<16; i++)
{
flapping(1,t/4);
delay(3*t/4);
}
moonWalkRight(4,t*2);
moonWalkLeft(4,t*2);
moonWalkRight(4,t*2);
moonWalkLeft(4,t*2);*/
/*drunk(t*4);
drunk(t*4);
drunk(t*4);
drunk(t*4);
kickLeft(t);
kickRight(t);
drunk(t*8);
drunk(t*4);
drunk(t/2);
delay(t*4); */
/*drunk(t/2);
delay(t*4);
walk(2,t*2);
backyard(2,t*2);
goingUp(t*2);
goingUp(t*1);
noGravity(t*2);
crusaito(1,t*2);
crusaito(1,t*8);
crusaito(1,t*2);
crusaito(1,t*8);
crusaito(1,t*2);
crusaito(1,t*3);*/
/*delay(t);
primera_parte();
for (int i=0; i<32; i++)
{
flapping(1,t/2);
delay(t/2);
}*/
for(int i=0;i<4;i++)
servo[i].SetPosition(90);
}
////////////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////FUNCIONES DE CONTROL//////////////////////////////////
////////////////////////////////////////////////////////////////////////////////////////
void oscillate(int A[N_SERVOS], int O[N_SERVOS], int T, double phase_diff[N_SERVOS]){
for (int i=0; i<4; i++) {
servo[i].SetO(O[i]);
servo[i].SetA(A[i]);
servo[i].SetT(T);
servo[i].SetPh(phase_diff[i]);
}
double ref=millis();
for (double x=ref; x<T+ref; x=millis()){
for (int i=0; i<4; i++){
servo[i].refresh();
}
}
}
unsigned long final_time;
unsigned long interval_time;
int oneTime;
int iteration;
float increment[N_SERVOS];
int oldPosition[]={90,90,90,90};
void moveNServos(int time, int newPosition[]){
for(int i=0;i<N_SERVOS;i++) increment[i] = ((newPosition[i])-oldPosition[i])/(time/INTERVALTIME);
final_time = millis() + time;
iteration = 1;
while(millis() < final_time){ //Javi del futuro cambia esto
interval_time = millis()+INTERVALTIME;
oneTime=0;
while(millis()<interval_time){
if(oneTime<1){
for(int i=0;i<N_SERVOS;i++){
servo[i].SetPosition(oldPosition[i] + (iteration * increment[i]));
}
iteration++;
oneTime++;
}
}
}
for(int i=0;i<N_SERVOS;i++){
oldPosition[i] = newPosition[i];
}
}
//////////////////////////////////////////////////////////////////////////////
////////////////////////////////PASOS DE BAILE////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
void goingUp(int tempo){
pause=millis();
for(int i=0;i<4;i++) servo[i].SetPosition(90);
delay(tempo);
servo[0].SetPosition(80);
servo[1].SetPosition(100);
delay(tempo);
servo[0].SetPosition(70);
servo[1].SetPosition(110);
delay(tempo);
servo[0].SetPosition(60);
servo[1].SetPosition(120);
delay(tempo);
servo[0].SetPosition(50);
servo[1].SetPosition(130);
delay(tempo);
servo[0].SetPosition(40);
servo[1].SetPosition(140);
delay(tempo);
servo[0].SetPosition(30);
servo[1].SetPosition(150);
delay(tempo);
servo[0].SetPosition(20);
servo[1].SetPosition(160);
delay(tempo);
while(millis()<pause+8*t);
}
void primera_parte(){
int move1[4] = {60,120,90,90};
int move2[4] = {90,90,90,90};
int move3[4] = {40,140,90,90};
for(int x=0; x<3; x++){
for(int i=0; i<3; i++){
lateral_fuerte(1,t/2);
lateral_fuerte(0,t/4);
lateral_fuerte(1,t/4);
delay(t);
}
pause=millis();
for(int i=0;i<4;i++) servo[i].SetPosition(90);
moveNServos(t*0.4,move1);
moveNServos(t*0.4,move2);
while(millis()<(pause+t*2));
}
for(int i=0; i<2; i++){
lateral_fuerte(1,t/2);
lateral_fuerte(0,t/4);
lateral_fuerte(1,t/4);
delay(t);
}
/*pause=millis();
for(int i=0;i<4;i++) servo[i].SetPosition(90);
crusaito(1,t*1.4);
moveNServos(t*1,move3);
for(int i=0;i<4;i++) servo[i].SetPosition(90);
while(millis()<(pause+t*4));*/
}
void segunda_parte(){
int move1[4] = {90,90,80,100};
int move2[4] = {90,90,100,80};
int move3[4] = {90,90,80,100};
int move4[4] = {90,90,100,80};
int move5[4] = {40,140,80,100};
int move6[4] = {40,140,100,80};
int move7[4] = {90,90,80,100};
int move8[4] = {90,90,100,80};
int move9[4] = {40,140,80,100};
int move10[4] = {40,140,100,80};
int move11[4] = {90,90,80,100};
int move12[4] = {90,90,100,80};
for(int x=0; x<7; x++){
for(int i=0; i<3; i++){
pause=millis();
moveNServos(t*0.15,move1);
moveNServos(t*0.15,move2);
moveNServos(t*0.15,move3);
moveNServos(t*0.15,move4);
while(millis()<(pause+t));
}
pause=millis();
moveNServos(t*0.15,move5);
moveNServos(t*0.15,move6);
moveNServos(t*0.15,move7);
moveNServos(t*0.15,move8);
while(millis()<(pause+t));
}
for(int i=0; i<3; i++){
pause=millis();
moveNServos(t*0.15,move9);
moveNServos(t*0.15,move10);
moveNServos(t*0.15,move11);
moveNServos(t*0.15,move12);
while(millis()<(pause+t));
}
}
void lateral_fuerte(boolean side, int tempo)
{
for(int i=0;i<6;i++)//舵机归位
{
servo[i].SetPosition(90);
}
if (side)
{
servo[0].SetPosition(40);
}
else
{
servo[1].SetPosition(140);
}
delay(tempo/2);
servo[0].SetPosition(90);
servo[1].SetPosition(90);
delay(tempo/2);
}
void drunk (int tempo){
pause=millis();
int move1[] = {60,70,90,90};
int move2[] = {110,120,90,90};
int move3[] = {60,70,90,90};
int move4[] = {110,120,90,90};
moveNServos(tempo*0.235,move1);
moveNServos(tempo*0.235,move2);
moveNServos(tempo*0.235,move3);
moveNServos(tempo*0.235,move4);
while(millis()<(pause+tempo));
}
void noGravity(int tempo){
int move1[4] = {120,140,90,90};
int move2[4] = {140,140,90,90};
int move3[4] = {120,140,90,90};
int move4[4] = {90,90,90,90};
for(int i=0;i<4;i++) servo[i].SetPosition(90);
for(int i=0;i<N_SERVOS;i++) oldPosition[i]=90;
moveNServos(tempo*2,move1);
moveNServos(tempo*2,move2);
delay(tempo*2);
moveNServos(tempo*2,move3);
moveNServos(tempo*2,move4);
}
void kickLeft(int tempo){
for(int i=0;i<4;i++) servo[i].SetPosition(90);
delay(tempo);
servo[0].SetPosition(50); //pie derecho
servo[1].SetPosition(70); //pie izquiero
delay(tempo);
servo[0].SetPosition(80); //pie derecho
servo[1].SetPosition(70); //pie izquiero
delay(tempo/4);
servo[0].SetPosition(30); //pie derecho
servo[1].SetPosition(70); //pie izquiero
delay(tempo/4);
servo[0].SetPosition(80); //pie derecho
servo[1].SetPosition(70); //pie izquiero
delay(tempo/4);
servo[0].SetPosition(30); //pie derecho
servo[1].SetPosition(70); //pie izquiero
delay(tempo/4);
servo[0].SetPosition(80); //pie derecho
servo[1].SetPosition(70); //pie izquiero
delay(tempo);
}
void kickRight(int tempo){
for(int i=0;i<4;i++) servo[i].SetPosition(90);
delay(tempo);
servo[0].SetPosition(110); //pie derecho
servo[1].SetPosition(130); //pie izquiero
delay(tempo);
servo[0].SetPosition(110); //pie derecho
servo[1].SetPosition(100); //pie izquiero
delay(tempo/4);
servo[0].SetPosition(110); //pie derecho
servo[1].SetPosition(150); //pie izquiero
delay(tempo/4);
servo[0].SetPosition(110); //pie derecho
servo[1].SetPosition(80); //pie izquiero
delay(tempo/4);
servo[0].SetPosition(110); //pie derecho
servo[1].SetPosition(150); //pie izquiero
delay(tempo/4);
servo[0].SetPosition(110); //pie derecho
servo[1].SetPosition(100); //pie izquiero
delay(tempo);
}
void walk(int steps, int T){
int A[4]= {15, 15, 30, 30};
int O[4] = {0, 0, 0, 0};
double phase_diff[4] = {DEG2RAD(0), DEG2RAD(0), DEG2RAD(90), DEG2RAD(90)};
for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}
void run(int steps, int T){
int A[4]= {10, 10, 10, 10};
int O[4] = {0, 0, 0, 0};
double phase_diff[4] = {DEG2RAD(0), DEG2RAD(0), DEG2RAD(90), DEG2RAD(90)};
for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}
void backyard(int steps, int T){
int A[4]= {15, 15, 30, 30};
int O[4] = {0, 0, 0, 0};
double phase_diff[4] = {DEG2RAD(0), DEG2RAD(0), DEG2RAD(-90), DEG2RAD(-90)};
for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}
void backyardSlow(int steps, int T){
int A[4]= {15, 15, 30, 30};
int O[4] = {0, 0, 0, 0};
double phase_diff[4] = {DEG2RAD(0), DEG2RAD(0), DEG2RAD(-90), DEG2RAD(-90)};
for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}
void turnLeft(int steps, int T){
int A[4]= {20, 20, 10, 30};
int O[4] = {0, 0, 0, 0};
double phase_diff[4] = {DEG2RAD(0), DEG2RAD(0), DEG2RAD(90), DEG2RAD(90)};
for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}
void turnRight(int steps, int T){
int A[4]= {20, 20, 30, 10};
int O[4] = {0, 0, 0, 0};
double phase_diff[4] = {DEG2RAD(0), DEG2RAD(0), DEG2RAD(90), DEG2RAD(90)};
for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}
void moonWalkRight(int steps, int T){
int A[4]= {25, 25, 0, 0};
int O[4] = {-15 ,15, 0, 0};
double phase_diff[4] = {DEG2RAD(0), DEG2RAD(180 + 120), DEG2RAD(90), DEG2RAD(90)};
for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}
void moonWalkLeft(int steps, int T){
int A[4]= {25, 25, 0, 0};
int O[4] = {-15, 15, 0, 0};
double phase_diff[4] = {DEG2RAD(0), DEG2RAD(180 - 120), DEG2RAD(90), DEG2RAD(90)};
for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}
void crusaito(int steps, int T){
int A[4]= {25, 25, 30, 30};
int O[4] = {- 15, 15, 0, 0};
double phase_diff[4] = {DEG2RAD(0), DEG2RAD(180 + 120), DEG2RAD(90), DEG2RAD(90)};
for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}
void swing(int steps, int T){
int A[4]= {25, 25, 0, 0};
int O[4] = {-15, 15, 0, 0};
double phase_diff[4] = {DEG2RAD(0), DEG2RAD(0), DEG2RAD(90), DEG2RAD(90)};
for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}
void upDown(int steps, int T){
int A[4]= {25, 25, 0, 0};
int O[4] = {-15, 15, 0, 0};
double phase_diff[4] = {DEG2RAD(180), DEG2RAD(0), DEG2RAD(270), DEG2RAD(270)};
for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}
void flapping(int steps, int T){
int A[4]= {15, 15, 8, 8};
int O[4] = {-A[0], A[1], 0, 0};
double phase_diff[4] = {DEG2RAD(0), DEG2RAD(180), DEG2RAD(90), DEG2RAD(-90)};
for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}
void test(int steps, int T){
int A[4]= {15, 15, 8, 8};
int O[4] = {-A[0] + 10, A[1] - 10, 0, 0};
double phase_diff[4] = {DEG2RAD(0), DEG2RAD(180), DEG2RAD(90), DEG2RAD(-90)};
for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}
DAMO开发者矩阵，由阿里巴巴达摩院和中国互联网协会联合发起，致力于探讨最前沿的技术趋势与应用成果，搭建高质量的交流与分享平台，推动技术创新与产业应用链接，围绕“人工智能与新型计算”构建开放共享的开发者生态。
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