制作arduino机器人
硬件arduino主控板舵机 *6蜂鸣器RGB三色LED模块2位全彩RGB温度传感器光线传感器按键*4红外接收模块红外遥控器电机 *2环境arduino IDE构思红外遥控功能——1 小夜灯——2 闹钟——3 照明检测——4 温度检测——5 遥控编舞头部按键功能——1 眼睛切换——2 扭腰动作——3 伸展运动——4 1分钟b...
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硬件
arduino主控板
舵机 *6
蜂鸣器
RGB三色LED模块
2位全彩RGB
温度传感器
光线传感器
按键 *4
红外接收模块
红外遥控器
电机 *2
环境
arduino IDE
构思
- 红外遥控功能
—— 1 小夜灯
—— 2 闹钟
—— 3 照明检测
—— 4 温度检测
—— 5 遥控编舞 - 头部按键功能
—— 1 眼睛切换
—— 2 扭腰动作
—— 3 伸展运动
—— 4 1分钟beat it舞蹈
一、陪伴小夜灯
首先选择小夜灯模式，遥控器按下1，接下来我们通过←键或→键是切换机器人胸口的全彩RGB灯光，↑键或↓键是调节灯光亮度，按下0键后退出当前模式，回到五个功能的菜单选择。二、定时闹钟
遥控器按下2键，进入定时闹钟模式，先按下★键，接着按下数字键（09）来选择需要定时多少小时，确定时钟时间后，按下OK键确认，接着通过按下#键后，选择数字键（09）设置定时的分钟，确定分钟的时间后，按下OK键确认，时钟和分钟均确认后，再次按下OK键确认后，机器人开始计时。如果只需要计时分钟，只需设置分钟部分便可，退出当前模式则按下0键，回到五个功能的菜单选择。三、室温检测
遥控器按下3键，机器人进入室温检测模式，当温度大于25℃，小于30℃为正常状态，胸口指示灯光为紫色，当温度大于30℃为闷热状态，胸口指示灯光为红色，当温度小于25℃为凉爽状态，胸口指示灯光为蓝色。退出当前模式则按下0键，回到五个功能的菜单选择。四、照明检测
遥控器按下4键，机器人进入照明检测模式，当光线较亮是，机器人眼睛为红色，当光线适度时，机器人眼睛为红绿色，当光线较弱时，机器人眼睛为绿色。退出当前模式则按下0键，回到五个功能的菜单选择。五、遥控编舞
遥控器按下5键，机器人进入遥控编舞模式，每次选择动作前，需先按下★键，接着通过数字键（16）选择动作，动作选择完成后，通过数字键（19）选择执行次数时，需先按下#键，当动作与执行次数均确定后，按下OK键确认，机器人开始表演舞蹈。退出当前模式则按下0键，回到五个功能的菜单选择。注意：
1.机器人收到遥控信号时，眼睛将会红光闪烁，如按下后眼睛未闪烁，请重新遥控控制。
2.0键均为退出当前模式
程序
电路
| 传感器 | 机器人 |
|---|---|
| 18b20温度 | A2 |
| 红外遥控接收 | D2 |
| 光敏 | A1 |
| 胸口RGB | D13 |
| 蜂鸣器 | D8 |
| 眼睛RGB | D7、D9、D10 |
| 头部那件 | D4、D5、D6、D7 |
| 电机 | D3、A3、D11、D12 |
程序
#include <IRremote.h>//红外
#include <IRremoteInt.h>
#include "Timer.h" //计时器头文件
#include <OneWire.h>
#include <DallasTemperature.h>
#define ONE_WIRE_BUS A2 //温度 使用A2端口
Timer t; //计时器对象
int buzzer_pin=8; //蜂鸣器的pin
boolean buzzer_state=true; //蜂鸣器状态
boolean hours_state=false; //小时设置
boolean minutes_state=false; //分钟设置
long hours=0; //默认0小时
long minutes=600000; //默认十分钟
long Ttime; //定时总时间
int a=1; //count方法传入个数
#include <Adafruit_NeoPixel.h>//RGB
#define PIN 13
#define MAX_LED 9
//#define add_length sizeof(key_add)/sizeof(key_add[0])+1
Adafruit_NeoPixel strip = Adafruit_NeoPixel( MAX_LED, PIN, NEO_RGB + NEO_KHZ800 );
int key_add[100] ;
int init_light=100;//初始亮度
int init_color = 0;//初始颜色
uint32_t color_green = strip.Color(255,0,0);
uint32_t color_red = strip.Color(0,255,0);
uint32_t color_blue = strip.Color(0,0,255);
uint32_t color_yellow = strip.Color(255,255,0);
uint32_t color_white = strip.Color(255,255,255);
uint32_t color[] = {color_red,color_green,color_blue,color_yellow,color_white};
int length = sizeof(color)/sizeof(color[0])-1;//颜色数组长度
int add_length=0;
int RECV_PIN = 2;
int GM=A1;
int WD=A2;
bool flag;
bool flag_n=true;
int gm;
float wd;
int key;
int second;
int label;
int _add_;
int next;
bool flag_add=false;
bool flag_next=false;
int _ok;
int w=0;
IRrecv irrecv(RECV_PIN);//红外
OneWire oneWire(ONE_WIRE_BUS);//温度
DallasTemperature sensors(&oneWire);//温度
decode_results results;
/*****************语音动作相应********************************/
int yu_ying[6];
int i=0;
int j=0;
bool flag_sing=false; //唱歌类 0X02
bool flag_awaken=false; //唤醒语句 0X01
bool flag_dialogue=false; //对话类 0X03
bool flag_common_sense =false; //常识类 0X04
bool flag_English=false; //英语类 0X05
bool flag_arithmetic=false; //算术类 0X06
bool flag_weather=false; //天气类 0X07
bool flag_qita=false; //其他类 0X08
//+++++++++++电机++++++++++++++++++++++++++++++++++
#define forward 1
#define backoff 2
#define leftturn 3
#define rightturn 4
#define M1 3
#define M2 11
/****************头部按键**************************************/
int RedPin = 9; //select the pin for the red LED
int BluePin =7; // select the pin for the blue LED
int GreenPin =10;// select the pin for the green LED
int stand_ang[6] = { 512,512,512,512,894,130 };//894=512+382 130=512-382
float stand_ang_[6] = { 512,512,512,512,894,130 };//894=512+382 130=512-382
int head_key=0;
int zuohuishou[3][6] ={
{ 512,512,512,512,894,130 },//初始
{512,512,512,512,130,130},//举起左手
{512,512,512,512,360,130},//挥动左手
};
int niuyao_buf[2][6] =
{
{347,606,794,534,449,560},
{441,703,477,208,448,559}
};
int ceyatui_bufs[6][6] =
{
{388,574,737,528,681,225},
{344,620,826,528,630,300},
{425,540,668,529,300,720},//you
{468,641,484,328,713,389},
{384,689,496,216,630,450},
{485,593,484,370,300,720}
};
int dancefs[25][6]={
{512,512,512,512,272,130}, //0
{412,512,512,512,272,130}, //1
{512,512,512,512,894,752}, //2
{512,612,512,512,894,752}, //3
{443,512,588,512,894,720}, //左Post4
{394,512,588,512,894,720}, //左Post踮脚5
{512,581,512,436,304,130}, //右Post6
{512,630,512,436,304,130}, //右Post踮脚7
{512,512,512,512,120,130}, //举左手8
{512,512,512,512,894,904}, //举右手9
{512,581,512,436,304,130}, //10
{512,630,512,436,204,130}, //11
{443,512,588,512,894,720}, //左Post12
{394,512,588,512,894,820}, //13
{512,512,512,512,612,612}, //举左手14
{512,512,512,512,412,412}, //举右手15
{470,485,546,546,512,512}, //举左手16
{550,560,478,478,512,512}, //举右手17
{474,550,533,491,226,780}, //18
{512,512,512,512,800,224}, //19
{512,512,512,512,612,412}, //20
{412,612,512,512,794,230}, //21
{512,512,512,512,512,512},
{512,512,512,512,420,430}, //举左手
{512,512,512,512,594,604}, //举右手
};
int dancef[11][6]={
{512,512,512,512,512,130}, //
{412,512,512,512,512,130}, //
{512,512,512,512,894,512}, //
{512,612,512,512,894,512}, //
{512,512,512,512,312,712}, //
{412,612,512,512,612,412}, //
{390,558,635,509,512,512}, //
{466,634,515,389,512,512}, //
{512,662,526,506,894,894}, //
{362,512,518,498,130,130}, //
{512,512,800,224,312,712}, //
};
void one(){//飞翔姿势，踮脚双挥手
eyeRGB(0,0,0);
weifen(dancef[5],dancef[4],20,10);
eyeRGB(255,0,0);
weifen(dancef[4],dancef[5],20,10);
}
void two(){//左踮脚举高左手
eyeRGB(0,0,0);
weifen(dancefs[0],dancefs[1],20,10);
eyeRGB(0,255,0);
weifen(dancefs[1],dancefs[0],20,10);
}
void three(){//右踮脚举高右手
eyeRGB(0,0,0);
weifen(dancefs[2],dancefs[3],20,10);
eyeRGB(0,0,255);
weifen(dancefs[3],dancefs[2],20,10);
}
void four(){//左踮脚举平左手
eyeRGB(0,0,0);
weifen(dancef[0],dancef[1],20,10);
eyeRGB(255,255,0);
weifen(dancef[1],dancef[0],20,10);
}
void five(){//左踮脚举平右手
eyeRGB(0,0,0);
weifen(dancef[2],dancef[3],20,10);
eyeRGB(255,0,255);
weifen(dancef[3],dancef[2],20,10);
}
void six(){//举手
eyeRGB(0,0,0);
weifen(dancefs[8],dancefs[9],20,20);
eyeRGB(0,255,255);
weifen(dancefs[9],dancefs[8],20,20);
}
void seven(){//左Post踮脚
eyeRGB(0,0,0);
weifen(dancefs[4],dancefs[5],10,10);
eyeRGB(60,60,60);
weifen(dancefs[5],dancefs[4],10,10);
}
void eight(){//右Post踮脚
eyeRGB(0,0,0);
weifen(dancefs[6],dancefs[7],10,10);
eyeRGB(0,255,255);
weifen(dancefs[7],dancefs[6],10,10);
}
void nine1(){//测压腿
weifen(ceyatui_bufs[5],ceyatui_bufs[4],10,10);
weifen(ceyatui_bufs[4],ceyatui_bufs[5],10,10);
}
void nine2(){//测压腿
weifen(ceyatui_bufs[2],ceyatui_bufs[1],10,10);
weifen(ceyatui_bufs[1],ceyatui_bufs[2],10,10);
}
void ten(){//扭腰
weifen(niuyao_buf[0],niuyao_buf[1],20,10);
weifen(niuyao_buf[1],niuyao_buf[0],20,10);
}
void eleven(){
weifen(dancefs[18],dancefs[19],10,30);
weifen(dancefs[19],dancefs[18],10,30);
}
void twelve(){
weifen(dancefs[20],dancefs[21],10,30);
weifen(dancefs[21],dancefs[20],10,30);
}
void thirteen(){
weifen(dancefs[24],dancefs[23],30,30);
delay(300);
weifen(dancefs[23],dancefs[24],30,30);
}
void lefr_wave_0(){
_send(stand_ang_);
delay(500);
weifen(stand_ang,zuohuishou[1],30,40);
for(int i=0;i<3;i++)
{
weifen(zuohuishou[1],zuohuishou[2],20,20);
weifen(zuohuishou[2],zuohuishou[1],20,20);
}
weifen(zuohuishou[1],stand_ang,50,20);
delay(200);
}
void eyeRGB(int r,int g,int b){//RGB灯光
analogWrite(RedPin, 255-r);
analogWrite(GreenPin, 255-g);
analogWrite(BluePin, 255-b);
}
bool headkey(int x){//头部按键
switch(x){
case 1:
pinMode(6,INPUT_PULLUP);
if(digitalRead(6)==LOW)
return true;
else
return false;
break;
case 2:
pinMode(4,INPUT_PULLUP);
if(digitalRead(4)==LOW)
return true;
else
return false;
break;
case 3:
pinMode(5,INPUT_PULLUP);
if(digitalRead(5)==LOW)
return true;
else
return false;
break;
case 4:
pinMode(A0,INPUT_PULLUP);
if(digitalRead(A0)==LOW)
return true;
else
return false;
break;
default:
return false;
}
}
void beat_it(){//舞蹈 1 minute
for(int i=0;i<3;i++)
one();
for(int i=0;i<3;i++)
two();
for(int i=0;i<3;i++)
three();
weifen(dancefs[2],stand_ang,20,10);
delay(500);
for(int i=0;i<3;i++)
four();
for(int i=0;i<3;i++)
five();
weifen(dancef[2],stand_ang,20,10);
delay(40);
for(int i=0;i<3;i++)
six();
for(int i=0;i<5;i++)
seven();
six();
weifen(dancefs[9],stand_ang,10,10);
delay(500);
for(int i=0;i<5;i++)
eight();
delay(500);
for(int i=0;i<5;i++)
nine1();
delay(500);
for(int i=0;i<5;i++)
nine2();
delay(500);
for(int i=0;i<3;i++)
ten();
for(int i=0;i<2;i++) //
eleven();
delay(500);
for(int i=0;i<5;i++) //
twelve();
delay(1000);
thirteen();
weifen(dancefs[24],dancefs[22],30,30);
lefr_wave_0();
}
void setup()
{
Serial.begin(9600);
irrecv.enableIRIn(); //初始化红外遥控
strip.begin();
pinMode(GM,INPUT);
pinMode(buzzer_pin,OUTPUT); //设置蜂鸣器的pin为输出模式
// pinMode(9,OUTPUT);
// pinMode(10,OUTPUT);
sensors.begin();
for(int i=0;i<3;i++)
Initialize();
//clean_eye();
pinMode(RedPin, OUTPUT); //端口设置成输出
pinMode(BluePin, OUTPUT);
pinMode(GreenPin, OUTPUT);
eyeRGB(0,0,255);//初始化灯光 蓝眼睛
//蜂鸣器响一下
for(int i=0;i<200;i++){
digitalWrite(buzzer_pin,HIGH);
delay(2);
digitalWrite(buzzer_pin,LOW);
delay(2);
}
pinMode(A0, INPUT_PULLUP);
pinMode(4, INPUT_PULLUP);
pinMode(5, INPUT_PULLUP);
pinMode(6, INPUT_PULLUP);
pinMode(M1,OUTPUT);
pinMode(M2,OUTPUT);
pinMode(A3,OUTPUT);
pinMode(12,OUTPUT);
}
void loop() {
t.update(); //必须在loop中调用，它会服务于计时器相关的事件
// guangmi();
//wendu();
//Night_light();
work();
work2();
work3();
}
void work3(){
Serial.begin(9600);
delay(200);
if(Serial.available()>0){
yu_ying[i]=Serial.read();
Serial.println(yu_ying[i],HEX);
if(yu_ying[0]==0xFF){
i++;
}
} else if(yu_ying[0]==0xFF&&yu_ying[1]==0xFF&&yu_ying[2]==0x02&&yu_ying[3]==0x02&&yu_ying[4]==0x02)//唱歌类
{
flag_sing=true;
}
else if(yu_ying[0]==0xFF&&yu_ying[1]==0xFF&&yu_ying[2]==0x02&&yu_ying[3]==0x02&&yu_ying[4]==0x01)//唤醒语句
{
flag_awaken=true;
flag_sing=false;
}
else if(yu_ying[0]==0xFF&&yu_ying[1]==0xFF&&yu_ying[2]==0x02&&yu_ying[3]==0x02&&yu_ying[4]==0x03)//对话类
{
flag_dialogue=true;
flag_sing=false;
}
else if(yu_ying[0]==0xFF&&yu_ying[1]==0xFF&&yu_ying[2]==0x02&&yu_ying[3]==0x02&&yu_ying[4]==0x04)//常识类
{
flag_common_sense=true;
flag_sing=false;
}
else if(yu_ying[0]==0xFF&&yu_ying[1]==0xFF&&yu_ying[2]==0x02&&yu_ying[3]==0x02&&yu_ying[4]==0x05)//英语类
{
flag_English=true;
flag_sing=false;
}
else if(yu_ying[0]==0xFF&&yu_ying[1]==0xFF&&yu_ying[2]==0x02&&yu_ying[3]==0x02&&yu_ying[4]==0x06)//算术类
{
flag_arithmetic=true;
flag_sing=false;
}
else if(yu_ying[0]==0xFF&&yu_ying[1]==0xFF&&yu_ying[2]==0x02&&yu_ying[3]==0x02&&yu_ying[4]==0x07)//天气类
{
flag_weather=true;
flag_sing=false;
}
else if(yu_ying[0]==0xFF&&yu_ying[1]==0xFF&&yu_ying[2]==0x02&&yu_ying[3]==0x02&&yu_ying[4]==0x08)//其他类
{
flag_qita=true;
flag_sing=false;
}else if(i>5){
yu_ying[0]=0x00;
yu_ying[4]=0x00;
i=0;
}else{
i=0;
yu_ying[0]=0x00;
yu_ying[4]=0x00;
}
if(flag_sing){
Serial.println(222);
delay(6000);
eyeRGB(0,20,255);
for(int k=0; k<1;k++){
// dian_jiao();
Right_wave();
Letf_wave();
left_foot_hand();
right_foot_hand();
two_foot_head();
niuyao();
beat_it();//舞蹈
}
delay(1000);
flag_sing=false;
yu_ying[0]=0x00;
yu_ying[4]=0x00;
i=0;
}
if(flag_qita){
Serial.println(888);
delay(1000);
// right_foot_hand();
for(int i=0;i<2;i++){
eyeRGB(0,255,0);
delay(500);
eyeRGB(0,0,0);
}
flag_qita=false;
yu_ying[0]=0x00;
yu_ying[4]=0x00;
i=0;
}
if(flag_awaken){
Serial.println(111);
delay(1000);
// Letf_wave();
for(int i=0;i<2;i++){
eyeRGB(255,0,255);
delay(500);
eyeRGB(0,0,0);
}
flag_awaken=false;
yu_ying[0]=0x00;
yu_ying[4]=0x00;
i=0;
}
if(flag_dialogue){
Serial.println(333);
delay(1000);
// Right_wave();
for(int i=0;i<2;i++){
eyeRGB(0,255,255);
delay(500);
eyeRGB(0,0,0);
}
flag_dialogue=false;
yu_ying[0]=0x00;
yu_ying[4]=0x00;
i=0;
}
if(flag_common_sense){
Serial.println(444);
delay(1000);
// Right_wave();
for(int i=0;i<2;i++){
eyeRGB(255,255,255);
delay(500);
eyeRGB(0,0,0);
}
flag_common_sense=false;
yu_ying[0]=0x00;
yu_ying[4]=0x00;;
i=0;
}
if(flag_English){
Serial.println(555);
delay(1000);
// left_foot_hand();
for(int i=0;i<2;i++){
eyeRGB(255,255,0);
delay(500);
eyeRGB(0,0,0);
}
flag_English=false;
yu_ying[0]=0x00;
yu_ying[4]=0x00;
i=0;
}
if(flag_arithmetic){
Serial.println(666);
delay(1000);
Tiptoe();
flag_arithmetic=false;
yu_ying[0]=0x00;
yu_ying[4]=0x00;
i=0;
}
if(flag_weather){
Serial.println(777);
delay(1000);
// Right_wave();
for(int i=0;i<2;i++){
eyeRGB(255,0,0);
delay(500);
eyeRGB(0,0,0);
}
flag_weather=false;
yu_ying[0]=0x00;
yu_ying[4]=0x00;;
i=0;
}
if(j==0){
Initialize();
j++;
}
}
void work2(){//头部按键工作
if(headkey(1)){//灯光切换 RGB
head_key+=1;
delay(500);
}
if(headkey(2)){//扭腰动作
_send(stand_ang_);//发送初始化动作
delay(500);
for(int i=0;i<3;i++)
ten();
delay(500);
_send(stand_ang_);
delay(500);
}
if(headkey(3)){//侧压腿动作
_send(stand_ang_);
delay(500);
for(int i=0;i<5;i++)
nine1();
delay(500);
for(int i=0;i<5;i++)
nine2();
_send(stand_ang_);
delay(500);
}
if(headkey(4)){
beat_it();//舞蹈
}
if(head_key==1){
eyeRGB(255,0,0);
}
if(head_key==2){
eyeRGB(0,255,0);
}
if(head_key==3){
eyeRGB(0,0,255);
}
if(head_key==4){
head_key=0;
eyeRGB(0,0,0);
}
}
//五大功能工作
void work(){
if(hongwai(1)){//小夜灯
while(!hongwai(0)){
if(w==0){
Rgb();
w++;
}
Night_light();
}
clean_RGB();
a=0;
w=0;
}
if(hongwai(2)){//定时闹钟
setTime();//进入闹钟模式
}
if(hongwai(3)){//温室检测
while(!hongwai(0)){
wendu();
strip.setBrightness(250);
if(wd>=30){
strip.setPixelColor(0,0,255,0);
strip.setPixelColor(1,0,255,0);
strip.show();
}else if(wd<30&&wd>25){
strip.setPixelColor(0,0,255,255);
strip.setPixelColor(1,0,255,255);
strip.show();
}else{
strip.setPixelColor(0,0,0,255);
strip.setPixelColor(1,0,0,255);
strip.show();
}
}
clean_RGB();
}
if(hongwai(4)){//照明检测
while(!hongwai(0)){
guangmi();
if(gm>=900){
eye_light(1);
}else if(gm<900&&gm>500){
eye_light(2);
}else{
eye_light(3);
}
}
clean_eye();
}
if(hongwai(5)){//遥控编舞
key=0;
second=0;
int i=0;
while(!hongwai(0)){
//动作组合逻辑
if(_add_==16){
flag_add=true;
}
if(key!=0&&flag_add){
// Serial.print("key1: ");
// Serial.println(key);
// delay(500);
key_add[i]=key;
// Serial.print("key2: ");
// Serial.println(key);
// delay(500);
Serial.print("key_add: ");
Serial.println(key_add[i]);
i++;
flag_add=false;
_add_=0;
key=0;
// Serial.print("key3: ");
// Serial.println(key);
Serial.println("88");
}
//发送次数，执行动作次数
if(next==17){
flag_next=true;
}
if(key!=0&&flag_next){
second=key;
Serial.print("---");
Serial.print(second);
Serial.println("---");
flag_add=false;
key=0;
}
if(second==0){
second=1;
}
//确认发送，执行相应动作
if(_ok==15){
add_length=0;
shuzu_length(key_add);
while(second--){
for(int q =0;q<add_length;q++){
key=key_add[q];
duoji_action();
Serial.println(key_add[q],DEC);
}
}
for(int j=0;j<add_length;j++){
key_add[j]={};
}
// Serial.print("-#-");
// Serial.print(second,DEC);
// Serial.println("-#-");
key=0;
_ok=0;
i=0;
second=0;
}
}
// add_length=0;
// shuzu_length(key_add);
// for(int q =0;q<add_length;q++)
// Serial.println(key_add[q],DEC);
// key_add[100]={};
}
if(hongwai(6)){//照明检测
while(!hongwai(0)){
if(hongwai(11)){
move_(forward,255);
}
if(hongwai(12)){
move_(backoff,255);
}
if(hongwai(13)){
move_(leftturn,255);
}
if(hongwai(14)){
move_(rightturn,255);;
}
if(hongwai(15)){
move_(forward,0);
}
}
clean_eye();
}
if(hongwai(17)){
}
}
/**************语音动作相应***********************/
//左挥手踮脚
void left_foot_hand_w(){
int buf5_dz1[6]={490,512,512,512,900,124};
int buf5_dz2[6]={380,512,512,512,400,124};
int buf5_dz3[6]={490,512,512,512,600,124};
weifen(buf5_dz1,buf5_dz2,20,10);
for(int i=0;i<2;i++){
weifen(buf5_dz2,buf5_dz3,20,5);
weifen(buf5_dz3,buf5_dz2,20,5);
}
weifen(buf5_dz2,buf5_dz1,20,10);
// for(int j=0;j<2;j++){
// sendangle(1,400);
// sendangle(5,400);
// delay(500);
// sendangle(1,512);
// sendangle(5,600);
// delay(500);
// }
// sendangle(5,900);
delay(500);
}
//右挥手踮脚
void right_foot_hand_w(){
int buf5_dz1[6]={490,512,512,512,900,124};
int buf5_dz2[6]={490,624,512,512,900,624};
int buf5_dz3[6]={490,512,512,512,900,400};
weifen(buf5_dz1,buf5_dz2,20,10);
for(int i=0;i<2;i++){
weifen(buf5_dz2,buf5_dz3,20,5);
weifen(buf5_dz3,buf5_dz2,20,5);
}
weifen(buf5_dz2,buf5_dz1,20,10);
delay(500);
}
void Letf_wave(){//左挥手
int buf5_dz1[6]={490,512,512,512,900,124};
int buf5_dz2[6]={490,512,512,512,900,870};
int buf5_dz3[6]={490,512,512,512,900,729};
weifen(buf5_dz1,buf5_dz2,20,10);
for(int i=0;i<1;i++){
weifen(buf5_dz2,buf5_dz3,20,5);
weifen(buf5_dz3,buf5_dz2,20,5);
// weifen(buf5_dz2,buf5_dz1,20,10);
// sendangle(6,870);
// delay(500);
// sendangle(6,729);
// delay(500);
}
Initialize();
}
void Right_wave(){//右挥手
int buf5_dz1[6]={490,512,512,512,900,124};
int buf5_dz2[6]={490,512,512,512,205,124};
int buf5_dz3[6]={490,512,512,512,300,124};
weifen(buf5_dz1,buf5_dz2,20,10);
for(int i=0;i<2;i++){
weifen(buf5_dz2,buf5_dz3,20,5);
weifen(buf5_dz3,buf5_dz2,20,5);
// sendangle(5,205);
// delay(500);
// sendangle(5,300);
// delay(500);
}
Initialize();
}
void Tiptoe(){//踮脚
int buf5_dz1[6]={490,512,512,512,900,124};
int buf5_dz2[6]={350,620,512,512,900,124};
for(int i =0;i<1;i++){
eyeRGB(20,255,60);
weifen(buf5_dz1,buf5_dz2,20,10);
eyeRGB(0,0,0);
weifen(buf5_dz2,buf5_dz1,20,10);
}
delay(500);
// for(int i=0;i<2;i++){
// sendangle(1,430);
// sendangle(2,572);
// delay(500);
// sendangle(1,512);
// sendangle(2,512);
// delay(500);
// }
Initialize();
}
void Shaking_hands(){//摆手
for(int i=0;i<12;i++){
sendangle(5,450);
// sendangle(1,380);
// sendangle(2,620);
sendangle(6,870);
delay(1000);
sendangle(5,200);
// sendangle(1,490);
// sendangle(2,512);
sendangle(6,600);
delay(1000);
}
Initialize();
}
void dian_jiao(){
int buf5_dz1[6]={490,512,512,512,900,124};
int buf5_dz2[6]={350,620,512,512,900,124};
for(int i =0;i<20;i++){
weifen(buf5_dz1,buf5_dz2,20,10);
weifen(buf5_dz2,buf5_dz1,20,10);
}
delay(500);
}
/****************************************/
void shuzu_length(int a[]){//计算组合动作个数
for(int i=0;i<100;i++){
if(a[i]!=0)
add_length=add_length+1;
else
break;
}
}
void eye_light(int color){//眼睛灯光
pinMode(9,OUTPUT);
pinMode(10,OUTPUT);
switch(color){
case 1://红色
digitalWrite(9,LOW);
digitalWrite(10,HIGH);
break;
case 2://红绿色
digitalWrite(9,LOW);
digitalWrite(10,LOW);
break;
case 3://绿色
digitalWrite(10,LOW);
digitalWrite(9,HIGH);
break;
default:
clean_eye();
break;
}
}
void clean_eye(){//关闭眼睛
digitalWrite(7,HIGH);
digitalWrite(9,HIGH);
digitalWrite(10,HIGH);
}
void clean_RGB(){//清理RGB
strip.setPixelColor(0,0,0,0);
strip.setPixelColor(1,0,0,0);
strip.show();
}
void RGB_shansuo(){//闪烁提示
//RGB闪烁提示
// strip.setBrightness(250);
// strip.setPixelColor(0,0,255,0);
// strip.setPixelColor(1,0,255,0);
// strip.show();
// delay(500);
// strip.setPixelColor(0,0,0,0);
// strip.setPixelColor(1,0,0,0);
// strip.show();
//眼睛闪烁提示
eyeRGB(255,0,0);
delay(500);
eyeRGB(0,0,0);
}
void wendu(){//室温检测
sensors.requestTemperatures();
wd=sensors.getTempCByIndex(0);
Serial.println(wd);
delay(200);
}
void guangmi(){//照明检测
gm=analogRead(GM);
Serial.println(gm,DEC);
delay(500);
}
//小夜灯
void Night_light(){
if (irrecv.decode(&results)) {
Serial.println(results.value,HEX);
switch(results.value)
{
//up 增加亮度
case 0xFF18E7: RgbLight_add();RGB_shansuo();
break;
//down 降低亮度
case 0xFF4AB5:RgbLight_sub();RGB_shansuo();
break;
//left 上个颜色
case 0xFF10EF:color_add();RGB_shansuo();
break;
//right 下个颜色
case 0xFF5AA5: color_sub();RGB_shansuo();
break;
}
irrecv.resume();
}
}
void Rgb(){ //初始颜色亮度
// uint32_t test = strip.Color(0,255,255);
strip.setPixelColor(0, color[init_color]);
strip.setPixelColor(1, color[init_color]);
// strip.setPixelColor(0, test);
// strip.setPixelColor(1, test);
strip.setBrightness(init_light);
strip.show();
}
void RgbLight_add(){ //增加亮度
init_light = init_light+50;
Serial.println(init_light);
if(init_light>250){init_light=250;}
strip.setBrightness(init_light);
delay(100);
strip.show();
}
void RgbLight_sub(){ //降低亮度
init_light = init_light-50;
Serial.println(init_light);
if(init_light==0){init_light=50;}//最低亮度
strip.setBrightness(init_light);
delay(100);
strip.show();
}
void color_add(){ //上个颜色
init_color++;
if(init_color>length) init_color=0;
strip.setPixelColor(0, color[init_color]);
strip.setPixelColor(1, color[init_color]);
strip.show();
}
void color_sub(){ //下个颜色
init_color--;
if(init_color<0) init_color=length;
strip.setPixelColor(0, color[init_color]);
strip.setPixelColor(1, color[init_color]);
strip.show();
}
//红外遥控函数
bool hongwai(int r){
flag=false;
if (irrecv.decode(&results)) {
// Serial.println(results.value,HEX);
switch(results.value){
//1
case 0xFFA25D:
RGB_shansuo();
Serial.println("1");
label=1;
key=1;
break;
//2
case 0xFF629D:
RGB_shansuo();
Serial.println("2");
label=2;
key=2;
break;
//3
case 0xFFE21D:
RGB_shansuo();
Serial.println("3");
label=3;
key=3;
break;
//4
case 0xFF22DD:
RGB_shansuo();
Serial.println("4");
label=4;
key=4;
break;
//5
case 0xFF02FD:
RGB_shansuo();
Serial.println("5");
label=5;
key=5;
break;
//6
case 0xFFC23D:
RGB_shansuo();
Serial.println("6");
label=6;
key=6;
break;
//7
case 0xFFE01F:
RGB_shansuo();
Serial.println("7");
label=7;
key=7;
break;
//8
case 0xFFA857:
RGB_shansuo();
Serial.println("8");
label=8;
key=8;
break;
//9
case 0xFF906F:
RGB_shansuo();
Serial.println("9");
label=9;
key=9;
break;
//0
case 0xFF9867:
RGB_shansuo();
Serial.println("0");
label=0;
break;
//up
case 0xFF18E7:
Serial.println("up");
label=11;
break;
//down
case 0xFF4AB5:
Serial.println("down");
label=12;
break;
//left
case 0xFF10EF:
Serial.println("left");
label=13;
break;
//right
case 0xFF5AA5:
Serial.println("right");
label=14;
break;
//ok
case 0xFF38C7:
RGB_shansuo();
Serial.println("ok");
label=15;
_ok=15;
break;
//*
case 0xFF6897:
RGB_shansuo();
Serial.println("*");
label=16;
_add_=16;
break;
//#
case 0xFFB04F:
RGB_shansuo();
Serial.println("#");
label=17;
next=17;
break;
//else
default:
break;
}
// if(results.value==0xFFB04F){
// Serial.println(results.value,HEX);//获取红外码值
// }
irrecv.resume(); // 接收下一个值
}
//Serial.println(key);
if(label==r) {
flag=true;//确定返回
label=99;//复位
}
return flag;
}
//舞蹈动作
void duoji_action(){
switch(key){
case 1:
Initialize();
left_foot_hand();
break;
case 2:
Initialize();
right_foot_hand();
break;
case 3:
Initialize();
two_foot_head();
break;
case 4:
Initialize();
niuyao();
break;
case 5:
Initialize();
letf_hand_light_foot();
break;
case 6:
Initialize();
light_hand_letf_foot();
break;
}
}
//左挥手踮脚
void left_foot_hand(){
for(int j=0;j<3;j++){
sendangle(1,400);
sendangle(5,400);
delay(500);
sendangle(1,512);
sendangle(5,600);
delay(500);
}
sendangle(5,900);
delay(500);
}
//右挥手踮脚
void right_foot_hand(){
for(int j=0;j<3;j++){
sendangle(2,624);
sendangle(6,624);
delay(500);
sendangle(2,512);
sendangle(6,400);
delay(500);
}
sendangle(6,124);
delay(500);
}
//左右 挥手 踮脚
void two_foot_head(){
for(int j=0;j<3;j++){
sendangle(1,400);
sendangle(2,624);
sendangle(5,200);
sendangle(6,824);
delay(500);
sendangle(1,512);
sendangle(2,512);
sendangle(5,512);
sendangle(6,512);
delay(500);
}
Initialize();
delay(500);
}
//扭腰
void niuyao(){
int buf5_dz1[6]={512,512,512,512,900,150};
int buf5_dz2[6]={397,601,611,420,512,512};
int buf5_dz3[6]={347,606,794,534,449,560};
int buf5_dz4[6]={441,703,477,208,448,559};
weifen(buf5_dz1,buf5_dz3,20,10);
for(int i =0;i<4;i++){
weifen(buf5_dz3,buf5_dz4,20,10);
weifen(buf5_dz4,buf5_dz3,20,10);
}
weifen(buf5_dz3,buf5_dz1,20,10);
delay(500);
}
//左挥手 有踮脚
void letf_hand_light_foot(){
for(int j=0;j<3;j++){
sendangle(2,624);
sendangle(5,400);
delay(500);
sendangle(2,512);
sendangle(5,600);
delay(500);
}
sendangle(5,900);
delay(500);
}
//右挥手 左踮脚
void light_hand_letf_foot(){
for(int j=0;j<3;j++){
sendangle(1,400);
sendangle(6,624);
delay(500);
sendangle(1,512);
sendangle(6,400);
delay(500);
}
sendangle(6,124);
delay(500);
}
//动作初始化
void Initialize(){
int b=512;
for(int i=1;i<=6;i++){
if(i==5){
b=900;
}else if(i==6){
b=150;
}
sendangle(i,b);
}
delay(500);
}
//发送6个舵机
void _send(float *buff){
for(int i=0;i<6;i++){
int b=i+1;
sendangle_(b,buff[i]);
}
}
//微分处理舵机角度
void weifen(int *buf_1,int *buf_2,int times,int wave_time){
float buff_1[6], buff_2[6];
float buf[6];
for(int i =0;i<6;i++){
buff_1[i]=(float)(*(buf_2+i)-*(buf_1+i))/times;
buff_2[i]=(float)*(buf_1+i);
}
for(int j=0;j<times;j++){
//次数
for(int q=0;q<6;q++){
//发送角度
buff_2[q]+=buff_1[q];
buf[q]=buff_2[q];
}
_send(buf);
delay(wave_time);
}
}
//舵机角度函数
void sendangle(int idnumber,int value)//idnumber 舵机ID value 舵机角度
{
uint16_t result=0;
uint8_t data[6]={0};
uint8_t i=0;
int z=(int)value;
switch(idnumber) {
case 1:
z=(z>300)?z:300,z=(z<600)?z:600;//600>z>300
break;
case 2:
z=(z>300)?z:300,z=(z<600)?z:600;//600>z>300
break;
case 3:
z=(z>400)?z:400,z=(z<800)?z:800;//800>z>400
break;
case 4:
z=(z>200)?z:400,z=(z<600)?z:600;//600>z>200
break;
case 5:
z=(z>200)?z:200,z=(z<900)?z:900;//900>z>200
break;
case 6:
z=(z>150)?z:150,z=(z<824)?z:824;//824>z>150
break;
default:
break;
}
result=z;
Serial.begin(111100,SERIAL_8N1);
data[0]=255;
data[1]=255;
data[2]=idnumber;
data[4]=(uint8_t)result;
result>>=8;
data[3]=(uint8_t)result;
data[5]=(uint8_t)(data[2]+data[3]+data[4]);
data[5]=~data[5];
for(i=0;i<=5;i++)
Serial.write(data[i]);
delay(50);
Serial.end();
}
//减少延迟及角度限制
void sendangle_(int idnumber,int value)//idnumber 舵机ID value 舵机角度
{
uint16_t result=0;
uint8_t data[6]={0};
uint8_t i=0;
int z=(int)value;
result=z;
Serial.begin(111100,SERIAL_8N1);
data[0]=255;
data[1]=255;
data[2]=idnumber;
data[4]=(uint8_t)result;
result>>=8;
data[3]=(uint8_t)result;
data[5]=(uint8_t)(data[2]+data[3]+data[4]);
data[5]=~data[5];
for(i=0;i<=5;i++)
Serial.write(data[i]);
delay(5);
Serial.end();
}
void move_(int direction_,int speed_){//电机驱动
int leftSpeed = 0;
int rightSpeed = 0;
if(direction_ == 1){
digitalWrite(A3,LOW);
digitalWrite(12,HIGH);
analogWrite(M1,speed_);
analogWrite(M2,speed_);
}else if(direction_ == 2){
digitalWrite(A3,HIGH);
digitalWrite(12,LOW);
analogWrite(M1,speed_);
analogWrite(M2,speed_);
}else if(direction_ == 3){
digitalWrite(A3,HIGH);
digitalWrite(12,HIGH);
analogWrite(M1,speed_);
analogWrite(M2,speed_);
}else if(direction_ == 4){
digitalWrite(A3,LOW);
digitalWrite(12,LOW);
analogWrite(M1,speed_);
analogWrite(M2,speed_);
}
}
/*——————————定时闹钟—————————————*/
void callbackfun(){//蜂鸣器闹铃
boolean state = true;
while(state){
for(int i=0;i<80;i++)//输出一个频率的声音
{
digitalWrite(buzzer_pin,HIGH);//发声音
delay(1);//延时1ms
digitalWrite(buzzer_pin,LOW);
delay(1);
}
for(int i=0;i<100;i++)//输出另一个频率的声音,这里的100与前面的80一样，用来控制频率，可以自己调节
{
digitalWrite(buzzer_pin,HIGH);
delay(2);
digitalWrite(buzzer_pin,LOW);
delay(2);
}
if (irrecv.decode(&results)) {
if(results.value==0xFF9867) {
state=false;
}
}
}
}
void setTime(){ //设置时间 //unsigned long 0-4,294,967,295
boolean settime_state = true; //定时状态
while(settime_state){
if (irrecv.decode(&results)) {
switch(results.value){
//*
case 0xFF6897:RGB_shansuo();
Hours();break;
//#
case 0xFFB04F:RGB_shansuo();
Minutes();break;
//OK
case 0xFF38C7:RGB_shansuo();
StarClock();settime_state = false;break;
//0
case 0xFF9867:RGB_shansuo();
hours=0;
settime_state = false;break;
}
irrecv.resume();
}
}
}
void Hours(){ //小时
Serial.println(111);
boolean hours_state = true;
while(hours_state){
if (irrecv.decode(&results)) {
switch(results.value){
//1
case 0xFFA25D:RGB_shansuo();
hours=3600000;break;
//2
case 0xFF629D:RGB_shansuo();
hours=7200000;break;
//3
case 0xFFE21D:RGB_shansuo();
hours=10800000;break;
//4
case 0xFF22DD:RGB_shansuo();
hours=14400000;break;
//5
case 0xFF02FD:RGB_shansuo();
hours=18000000;break;
//6
case 0xFFC23D:RGB_shansuo();
hours=21600000;break;
//7
case 0xFFE01F:RGB_shansuo();
hours=25200000;break;
//8
case 0xFFA857:RGB_shansuo();
hours=28800000;break;
//9
case 0xFF906F:RGB_shansuo();
hours=32400000;break;
//0
case 0xFF9867:RGB_shansuo();
hours=0;break;
//OK
case 0xFF38C7:RGB_shansuo();
hours_state = false;break;
}
irrecv.resume();
}
}
Serial.println(333);
}
void Minutes(){ //分钟
boolean minutes_state = true;
while(minutes_state){
if (irrecv.decode(&results)) {
switch(results.value){
//1
case 0xFFA25D:RGB_shansuo();
count(1);break;
//2
case 0xFF629D:RGB_shansuo();
count(2);break;
//3
case 0xFFE21D:RGB_shansuo();
count(3);break;
//4
case 0xFF22DD:RGB_shansuo();
count(4);break;
//5
case 0xFF02FD:RGB_shansuo();
count(5);break;
//6
case 0xFFC23D:RGB_shansuo();
count(6);break;
//7
case 0xFFE01F:RGB_shansuo();
count(7);break;
//8
case 0xFFA857:RGB_shansuo();
count(8);break;
//9
case 0xFF906F:RGB_shansuo();
count(9);break;
//0
case 0xFF9867:RGB_shansuo();
count(0);break;
//OK
case 0xFF38C7:RGB_shansuo();
minutes_state = false;a=1;break;
}
irrecv.resume();
}
}
}
void StarClock(){ //开始定时
Ttime = hours+minutes;
t.after(Ttime,callbackfun); //1000mm=1s 60000=1min;
Serial.println(Ttime);
Serial.println(666);
}
void count(int num){//计算秒数
Serial.println(num);
if(a==1){minutes = 60000 * num;a++;}
else if(a==2){int shi =minutes*10 ;int ge = 6000*num; minutes = shi + ge;a++;}
Serial.println(minutes);
}
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