Arduino Quadruped

必要的工具和机器

烙铁（通用）

应用和在线服务

Arduino IDE

关于这个项目

基于 Arduino 的四足动物！ Quadruped 代表四足机器人，它的外观基本上是四足蜘蛛，所以让我们学习蜘蛛是如何走路的，并尝试用 Arduino 复制它。

补给：

第 1 步：所需组件

• 1 X Arduino Mega 或 Arduino Uno
• 1 X 钻孔 PCB
• 12 X 伺服电机(9g)
• 1 X HC-SR04 超声波传感器
• 4 X RGB LED
• 纸板

第 2 步：维护 CG

重心（CG）是行走时的主要因素。重心保持在身体中心以保持平衡，如果CG在一定范围内偏离中心，则会影响平衡并导致跌倒

那么让我们看看如何在走路时保持CG。

如果每条腿都成 45 度，那么重心将完全位于中心，但是如果我们移动任何一条腿，重心将移到那一侧，从而导致该侧摔倒。

所以为了避免这种情况，根据机器人的大小，两端的腿保持大于 45 度的角度，所以三个腿将形成一个三角形，如果 CG 将在其中，第四条腿将可以自由移动并且 CG将保持在三角形内。

第三步：步行程序

• 这是起始姿势，两条腿（C、D）向一侧伸出，另外两条腿（A、B）向内拉。
• 右上方的腿 (B) 抬起并伸出，远远领先于机器人。
• 所有的腿向后移动，身体向前移动。
• 左后腿 (D) 抬起并沿着身体向前迈出。这个位置是起始位置的镜像。
• 左上腿 (B) 抬起并伸出，远远领先于机器人。
• 再次，所有的腿向后移动，身体向前移动。
• 右后腿抬起 (B) 并退回到身体中，让我们回到起始位置。

第 4 步：四足动物计划

第五步：构造体

根据PDF构建正文。

第六步：电路连接

根据您的要求制作自己的屏蔽 arduino mega 有 15 个 pwm 引脚，其中 12 个用于伺服连接，3 个用于 RBG LED 和任何两个用于超声波传感器的引脚

第七步：伺服初始化

• 将程序上传到arduino mega并开始根据图片组装腿

#include  伺服舵机[4][3];//定义舵机端口const intservo_pin[4][3] ={ {10,11,2}, {3,4 ,5}, {6,7,8}, {9, 12, 13} };void setup(){ //初始化所有舵机 for (int i =0; i <4; i++) { for (int j =0; j <3; j++) { 伺服[i][j].attach(servo_pin[i][j]);延迟（20）； } }}void loop(void){ for (int i =0; i <4; i++) { for (int j =0; j <3; j++) { 伺服[i][j].write(90);延迟（20）； } }} 

第八步：最后一步

 /* 包含 ----------------------------------------- -------------------------*/#include  //定义和控制舵机#include //设置一个定时器来管理所有舵机#define ledred 46#define ledblue 44#define ledgreen 45/* Servos --------------------------- -----------------------------------------*////为4个定义12个舵机腿伺服舵机[4][3];//定义舵机的端口const intservo_pin[4][3] ={ {2, 3, 4}, {20, 6, 7}, {8, 9, 17}, { 16, 12, 13} };/* 机器人的尺寸 --------------------- ---------------------*/const float length_a =55;const float length_b =77.5;const float length_c =27.5;const float length_side =71;const float z_absolute =-28;/* 运动常量 ----------------------------------------- -----------*/const float z_default =-50, z_up =-30, z_boot =z_absolute;const float x_default =62, x_offset =0;const float y_start =0, y_step =40;const float y_default =x_default;/* 运动变量 ---------------- -------------------------------------*/易失性浮动站点_now[4][3]; //每个legvolatile float结束的实时坐标site_expect[4][3]; //每个legfloat结束的预期坐标 temp_speed[4][3]; //每个轴的速度，需要在每次移动之前重新计算float move_speed; //移动速度float speed_multiple =1; //移动速度multipleconst float spot_turn_speed =4;const float leg_move_speed =8;const float body_move_speed =3;const float stand_seat_speed =1;volatile int rest_counter; //+1/0.02s，用于自动休息//函数的参数const float KEEP =255;//定义PI进行计算const float pi =3.1415926;/* 转向常量------------- ----------------------------------------------------*////温度长度常量浮点数temp_a =sqrt(pow(2 * x_default + length_side, 2) + pow(y_step, 2));const float temp_b =2 * (y_start + y_step) + length_side;const float temp_c =sqrt(pow(2 * x_default + length_side) , 2) + pow(2 * y_start + y_step + length_side, 2));const float temp_alpha =acos((pow(temp_a, 2) + pow(temp_b, 2) - pow(temp_c, 2)) / 2 / temp_a / temp_b);//turnconst float turn_x1 =(temp_a - length_side) / 2;const float turn_y1 =y_start + y_step / 2;const float turn_x0 =turn_x1 - temp_b * cos(temp_alpha);const float turn_y0 =temp_b * sin (temp_alpha) - turn_y1 - length_side;/* ---------------------------------------- -----------------------------------*//* - 设置函数 -------- -------------------------------------------------- -----------------*/void setup(){ pi nMode(ledred,OUTPUT);pinMode(ledblue,OUTPUT);pinMode(ledgreen,OUTPUT); //启动调试串口Serial.begin(115200); Serial.println("机器人开始初始化"); //初始化默认参数set_site(0, x_default - x_offset, y_start + y_step, z_boot); set_site(1, x_default - x_offset, y_start + y_step, z_boot); set_site(2, x_default + x_offset, y_start, z_boot); set_site(3, x_default + x_offset, y_start, z_boot); for (int i =0; i <4; i++) { for (int j =0; j <3; j++) { site_now[i][j] =site_expect[i][j]; } } //启动伺服服务FlexiTimer2::set(20,servo_service); FlexiTimer2::start(); Serial.println("伺服服务启动"); //初始化舵机servo_attach(); Serial.println("伺服初始化"); Serial.println("机器人初始化完成");}voidservo_attach(void){ for (int i =0; i <4; i++) { for (int j =0; j <3; j++) { 伺服[i] [j].attach(servo_pin[i][j]);延迟（100）； } }}voidservo_detach(void){ for (int i =0; i <4; i++) { for (int j =0; j <3; j++) { 伺服[i][j].detach();延迟（100）； } }}/* - 循环函数 ------------------------------------------ ---------------------------------*/void loop(){analogWrite(ledred,255); Serial.println("站立");站立（）;延迟（2000）；模拟写入（ledred，0）；模拟写入（ledblue，255）； Serial.println("前进"); step_forward(5);延迟（2000）；模拟写入（ledblue，0）；模拟写入（ledgreen，255）； Serial.println("退后一步"); step_back(5);延迟（2000）；模拟写入（ledgreen，0）；模拟写入（ledred，255）；模拟写入（ledblue，255）； Serial.println("左转");左转（5）；延迟（2000）；模拟写入（ledgreen，255）；模拟写入（ledred，0）；模拟写入（ledblue，255）； Serial.println("右转");右转（5）；延迟（2000）；模拟写入（ledgreen，255）；模拟写入（ledred，255）；模拟写入（ledblue，0）； Serial.println("手波");手波（3）；延迟（2000）； Serial.println("手波");握手（3）；延迟（2000）；整数 x=100; for(int i=0;i<5;i++) {analogWrite(ledgreen,255);模拟写入(ledred,255);//白色模拟写入(ledblue,255);延迟（x）；模拟写入(ledgreen,255);//黄色模拟写入(ledred,255);模拟写入（ledblue，0）；延迟（x）；模拟写入(ledgreen,255);//青色模拟写入(ledred,0);模拟写入（ledblue，255）；延迟（x）；模拟写入（ledgreen，0）；模拟写入(ledred,255);//紫色模拟写入(ledblue,255);延迟（x）；模拟写入（ledgreen，0）；模拟写入(ledred,255);//红色模拟写入(ledblue,0);延迟（x）；模拟写入(ledgreen,0);//蓝色模拟写入(ledred,0);模拟写入（ledblue，255）；延迟（x）；模拟写入（ledgreen，255）；模拟写入（ledred，0）；模拟写入（ledblue，0）； //绿色延迟(x);模拟写入（ledgreen，0）；模拟写入（ledred，0）；模拟写入（ledblue，0）； //Serial.println("身体舞"); //body_dance(10);// 延迟(2000); //Serial.println("坐");//坐(); delay(1000);}/* - 坐 - 阻塞功能 --------------------- --------------------------------------*/void sat(void){ move_speed =stand_seat_speed; for (int leg =0; leg <4; leg++) { set_site(leg, KEEP, KEEP, z_boot); } wait_all_reach();}/* - Stand - 阻塞函数 --------------------- --------------------------------------*/void stand(void){ move_speed =stand_seat_speed; for (int leg =0; leg <4; leg++) { set_site(leg, KEEP, KEEP, z_default); } wait_all_reach();}/* - 点向左转 - 阻塞功能 - 参数步步要转------------------------ ------------------------------------------------*/ void turn_left(unsigned int step){ move_speed =spot_turn_speed; while (step--> 0) { if (site_now[3][1] ==y_start) { //leg 3&1 move set_site(3, x_default + x_offset, y_start, z_up); wait_all_reach(); set_site(0, turn_x1 - x_offset, turn_y1, z_default); set_site(1, turn_x0 - x_offset, turn_y0, z_default); set_site(2, turn_x1 + x_offset, turn_y1, z_default); set_site(3, turn_x0 + x_offset, turn_y0, z_up); wait_all_reach(); set_site(3, turn_x0 + x_offset, turn_y0, z_default); wait_all_reach(); set_site(0, turn_x1 + x_offset, turn_y1, z_default); set_site(1, turn_x0 + x_offset, turn_y0, z_default); set_site(2, turn_x1 - x_offset, turn_y1, z_default); set_site(3, turn_x0 - x_offset, turn_y0, z_default); wait_all_reach(); set_site(1, turn_x0 + x_offset, turn_y0, z_up); wait_all_reach(); set_site(0, x_default + x_offset, y_start, z_default); set_site(1, x_default + x_offset, y_start, z_up); set_site(2, x_default - x_offset, y_start + y_step, z_default); set_site(3, x_default - x_offset, y_start + y_step, z_default); wait_all_reach(); set_site(1, x_default + x_offset, y_start, z_default); wait_all_reach(); } else { //leg 0&2 move set_site(0, x_default + x_offset, y_start, z_up); wait_all_reach(); set_site(0, turn_x0 + x_offset, turn_y0, z_up); set_site(1, turn_x1 + x_offset, turn_y1, z_default); set_site(2, turn_x0 - x_offset, turn_y0, z_default); set_site(3, turn_x1 - x_offset, turn_y1, z_default); wait_all_reach(); set_site(0, turn_x0 + x_offset, turn_y0, z_default); wait_all_reach(); set_site(0, turn_x0 - x_offset, turn_y0, z_default); set_site(1, turn_x1 - x_offset, turn_y1, z_default); set_site(2, turn_x0 + x_offset, turn_y0, z_default); set_site(3, turn_x1 + x_offset, turn_y1, z_default); wait_all_reach(); set_site(2, turn_x0 + x_offset, turn_y0, z_up); wait_all_reach(); set_site(0, x_default - x_offset, y_start + y_step, z_default); set_site(1, x_default - x_offset, y_start + y_step, z_default); set_site(2, x_default + x_offset, y_start, z_up); set_site(3, x_default + x_offset, y_start, z_default); wait_all_reach(); set_site(2, x_default + x_offset, y_start, z_default); wait_all_reach(); } }}/* - 点向右转 - 阻挡功能 - 参数步步想要转------------------------------ ---------------------------------------------*/void turn_right(无符号整数步）{ move_speed =spot_turn_speed; while (step--> 0) { if (site_now[2][1] ==y_start) { //leg 2&0 move set_site(2, x_default + x_offset, y_start, z_up); wait_all_reach(); set_site(0, turn_x0 - x_offset, turn_y0, z_default); set_site(1, turn_x1 - x_offset, turn_y1, z_default); set_site(2, turn_x0 + x_offset, turn_y0, z_up); set_site(3, turn_x1 + x_offset, turn_y1, z_default); wait_all_reach(); set_site(2, turn_x0 + x_offset, turn_y0, z_default); wait_all_reach(); set_site(0, turn_x0 + x_offset, turn_y0, z_default); set_site(1, turn_x1 + x_offset, turn_y1, z_default); set_site(2, turn_x0 - x_offset, turn_y0, z_default); set_site(3, turn_x1 - x_offset, turn_y1, z_default); wait_all_reach(); set_site(0, turn_x0 + x_offset, turn_y0, z_up); wait_all_reach(); set_site(0, x_default + x_offset, y_start, z_up); set_site(1, x_default + x_offset, y_start, z_default); set_site(2, x_default - x_offset, y_start + y_step, z_default); set_site(3, x_default - x_offset, y_start + y_step, z_default); wait_all_reach(); set_site(0, x_default + x_offset, y_start, z_default); wait_all_reach(); } else { //leg 1&3 move set_site(1, x_default + x_offset, y_start, z_up); wait_all_reach(); set_site(0, turn_x1 + x_offset, turn_y1, z_default); set_site(1, turn_x0 + x_offset, turn_y0, z_up); set_site(2, turn_x1 - x_offset, turn_y1, z_default); set_site(3, turn_x0 - x_offset, turn_y0, z_default); wait_all_reach(); set_site(1, turn_x0 + x_offset, turn_y0, z_default); wait_all_reach(); set_site(0, turn_x1 - x_offset, turn_y1, z_default); set_site(1, turn_x0 - x_offset, turn_y0, z_default); set_site(2, turn_x1 + x_offset, turn_y1, z_default); set_site(3, turn_x0 + x_offset, turn_y0, z_default); wait_all_reach(); set_site(3, turn_x0 + x_offset, turn_y0, z_up); wait_all_reach(); set_site(0, x_default - x_offset, y_start + y_step, z_default); set_site(1, x_default - x_offset, y_start + y_step, z_default); set_site(2, x_default + x_offset, y_start, z_default); set_site(3, x_default + x_offset, y_start, z_up); wait_all_reach(); set_site(3, x_default + x_offset, y_start, z_default); wait_all_reach(); } }}/* - 前进 - 阻塞功能 - 参数步骤想要走的步骤-------------------------------- -----------------------------------------------------*/void step_forward(unsigned int step){ move_speed =leg_move_speed; while (step--> 0) { if (site_now[2][1] ==y_start) { //leg 2&1 move set_site(2, x_default + x_offset, y_start, z_up); wait_all_reach(); set_site(2, x_default + x_offset, y_start + 2 * y_step, z_up); wait_all_reach(); set_site(2, x_default + x_offset, y_start + 2 * y_step, z_default); wait_all_reach(); move_speed =body_move_speed; set_site(0, x_default + x_offset, y_start, z_default); set_site(1, x_default + x_offset, y_start + 2 * y_step, z_default); set_site(2, x_default - x_offset, y_start + y_step, z_default); set_site(3, x_default - x_offset, y_start + y_step, z_default); wait_all_reach(); move_speed =leg_move_speed; set_site(1, x_default + x_offset, y_start + 2 * y_step, z_up); wait_all_reach(); set_site(1, x_default + x_offset, y_start, z_up); wait_all_reach(); set_site(1, x_default + x_offset, y_start, z_default); wait_all_reach(); } else { //leg 0&3 move set_site(0, x_default + x_offset, y_start, z_up); wait_all_reach(); set_site(0, x_default + x_offset, y_start + 2 * y_step, z_up); wait_all_reach(); set_site(0, x_default + x_offset, y_start + 2 * y_step, z_default); wait_all_reach(); move_speed =body_move_speed; set_site(0, x_default - x_offset, y_start + y_step, z_default); set_site(1, x_default - x_offset, y_start + y_step, z_default); set_site(2, x_default + x_offset, y_start, z_default); set_site(3, x_default + x_offset, y_start + 2 * y_step, z_default); wait_all_reach(); move_speed =leg_move_speed; set_site(3, x_default + x_offset, y_start + 2 * y_step, z_up); wait_all_reach(); set_site(3, x_default + x_offset, y_start, z_up); wait_all_reach(); set_site(3, x_default + x_offset, y_start, z_default); wait_all_reach(); } }}/* - 返回 - 阻塞功能 - 参数步骤想要走的步骤-------------------------------- -----------------------------------------------------*/void step_back(unsigned int step){ move_speed =leg_move_speed; while (step--> 0) { if (site_now[3][1] ==y_start) { //leg 3&0 move set_site(3, x_default + x_offset, y_start, z_up); wait_all_reach(); set_site(3, x_default + x_offset, y_start + 2 * y_step, z_up); wait_all_reach(); set_site(3, x_default + x_offset, y_start + 2 * y_step, z_default); wait_all_reach(); move_speed =body_move_speed; set_site(0, x_default + x_offset, y_start + 2 * y_step, z_default); set_site(1, x_default + x_offset, y_start, z_default); set_site(2, x_default - x_offset, y_start + y_step, z_default); set_site(3, x_default - x_offset, y_start + y_step, z_default); wait_all_reach(); move_speed =leg_move_speed; set_site(0, x_default + x_offset, y_start + 2 * y_step, z_up); wait_all_reach(); set_site(0, x_default + x_offset, y_start, z_up); wait_all_reach(); set_site(0, x_default + x_offset, y_start, z_default); wait_all_reach(); } else { //leg 1&2 move set_site(1, x_default + x_offset, y_start, z_up); wait_all_reach(); set_site(1, x_default + x_offset, y_start + 2 * y_step, z_up); wait_all_reach(); set_site(1, x_default + x_offset, y_start + 2 * y_step, z_default); wait_all_reach(); move_speed =body_move_speed; set_site(0, x_default - x_offset, y_start + y_step, z_default); set_site(1, x_default - x_offset, y_start + y_step, z_default); set_site(2, x_default + x_offset, y_start + 2 * y_step, z_default); set_site(3, x_default + x_offset, y_start, z_default); wait_all_reach(); move_speed =leg_move_speed; set_site(2, x_default + x_offset, y_start + 2 * y_step, z_up); wait_all_reach(); set_site(2, x_default + x_offset, y_start, z_up); wait_all_reach(); set_site(2, x_default + x_offset, y_start, z_default); wait_all_reach(); } }}// 通过 RegisHsuvoid 添加 body_left(int i){ set_site(0, site_now[0][0] + i, KEEP, KEEP); set_site(1, site_now[1][0] + i, KEEP, KEEP); set_site(2, site_now[2][0] - i, KEEP, KEEP); set_site(3, site_now[3][0] - i, KEEP, KEEP); wait_all_reach();}void body_right(int i){ set_site(0, site_now[0][0] - i, KEEP, KEEP); set_site(1, site_now[1][0] - i, KEEP, KEEP); set_site(2, site_now[2][0] + i, KEEP, KEEP); set_site(3, site_now[3][0] + i, KEEP, KEEP); wait_all_reach();}void hand_wave(int i){ float x_tmp;浮动 y_tmp;浮动 z_tmp;移动速度 =1;如果 (site_now[3][1] ==y_start) { body_right(15); x_tmp =site_now[2][0]; y_tmp =site_now[2][1]; z_tmp =site_now[2][2]; move_speed =body_move_speed; for (int j =0; j  i / 4) move_speed =body_dance_speed * 2; if (j> i / 2) move_speed =body_dance_speed * 3; set_site(0, 保持, y_default - 20, 保持); set_site(1, 保持, y_default + 20, 保持); set_site(2, 保持, y_default - 20, 保持); set_site(3, 保持, y_default + 20, 保持); wait_all_reach(); set_site(0, 保持, y_default + 20, 保持); set_site(1, 保持, y_default - 20, 保持); set_site(2, 保持, y_default + 20, 保持); set_site(3, 保持, y_default - 20, 保持); wait_all_reach(); } move_speed =body_dance_speed; head_down(30);}/* - 微伺服服务/定时器中断功能/50Hz - 当设置预期站点时，该函数将终点直线移动到它 - temp_speed[4][3] 应在设置预期站点之前设置,确定终点直线运动，决定移动速度。 -------------------------------------------------- -------------------------*/voidservo_service(void){ sei();静态浮点阿尔法、贝塔、伽马； for (int i =0; i <4; i++) { for (int j =0; j <3; j++) { if (abs(site_now[i][j] - site_expect[i][j])>=abs(temp_speed[i][j])) site_now[i][j] +=temp_speed[i][j];否则 site_now[i][j] =site_expect[i][j]; } cartesian_to_polar(alpha, beta, gamma, site_now[i][0], site_now[i][1], site_now[i][2]); polar_to_servo(i, alpha, beta, gamma); } rest_counter++;}/* - 设置端点之一的期望站点 - 该函数将同时设置 temp_speed[4][3] - 非阻塞函数 --------------- -------------------------------------------------- ----------*/void set_site(int leg, float x, float y, float z){ float length_x =0, length_y =0, length_z =0; if (x !=KEEP) length_x =x - site_now[leg][0]; if (y !=KEEP) length_y =y - site_now[leg][1]; if (z !=KEEP) length_z =z - site_now[leg][2];浮点长度 =sqrt(pow(length_x, 2) + pow(length_y, 2) + pow(length_z, 2)); temp_speed[leg][0] =length_x / 长度 * move_speed * speed_multiple； temp_speed[leg][1] =length_y / 长度 * move_speed * speed_multiple； temp_speed[leg][2] =length_z / 长度 * move_speed * speed_multiple； if (x !=KEEP) site_expect[leg][0] =x; if (y !=KEEP) site_expect[leg][1] =y; if (z !=KEEP) site_expect[leg][2] =z;}/* - 等待端点之一移动到期望站点 - 阻塞功能 ----------------- -------------------------------------------------- --------*/void wait_reach(int leg){ while (1) if (site_now[leg][0] ==site_expect[leg][0]) if (site_now[leg][1] ==site_expect[leg][1]) if (site_now[leg][2] ==site_expect[leg][2]) break;}/* - 等待所有端点移动到期望站点 - 阻塞功能---- -------------------------------------------------- ---------------------*/void wait_all_reach(void){ for (int i =0; i <4; i++) wait_reach(i);}/* - 从笛卡尔坐标到极坐标 - 数学模型 2/2 ------------------------------------- --------------------------------------*/void cartesian_to_polar(volatile float &alpha, volatile float &beta , volatile float &gamma, volatile float x, volatile float y, volatile float z){ //计算wz度 float v, w; w =(x>=0 ? 1 :-1) * (sqrt(pow(x, 2) + pow(y, 2))); v =w - length_c; alpha =atan2(z, v) + acos((pow(length_a, 2) - pow(length_b, 2) + pow(v, 2) + pow(z, 2)) / 2 / length_a / sqrt(pow(v) , 2) + pow(z, 2))); beta =acos((pow(length_a, 2) + pow(length_b, 2) - pow(v, 2) - pow(z, 2)) / 2 / length_a / length_b); //计算 x-y-z 度 gamma =(w>=0) ? atan2(y, x) :atan2(-y, -x); //跨度pi->180 alpha =alpha / pi * 180; β =β / pi * 180； gamma =gamma / pi * 180;}/* - 从极坐标到微伺服的跨站 - 数学模型映射到事实 - 将添加保存在 eeprom 中的错误 ----------------- -------------------------------------------------- --------*/void polar_to_servo(int leg, float alpha, float beta, float gamma){ if (leg ==0) { alpha =90 - alpha;贝塔 =贝塔；伽玛 +=90; } else if (leg ==1) { alpha +=90;贝塔 =180 - 贝塔；伽玛 =90 - 伽玛； } else if (leg ==2) { alpha +=90;贝塔 =180 - 贝塔；伽玛 =90 - 伽玛； } else if (leg ==3) { alpha =90 - alpha;贝塔 =贝塔；伽玛 +=90; } 伺服[leg][0].write(alpha);伺服[leg][1].write(beta);伺服[leg][2].write(gamma);} 

连接 LED 引脚

• 就是这样，您的四足动物已准备就绪！
• 上传程序。
• 根据程序中定义的引脚连接舵机。

代码

• 蜘蛛
• spider_fix.ino

spiderArduino

 /* 包括-------------------------------------------- ----------------------*/#include  //定义和控制舵机#include //设置一个定时器管理所有舵机#define ledred 46#define ledblue 44#define ledgreen 45/* 舵机------------------------------ --------------------------------------*////为4条腿定义12个舵机舵机[ 4][3];//定义舵机端口const intservo_pin[4][3] ={ {2, 3, 4}, {20, 6, 7}, {8, 9, 17}, {16, 12 , 13} };/* 机器人的尺寸 --------------------------------------- ------------------*/const float length_a =55;const float length_b =77.5;const float length_c =27.5;const float length_side =71;const float z_absolute =-28;/* 运动常量-------------------------------------------- --------*/const float z_default =-50, z_up =-30, z_boot =z_absolute;const float x_default =62, x_offset =0;const float y_start =0, y_step =40;const float y_default =x_default;/* 运动变量---------------------- ------------------------------*/volatile float site_now[4][3]; //每个legvolatile float结束的实时坐标site_expect[4][3]; //每个legfloat结束的预期坐标 temp_speed[4][3]; //每个轴的速度，需要在每次移动之前重新计算float move_speed; //移动速度float speed_multiple =1; //移动速度multipleconst float spot_turn_speed =4;const float leg_move_speed =8;const float body_move_speed =3;const float stand_seat_speed =1;volatile int rest_counter; //+1/0.02s，为自动休息//函数的参数const float KEEP =255;//定义PI进行计算const float pi =3.1415926;/* 转常数------------- ----------------------------------------------------*////温度长度常量浮点数temp_a =sqrt(pow(2 * x_default + length_side, 2) + pow(y_step, 2));const float temp_b =2 * (y_start + y_step) + length_side;const float temp_c =sqrt(pow(2 * x_default + length_side) , 2) + pow(2 * y_start + y_step + length_side, 2));const float temp_alpha =acos((pow(temp_a, 2) + pow(temp_b, 2) - pow(temp_c, 2)) / 2 / temp_a / temp_b);//turnconst float turn_x1 =(temp_a - length_side) / 2;const float turn_y1 =y_start + y_step / 2;const float turn_x0 =turn_x1 - temp_b * cos(temp_alpha);const float turn_y0 =temp_b * sin (temp_alpha) - turn_y1 - length_side;/* ---------------------------------------- -----------------------------------*//* - 设置函数 -------- -------------------------------------------------- -----------------*/void setup(){ pi nMode(ledred,OUTPUT);pinMode(ledblue,OUTPUT);pinMode(ledgreen,OUTPUT); //start serial for debug Serial.begin(115200); Serial.println("Robot starts initialization"); //initialize default parameter set_site(0, x_default - x_offset, y_start + y_step, z_boot); set_site(1, x_default - x_offset, y_start + y_step, z_boot); set_site(2, x_default + x_offset, y_start, z_boot); set_site(3, x_default + x_offset, y_start, z_boot); for (int i =0; i <4; i++) { for (int j =0; j <3; j++) { site_now[i][j] =site_expect[i][j]; } } //start servo service FlexiTimer2::set(20, servo_service); FlexiTimer2::start(); Serial.println("Servo service started"); //initialize servos servo_attach(); Serial.println("Servos initialized"); Serial.println("Robot initialization Complete");}void servo_attach(void){ for (int i =0; i <4; i++) { for (int j =0; j <3; j++) { servo[i][j].attach(servo_pin[i][j]); delay(100); } }}void servo_detach(void){ for (int i =0; i <4; i++) { for (int j =0; j <3; j++) { servo[i][j].detach(); delay(100); } }}/* - loop function ---------------------------------------------------------------------------*/void loop(){ analogWrite(ledred,255); Serial.println("Stand"); stand(); delay(2000); analogWrite(ledred,0); analogWrite(ledblue,255); Serial.println("Step forward"); step_forward(5); delay(2000); analogWrite(ledblue,0); analogWrite(ledgreen,255); Serial.println("Step back"); step_back(5); delay(2000); analogWrite(ledgreen,0); analogWrite(ledred,255); analogWrite(ledblue,255); Serial.println("Turn left"); turn_left(5); delay(2000); analogWrite(ledgreen,255); analogWrite(ledred,0); analogWrite(ledblue,255); Serial.println("Turn right"); turn_right(5); delay(2000); analogWrite(ledgreen,255); analogWrite(ledred,255); analogWrite(ledblue,0); Serial.println("Hand wave"); hand_wave(3); delay(2000); Serial.println("Hand wave"); hand_shake(3); delay(2000); int x=100; for(int i=0;i<5;i++) { analogWrite(ledgreen,255); analogWrite(ledred,255);//white analogWrite(ledblue,255); delay(x); analogWrite(ledgreen,255);//yellow analogWrite(ledred,255); analogWrite(ledblue,0); delay(x); analogWrite(ledgreen,255);//cyan analogWrite(ledred,0); analogWrite(ledblue,255); delay(x); analogWrite(ledgreen,0); analogWrite(ledred,255);//purple analogWrite(ledblue,255); delay(x); analogWrite(ledgreen,0); analogWrite(ledred,255);//red analogWrite(ledblue,0); delay(x); analogWrite(ledgreen,0);//blue analogWrite(ledred,0); analogWrite(ledblue,255); delay(x); analogWrite(ledgreen,255); analogWrite(ledred,0); analogWrite(ledblue,0); //green delay(x); } analogWrite(ledgreen,0); analogWrite(ledred,0); analogWrite(ledblue,0); //Serial.println("Body dance"); //body_dance(10); // delay(2000); //Serial.println("Sit"); // sit(); delay(1000);}/* - sit - blocking function ---------------------------------------------------------------------------*/void sit(void){ move_speed =stand_seat_speed; for (int leg =0; leg <4; leg++) { set_site(leg, KEEP, KEEP, z_boot); } wait_all_reach();}/* - stand - blocking function ---------------------------------------------------------------------------*/void stand(void){ move_speed =stand_seat_speed; for (int leg =0; leg <4; leg++) { set_site(leg, KEEP, KEEP, z_default); } wait_all_reach();}/* - spot turn to left - blocking function - parameter step steps wanted to turn ---------------------------------------------------------------------------*/void turn_left(unsigned int step){ move_speed =spot_turn_speed; while (step--> 0) { if (site_now[3][1] ==y_start) { //leg 3&1 move set_site(3, x_default + x_offset, y_start, z_up); wait_all_reach(); set_site(0, turn_x1 - x_offset, turn_y1, z_default); set_site(1, turn_x0 - x_offset, turn_y0, z_default); set_site(2, turn_x1 + x_offset, turn_y1, z_default); set_site(3, turn_x0 + x_offset, turn_y0, z_up); wait_all_reach(); set_site(3, turn_x0 + x_offset, turn_y0, z_default); wait_all_reach(); set_site(0, turn_x1 + x_offset, turn_y1, z_default); set_site(1, turn_x0 + x_offset, turn_y0, z_default); set_site(2, turn_x1 - x_offset, turn_y1, z_default); set_site(3, turn_x0 - x_offset, turn_y0, z_default); wait_all_reach(); set_site(1, turn_x0 + x_offset, turn_y0, z_up); wait_all_reach(); set_site(0, x_default + x_offset, y_start, z_default); set_site(1, x_default + x_offset, y_start, z_up); set_site(2, x_default - x_offset, y_start + y_step, z_default); set_site(3, x_default - x_offset, y_start + y_step, z_default); wait_all_reach(); set_site(1, x_default + x_offset, y_start, z_default); wait_all_reach(); } else { //leg 0&2 move set_site(0, x_default + x_offset, y_start, z_up); wait_all_reach(); set_site(0, turn_x0 + x_offset, turn_y0, z_up); set_site(1, turn_x1 + x_offset, turn_y1, z_default); set_site(2, turn_x0 - x_offset, turn_y0, z_default); set_site(3, turn_x1 - x_offset, turn_y1, z_default); wait_all_reach(); set_site(0, turn_x0 + x_offset, turn_y0, z_default); wait_all_reach(); set_site(0, turn_x0 - x_offset, turn_y0, z_default); set_site(1, turn_x1 - x_offset, turn_y1, z_default); set_site(2, turn_x0 + x_offset, turn_y0, z_default); set_site(3, turn_x1 + x_offset, turn_y1, z_default); wait_all_reach(); set_site(2, turn_x0 + x_offset, turn_y0, z_up); wait_all_reach(); set_site(0, x_default - x_offset, y_start + y_step, z_default); set_site(1, x_default - x_offset, y_start + y_step, z_default); set_site(2, x_default + x_offset, y_start, z_up); set_site(3, x_default + x_offset, y_start, z_default); wait_all_reach(); set_site(2, x_default + x_offset, y_start, z_default); wait_all_reach(); } }}/* - spot turn to right - blocking function - parameter step steps wanted to turn ---------------------------------------------------------------------------*/void turn_right(unsigned int step){ move_speed =spot_turn_speed; while (step--> 0) { if (site_now[2][1] ==y_start) { //leg 2&0 move set_site(2, x_default + x_offset, y_start, z_up); wait_all_reach(); set_site(0, turn_x0 - x_offset, turn_y0, z_default); set_site(1, turn_x1 - x_offset, turn_y1, z_default); set_site(2, turn_x0 + x_offset, turn_y0, z_up); set_site(3, turn_x1 + x_offset, turn_y1, z_default); wait_all_reach(); set_site(2, turn_x0 + x_offset, turn_y0, z_default); wait_all_reach(); set_site(0, turn_x0 + x_offset, turn_y0, z_default); set_site(1, turn_x1 + x_offset, turn_y1, z_default); set_site(2, turn_x0 - x_offset, turn_y0, z_default); set_site(3, turn_x1 - x_offset, turn_y1, z_default); wait_all_reach(); set_site(0, turn_x0 + x_offset, turn_y0, z_up); wait_all_reach(); set_site(0, x_default + x_offset, y_start, z_up); set_site(1, x_default + x_offset, y_start, z_default); set_site(2, x_default - x_offset, y_start + y_step, z_default); set_site(3, x_default - x_offset, y_start + y_step, z_default); wait_all_reach(); set_site(0, x_default + x_offset, y_start, z_default); wait_all_reach(); } else { //leg 1&3 move set_site(1, x_default + x_offset, y_start, z_up); wait_all_reach(); set_site(0, turn_x1 + x_offset, turn_y1, z_default); set_site(1, turn_x0 + x_offset, turn_y0, z_up); set_site(2, turn_x1 - x_offset, turn_y1, z_default); set_site(3, turn_x0 - x_offset, turn_y0, z_default); wait_all_reach(); set_site(1, turn_x0 + x_offset, turn_y0, z_default); wait_all_reach(); set_site(0, turn_x1 - x_offset, turn_y1, z_default); set_site(1, turn_x0 - x_offset, turn_y0, z_default); set_site(2, turn_x1 + x_offset, turn_y1, z_default); set_site(3, turn_x0 + x_offset, turn_y0, z_default); wait_all_reach(); set_site(3, turn_x0 + x_offset, turn_y0, z_up); wait_all_reach(); set_site(0, x_default - x_offset, y_start + y_step, z_default); set_site(1, x_default - x_offset, y_start + y_step, z_default); set_site(2, x_default + x_offset, y_start, z_default); set_site(3, x_default + x_offset, y_start, z_up); wait_all_reach(); set_site(3, x_default + x_offset, y_start, z_default); wait_all_reach(); } }}/* - go forward - blocking function - parameter step steps wanted to go ---------------------------------------------------------------------------*/void step_forward(unsigned int step){ move_speed =leg_move_speed; while (step--> 0) { if (site_now[2][1] ==y_start) { //leg 2&1 move set_site(2, x_default + x_offset, y_start, z_up); wait_all_reach(); set_site(2, x_default + x_offset, y_start + 2 * y_step, z_up); wait_all_reach(); set_site(2, x_default + x_offset, y_start + 2 * y_step, z_default); wait_all_reach(); move_speed =body_move_speed; set_site(0, x_default + x_offset, y_start, z_default); set_site(1, x_default + x_offset, y_start + 2 * y_step, z_default); set_site(2, x_default - x_offset, y_start + y_step, z_default); set_site(3, x_default - x_offset, y_start + y_step, z_default); wait_all_reach(); move_speed =leg_move_speed; set_site(1, x_default + x_offset, y_start + 2 * y_step, z_up); wait_all_reach(); set_site(1, x_default + x_offset, y_start, z_up); wait_all_reach(); set_site(1, x_default + x_offset, y_start, z_default); wait_all_reach(); } else { //leg 0&3 move set_site(0, x_default + x_offset, y_start, z_up); wait_all_reach(); set_site(0, x_default + x_offset, y_start + 2 * y_step, z_up); wait_all_reach(); set_site(0, x_default + x_offset, y_start + 2 * y_step, z_default); wait_all_reach(); move_speed =body_move_speed; set_site(0, x_default - x_offset, y_start + y_step, z_default); set_site(1, x_default - x_offset, y_start + y_step, z_default); set_site(2, x_default + x_offset, y_start, z_default); set_site(3, x_default + x_offset, y_start + 2 * y_step, z_default); wait_all_reach(); move_speed =leg_move_speed; set_site(3, x_default + x_offset, y_start + 2 * y_step, z_up); wait_all_reach(); set_site(3, x_default + x_offset, y_start, z_up); wait_all_reach(); set_site(3, x_default + x_offset, y_start, z_default); wait_all_reach(); } }}/* - go back - blocking function - parameter step steps wanted to go ---------------------------------------------------------------------------*/void step_back(unsigned int step){ move_speed =leg_move_speed; while (step--> 0) { if (site_now[3][1] ==y_start) { //leg 3&0 move set_site(3, x_default + x_offset, y_start, z_up); wait_all_reach(); set_site(3, x_default + x_offset, y_start + 2 * y_step, z_up); wait_all_reach(); set_site(3, x_default + x_offset, y_start + 2 * y_step, z_default); wait_all_reach(); move_speed =body_move_speed; set_site(0, x_default + x_offset, y_start + 2 * y_step, z_default); set_site(1, x_default + x_offset, y_start, z_default); set_site(2, x_default - x_offset, y_start + y_step, z_default); set_site(3, x_default - x_offset, y_start + y_step, z_default); wait_all_reach(); move_speed =leg_move_speed; set_site(0, x_default + x_offset, y_start + 2 * y_step, z_up); wait_all_reach(); set_site(0, x_default + x_offset, y_start, z_up); wait_all_reach(); set_site(0, x_default + x_offset, y_start, z_default); wait_all_reach(); } else { //leg 1&2 move set_site(1, x_default + x_offset, y_start, z_up); wait_all_reach(); set_site(1, x_default + x_offset, y_start + 2 * y_step, z_up); wait_all_reach(); set_site(1, x_default + x_offset, y_start + 2 * y_step, z_default); wait_all_reach(); move_speed =body_move_speed; set_site(0, x_default - x_offset, y_start + y_step, z_default); set_site(1, x_default - x_offset, y_start + y_step, z_default); set_site(2, x_default + x_offset, y_start + 2 * y_step, z_default); set_site(3, x_default + x_offset, y_start, z_default); wait_all_reach(); move_speed =leg_move_speed; set_site(2, x_default + x_offset, y_start + 2 * y_step, z_up); wait_all_reach(); set_site(2, x_default + x_offset, y_start, z_up); wait_all_reach(); set_site(2, x_default + x_offset, y_start, z_default); wait_all_reach(); } }}// add by RegisHsuvoid body_left(int i){ set_site(0, site_now[0][0] + i, KEEP, KEEP); set_site(1, site_now[1][0] + i, KEEP, KEEP); set_site(2, site_now[2][0] - i, KEEP, KEEP); set_site(3, site_now[3][0] - i, KEEP, KEEP); wait_all_reach();}void body_right(int i){ set_site(0, site_now[0][0] - i, KEEP, KEEP); set_site(1, site_now[1][0] - i, KEEP, KEEP); set_site(2, site_now[2][0] + i, KEEP, KEEP); set_site(3, site_now[3][0] + i, KEEP, KEEP); wait_all_reach();}void hand_wave(int i){ float x_tmp; float y_tmp; float z_tmp; move_speed =1; if (site_now[3][1] ==y_start) { body_right(15); x_tmp =site_now[2][0]; y_tmp =site_now[2][1]; z_tmp =site_now[2][2]; move_speed =body_move_speed; for (int j =0; j  i / 4) move_speed =body_dance_speed * 2; if (j> i / 2) move_speed =body_dance_speed * 3; set_site(0, KEEP, y_default - 20, KEEP); set_site(1, KEEP, y_default + 20, KEEP); set_site(2, KEEP, y_default - 20, KEEP); set_site(3, KEEP, y_default + 20, KEEP); wait_all_reach(); set_site(0, KEEP, y_default + 20, KEEP); set_site(1, KEEP, y_default - 20, KEEP); set_site(2, KEEP, y_default + 20, KEEP); set_site(3, KEEP, y_default - 20, KEEP); wait_all_reach(); } move_speed =body_dance_speed; head_down(30);}/* - microservos service /timer interrupt function/50Hz - when set site expected,this function move the end point to it in a straight line - temp_speed[4][3] should be set before set expect site,it make sure the end point move in a straight line,and decide move speed. ---------------------------------------------------------------------------*/void servo_service(void){ sei(); static float alpha, beta, gamma; for (int i =0; i <4; i++) { for (int j =0; j <3; j++) { if (abs(site_now[i][j] - site_expect[i][j])>=abs(temp_speed[i][j])) site_now[i][j] +=temp_speed[i][j]; else site_now[i][j] =site_expect[i][j]; } cartesian_to_polar(alpha, beta, gamma, site_now[i][0], site_now[i][1], site_now[i][2]); polar_to_servo(i, alpha, beta, gamma); } rest_counter++;}/* - set one of end points' expect site - this founction will set temp_speed[4][3] at same time - non - blocking function ---------------------------------------------------------------------------*/void set_site(int leg, float x, float y, float z){ float length_x =0, length_y =0, length_z =0; if (x !=KEEP) length_x =x - site_now[leg][0]; if (y !=KEEP) length_y =y - site_now[leg][1]; if (z !=KEEP) length_z =z - site_now[leg][2]; float length =sqrt(pow(length_x, 2) + pow(length_y, 2) + pow(length_z, 2)); temp_speed[leg][0] =length_x / length * move_speed * speed_multiple; temp_speed[leg][1] =length_y / length * move_speed * speed_multiple; temp_speed[leg][2] =length_z / length * move_speed * speed_multiple; if (x !=KEEP) site_expect[leg][0] =x; if (y !=KEEP) site_expect[leg][1] =y; if (z !=KEEP) site_expect[leg][2] =z;}/* - wait one of end points move to expect site - blocking function ---------------------------------------------------------------------------*/void wait_reach(int leg){ while (1) if (site_now[leg][0] ==site_expect[leg][0]) if (site_now[leg][1] ==site_expect[leg][1]) if (site_now[leg][2] ==site_expect[leg][2]) break;}/* - wait all of end points move to expect site - blocking function ---------------------------------------------------------------------------*/void wait_all_reach(void){ for (int i =0; i <4; i++) wait_reach(i);}/* - trans site from cartesian to polar - mathematical model 2/2 ---------------------------------------------------------------------------*/void cartesian_to_polar(volatile float &alpha, volatile float &beta, volatile float &gamma, volatile float x, volatile float y, volatile float z){ //calculate w-z degree float v, w; w =(x>=0 ? 1 :-1) * (sqrt(pow(x, 2) + pow(y, 2))); v =w - length_c; alpha =atan2(z, v) + acos((pow(length_a, 2) - pow(length_b, 2) + pow(v, 2) + pow(z, 2)) / 2 / length_a / sqrt(pow(v, 2) + pow(z, 2))); beta =acos((pow(length_a, 2) + pow(length_b, 2) - pow(v, 2) - pow(z, 2)) / 2 / length_a / length_b); //calculate x-y-z degree gamma =(w>=0) ? atan2(y, x) :atan2(-y, -x); //trans degree pi->180 alpha =alpha / pi * 180; beta =beta / pi * 180; gamma =gamma / pi * 180;}/* - trans site from polar to microservos - mathematical model map to fact - the errors saved in eeprom will be add ---------------------------------------------------------------------------*/void polar_to_servo(int leg, float alpha, float beta, float gamma){ if (leg ==0) { alpha =90 - alpha; beta =beta; gamma +=90; } else if (leg ==1) { alpha +=90; beta =180 - beta; gamma =90 - gamma; } else if (leg ==2) { alpha +=90; beta =180 - beta; gamma =90 - gamma; } else if (leg ==3) { alpha =90 - alpha; beta =beta; gamma +=90; } servo[leg][0].write(alpha); servo[leg][1].write(beta); servo[leg][2].write(gamma);}

spider_fix.inoArduino

// Locate the initial position of legs // RegisHsu 2015-09-09#include  Servo servo[4][3];//define servos' portsconst int servo_pin[4][3] ={ {10,11,2}, {3,4,5}, {6,7,8}, {9, 12, 13} };void setup(){ //initialize all servos for (int i =0; i <4; i++) { for (int j =0; j <3; j++) { servo[i][j].attach(servo_pin[i][j]); delay(20); } }}void loop(void){ for (int i =0; i <4; i++) { for (int j =0; j <3; j++) { servo[i][j].write(90); delay(20); } }}

定制零件和外壳

示意图