Cytron Technologies

Giờ làm việc: 8:00 - 17:00

Thứ 2 - Thứ 6 (trừ ngày lễ)

Hotline 0362917357 

Lập Trình Chuyển Động cho Otto DIY Robot với CircuitPython

Chúng ta đã in 3D và lắp ráp thành công Otto DIY Robot cho Maker Nano RP2040. Trong video này, hãy tìm cách lập trình chuyển động cho robot sử dụng CircuitPython.

Về cơ bản, chúng ta sẽ tìm hiểu cách điều khiển 4 động cơ servo để tạo ra những chuyển động cho robot. Bạn có thể tham khảo chương trình mẫu Cytron đã chuẩn bị sẵn ở bên dưới.

Thư viện

Bạn có thể tải Bộ thư viện Tổng hợp của CircuitPython, sau đó copy những thư viện cần thiết vào thư mục lib trên ổ CIRCUITPY

  • adafruit_motor
  • adafruit_hcsr04.mpy
  • simpleio.mpy

Chương trình mẫu

"""
 
  Connections:
  - Servo left leg = GP2
  - Servo right leg = GP3
  - Servo left foot = GP4
  - Servo right foot = GP5
  - Ultrasonic trig = GP7
  - Ultrasonic echo = GP6
  
  Libraries required from bundle (https://circuitpython.org/libraries):
  - adafruit_motor
  - adafruit_hcsr04.mpy
  - simpleio.mpy
  
  Otto DIY
  - https://www.ottodiy.com/
  
"""

import time
import board
import digitalio
import simpleio
import pwmio
from adafruit_motor import servo
import adafruit_hcsr04

sonar = adafruit_hcsr04.HCSR04(trigger_pin=board.GP7, echo_pin=board.GP6)

SERVO_LL = board.GP2 # Servo for left leg
SERVO_LR = board.GP3 # Servo for right leg
SERVO_FL = board.GP4 # Servo for left foot
SERVO_FR = board.GP5 # Servo for right foot

pwm_ll = pwmio.PWMOut(SERVO_LL, duty_cycle=2 ** 15, frequency=50)
pwm_lr = pwmio.PWMOut(SERVO_LR, duty_cycle=2 ** 15, frequency=50)
pwm_fl = pwmio.PWMOut(SERVO_FL, duty_cycle=2 ** 15, frequency=50)
pwm_fr = pwmio.PWMOut(SERVO_FR, duty_cycle=2 ** 15, frequency=50)

servo_ll = servo.Servo(pwm_ll)
servo_lr = servo.Servo(pwm_lr)
servo_fl = servo.Servo(pwm_fl)
servo_fr = servo.Servo(pwm_fr)

offset_ll = 8
offset_lr = 0
offset_fl = 10
offset_fr = 0

defaultpos_ll = 90 - offset_ll
defaultpos_lr = 90 - offset_lr
defaultpos_fl = 90 - offset_fl
defaultpos_fr = 90 - offset_fr

def stand():
    servo_ll.angle = defaultpos_ll
    servo_lr.angle = defaultpos_lr
    servo_fl.angle = defaultpos_fl
    servo_fr.angle = defaultpos_fr
    time.sleep(1)

def dance_1():
    for count in range(5):
        servo_fl.angle = defaultpos_fl - (count*10)
        time.sleep(0.02)
    for count in range(4, -1, -1):
        servo_fl.angle = defaultpos_fl - (count*10)
        time.sleep(0.02)

def dance_2():
    for count in range(5):
        servo_fr.angle = defaultpos_fr + (count*10)
        time.sleep(0.02)
    for count in range(4, -1, -1):
        servo_fr.angle = defaultpos_fr + (count*10)
        time.sleep(0.02)

def dance_3():
    for count in range(6):
        servo_fl.angle = defaultpos_fl + (count*10)
        time.sleep(0.02)
    for count in range(6):
        servo_fr.angle = defaultpos_fr - (count*10)
        time.sleep(0.02)
    time.sleep(0.2)
    for count in range(5, -1, -1):
        servo_fl.angle = defaultpos_fl + (count*10)
        time.sleep(0.02)
    for count in range(5, -1, -1):
        servo_fr.angle = defaultpos_fr - (count*10)
        time.sleep(0.02)

def dance_4():
    for count in range(6):
        servo_fr.angle = defaultpos_fr - (count*10)
        time.sleep(0.02)
    for count in range(6):
        servo_fl.angle = defaultpos_fl + (count*10)
        time.sleep(0.02)
    time.sleep(0.2)
    for count in range(5, -1, -1):
        servo_fr.angle = defaultpos_fr - (count*10)
        time.sleep(0.02)
    for count in range(5, -1, -1):
        servo_fl.angle = defaultpos_fl + (count*10)
        time.sleep(0.02)

def dance_5():
    for count in range(6):
        servo_fr.angle = defaultpos_fr - (count*10)
        servo_fl.angle = defaultpos_fl + (count*10)
        time.sleep(0.02)
    time.sleep(0.5)
    for count in range(5, -1, -1):
        servo_fr.angle = defaultpos_fr - (count*10)
        servo_fl.angle = defaultpos_fl + (count*10)
        time.sleep(0.02)
    time.sleep(0.3)

def dance_6():
    for count in range(3):
        servo_ll.angle = defaultpos_ll - (count*10)
        servo_lr.angle = defaultpos_lr - (count*10)
        time.sleep(0.02)
    time.sleep(0.3)
    for count in range(3):
        for count in range(5):
            servo_ll.angle = defaultpos_ll + (count*10) - 20
            servo_lr.angle = defaultpos_lr + (count*10) - 20
            time.sleep(0.02)
        time.sleep(0.3)
        for count in range(5):
            servo_ll.angle = defaultpos_ll - (count*10) + 20
            servo_lr.angle = defaultpos_lr - (count*10) + 20
            time.sleep(0.02)
        time.sleep(0.3)

def walk_forward():
    for count in range(4):
        servo_fl.angle = defaultpos_fl + (count*10)
        servo_fr.angle = defaultpos_fr + (count*2)
        time.sleep(0.02)
    for count in range(3):
        servo_ll.angle = defaultpos_ll - (count*10)
        servo_lr.angle = defaultpos_lr - (count*10)
        time.sleep(0.02)
    for count in range(3):
        for count in range(3, -1, -1):
            servo_fl.angle = defaultpos_fl + (count*10)
            servo_fr.angle = defaultpos_fr + (count*2)
            time.sleep(0.02)
        for count in range(4):
            servo_fl.angle = defaultpos_fl - (count*2)
            servo_fr.angle = defaultpos_fr - (count*10)
            time.sleep(0.02)
        for count in range(5):
            servo_ll.angle = defaultpos_ll + (count*10) - 20
            servo_lr.angle = defaultpos_lr + (count*10) - 20
            time.sleep(0.02)
        for count in range(3, -1, -1):
            servo_fl.angle = defaultpos_fl - (count*2)
            servo_fr.angle = defaultpos_fr - (count*10)
            time.sleep(0.02)
        for count in range(4):
            servo_fl.angle = defaultpos_fl + (count*10)
            servo_fr.angle = defaultpos_fr + (count*2)
            time.sleep(0.02)
        for count in range(5):
            servo_ll.angle = defaultpos_ll - (count*10) + 20
            servo_lr.angle = defaultpos_lr - (count*10) + 20
            time.sleep(0.02)
    for count in range(3, -1, -1):
        servo_fl.angle = defaultpos_fl + (count*10)
        servo_fr.angle = defaultpos_fr + (count*2)
        time.sleep(0.02)
    for count in range(4):
        servo_fl.angle = defaultpos_fl - (count*2)
        servo_fr.angle = defaultpos_fr - (count*10)
        time.sleep(0.02)
    for count in range(3):
        servo_ll.angle = defaultpos_ll + (count*10) - 20
        servo_lr.angle = defaultpos_lr + (count*10) - 20
        time.sleep(0.02)
    for count in range(3, -1, -1):
        servo_fl.angle = defaultpos_fl - (count*2)
        servo_fr.angle = defaultpos_fr - (count*10)
        time.sleep(0.02)

def walk_backward():
    for count in range(4):
        servo_fl.angle = defaultpos_fl - (count*2)
        servo_fr.angle = defaultpos_fr - (count*10)
        time.sleep(0.02)
    for count in range(3):
        servo_ll.angle = defaultpos_ll - (count*10)
        servo_lr.angle = defaultpos_lr - (count*10)
        time.sleep(0.02)
    for count in range(3):
        for count in range(3, -1, -1):
            servo_fl.angle = defaultpos_fl - (count*2)
            servo_fr.angle = defaultpos_fr - (count*10)
            time.sleep(0.02)
        for count in range(4):
            servo_fl.angle = defaultpos_fl + (count*10)
            servo_fr.angle = defaultpos_fr + (count*2)
            time.sleep(0.02)
        for count in range(5):
            servo_ll.angle = defaultpos_ll + (count*10) - 20
            servo_lr.angle = defaultpos_lr + (count*10) - 20
            time.sleep(0.02)
        for count in range(3, -1, -1):
            servo_fl.angle = defaultpos_fl + (count*10)
            servo_fr.angle = defaultpos_fr + (count*2)
            time.sleep(0.02)
        for count in range(4):
            servo_fl.angle = defaultpos_fl - (count*2)
            servo_fr.angle = defaultpos_fr - (count*10)
            time.sleep(0.02)
        for count in range(5):
            servo_ll.angle = defaultpos_ll - (count*10) + 20
            servo_lr.angle = defaultpos_lr - (count*10) + 20
            time.sleep(0.02)
    for count in range(3, -1, -1):
        servo_fl.angle = defaultpos_fl - (count*2)
        servo_fr.angle = defaultpos_fr - (count*10)
        time.sleep(0.02)
    for count in range(4):
        servo_fl.angle = defaultpos_fl + (count*10)
        servo_fr.angle = defaultpos_fr + (count*2)
        time.sleep(0.02)
    for count in range(3):
        servo_ll.angle = defaultpos_ll + (count*10) - 20
        servo_lr.angle = defaultpos_lr + (count*10) - 20
        time.sleep(0.02)
    for count in range(3, -1, -1):
        servo_fl.angle = defaultpos_fl + (count*10)
        servo_fr.angle = defaultpos_fr + (count*2)
        time.sleep(0.02)

time.sleep(1)

stand()
object_distance = 0
mode = 0
run = False

while True:
    try:
        object_distance = sonar.distance
        print("Object distance: {}cm".format(object_distance))

        if object_distance < 15:
            mode += 1
            run = True
            time.sleep(2)

    except RuntimeError:
        print("Retrying!")
    
    time.sleep(0.1)
    
    if mode == 1 and run == True:
        run = False
        for count in range(3):
            dance_1()
            time.sleep(0.2)
        stand()
    
    elif mode == 2 and run == True:
        run = False
        for count in range(3):
            dance_2()
            time.sleep(0.2)
        stand()
    
    elif mode == 3 and run == True:
        run = False
        dance_3()
        time.sleep(0.5)
        dance_4()
        time.sleep(0.5)
        dance_5()
        stand()
    
    elif mode == 4 and run == True:
        run = False
        dance_6()
        stand()
    
    elif mode == 5 and run == True:
        run = False
        walk_forward()
        stand()
    
    elif mode == 6 and run == True:
        mode = 0
        run = False
        walk_backward()
        stand()
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Kha
Kha
1 năm trước

mình có cần tải thư viện gì k ạ

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