И снова простой шагающий робот на базе контроллера Arduino и сервомашинок. Этот примечателен использованием в качестве ног лопаток для еды 🙂

промо-видео — Simple Walker Robot:

составные части робота:

скетч:

/*
Simple Walker Robot
by Randy Sarafan

This code is for controlling a simple quadruped robot and having it respond to obstacles that approach.

For more information visit the project page:
http://www.instructables.com/id/Simple-Walker-Robot/

This code is based on both the Arduino Sweep example by BARRAGAN
and the Arduino Ping example by Tome Igoe
*/

#include <Servo.h>

Servo myservo;  // create servo object to control a servo
                // a maximum of eight servo objects can be created

Servo myservo1; // create a second servo object to control a servo

int pos = 80;   // variable to store the servo position for rear legs
                //changing this value changes the default position of the rear legs
int pos1 = 70;  // variable to store the servo position for front legs
                //changing this value changes the default position of the front legs

//determines the rate at which the legs move
int rate = 1000;

// this constant won't change.  It's the pin number
// of the sensor's output:
const int pingPin = 7;

void setup()
{
  myservo.attach(9);      // attaches the servo on pin 9 to the servo object
  myservo1.attach(10);    // attaches the servo on pin 10 to the servo object

  myservo.write(pos);     // tell servo to go to position in variable 'pos' - sets center axis
  myservo1.write(pos1);   // tell servo to go to position in variable 'pos' - sets center axis
  delay(5000);
}


void loop() {

  long duration, inches, cm;

  // The PING))) is triggered by a HIGH pulse of 2 or more microseconds.
  // Give a short LOW pulse beforehand to ensure a clean HIGH pulse:
  pinMode(pingPin, OUTPUT);
  digitalWrite(pingPin, LOW);
  delayMicroseconds(2);
  digitalWrite(pingPin, HIGH);
  delayMicroseconds(5);
  digitalWrite(pingPin, LOW);

  // The same pin is used to read the signal from the PING))): a HIGH
  // pulse whose duration is the time (in microseconds) from the sending
  // of the ping to the reception of its echo off of an object.
  pinMode(pingPin, INPUT);
  duration = pulseIn(pingPin, HIGH);

  // convert the time into a distance
  inches = microsecondsToInches(duration);

  //if something is closer than a foot, back away
  if(inches <= 12){
    backward();
  }

  //if nothing is closer than a foot, go forwards
  if(inches > 12){
    forward();
  }

}


//function for going forwards
void forward(){
  myservo.write(pos + 20);                // tell servo to go to position in variable 'pos'
  myservo1.write(pos1 - 20);              // tell servo to go to position in variable 'pos'

  delay(rate);

  myservo.write(pos - 20);                // tell servo to go to position in variable 'pos'
  myservo1.write(pos1 + 20);              // tell servo to go to position in variable 'pos'
  delay(rate);
}

//function for backing away
void backward(){
  myservo.write(pos + 25);                // tell servo to go to position in variable 'pos'
  myservo1.write(pos1 + 50);              // tell servo to go to position in variable 'pos'

  delay(rate);

  myservo.write(pos - 25);                // tell servo to go to position in variable 'pos'
  myservo1.write(pos1 - 30);              // tell servo to go to position in variable 'pos'
  delay(rate);
}

long microsecondsToInches(long microseconds)
{
  // According to Parallax's datasheet for the PING))), there are
  // 73.746 microseconds per inch (i.e. sound travels at 1130 feet per
  // second).  This gives the distance travelled by the ping, outbound
  // and return, so we divide by 2 to get the distance of the obstacle.
  // See: http://www.parallax.com/dl/docs/prod/acc/28015-PING-v1.3.pdf
  return microseconds / 74 / 2;
}

Ссылки
Simple Walker Robot

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