From 69d60f610b6edbb51c74b994248da5956cfee50c Mon Sep 17 00:00:00 2001 From: RoboticBoyer Date: Sun, 12 May 2024 09:24:52 +0200 Subject: [PATCH] Sketch e Schema Corso --- Appunti/Scema Circuito PCB 00.jpg | Bin 0 -> 125329 bytes .../Fablab_Pinerolo_Robot_Semplice_00.ino | 40 ++++++++ .../_100_Input_00.ino | 10 ++ .../_200_Pulsanti_00.ino | 60 ++++++++++++ .../_300_Calcoli_00.ino | 67 +++++++++++++ .../_400_Servo_00.ino | 46 +++++++++ .../_700_Debug_00.ino | 39 ++++++++ .../_800_setup_00.ino | 18 ++++ .../_900_loop_00.ino | 91 ++++++++++++++++++ 9 files changed, 371 insertions(+) create mode 100644 Appunti/Scema Circuito PCB 00.jpg create mode 100644 Codice Arduino/Fablab_Pinerolo_Robot_Semplice_00/Fablab_Pinerolo_Robot_Semplice_00.ino create mode 100644 Codice Arduino/Fablab_Pinerolo_Robot_Semplice_00/_100_Input_00.ino create mode 100644 Codice Arduino/Fablab_Pinerolo_Robot_Semplice_00/_200_Pulsanti_00.ino create mode 100644 Codice Arduino/Fablab_Pinerolo_Robot_Semplice_00/_300_Calcoli_00.ino create mode 100644 Codice Arduino/Fablab_Pinerolo_Robot_Semplice_00/_400_Servo_00.ino create mode 100644 Codice Arduino/Fablab_Pinerolo_Robot_Semplice_00/_700_Debug_00.ino create mode 100644 Codice Arduino/Fablab_Pinerolo_Robot_Semplice_00/_800_setup_00.ino create mode 100644 Codice Arduino/Fablab_Pinerolo_Robot_Semplice_00/_900_loop_00.ino diff --git a/Appunti/Scema Circuito PCB 00.jpg b/Appunti/Scema Circuito PCB 00.jpg new file mode 100644 index 0000000000000000000000000000000000000000..7298054f39e99156ab6ed5ac850d926b4722cc8d GIT binary patch literal 125329 zcmc%x1z48L^8gG#q?Du}-Juc^(y7v^bi+e;cNuh-bc%#@mvr}obc1wDBOu^=gNmN~ zo&WWH*Zb}s_TFcAc4uaHc4js_-^Rav0-=iwiwT3EprAmaKm>hTfW9a8^r_Y}Ss7t5 zNg<#D1cJr|0Rb8v1TwdHtu6qx3;fyH0LVcgC_Ny5$MAdJ=_;@DJs)(Hw~?293c#cS`Fn=H<#m3`JK9;< z0Wh6c@VZtuSNUlm&tq<8e}(HRTv3doZ=oOue3gMeLXa&;79;|C0_6Yy8h(wZWf};? zaRdUvg#9Yhi35Quy+I({$zNrZsUQ%V7YJ0*Zw0miUlRihq|gQiAkcmm2y|No1j70V 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cuarto servo + +// Definición de pines analógicos para los potenciometros +int sensorPin0 = A0; +int sensorPin1 = A1; +int sensorPin2 = A2; +int sensorPin3 = A3; + +// Variables utilizadas en el programa +int count0, arrayStep, arrayMax, countverz, Taster, stepsMax, steps, time = 1000, del = 1000, temp; +int old_Taster; +unsigned int verz = 0; + +long previousMillis1 = 0; +long previousMillis2 = 0; +long previousMillis3 = 0; +long previousMillis4 = 0; +long previousMicros = 0; +unsigned long currentMillis = millis(); +unsigned long currentMicros = micros(); + +// Definición de arreglos para almacenar datos +int Delay[7] = {0, 0, 1, 3, 15, 60, 300}; // Mapeo de valores de potenciómetro a retraso en segundos +int SensVal[4]; // Almacena los valores de los sensores +float dif[4], ist[4], sol[4], dir[4]; // Variables para cálculos de diferencia y posición + + +#define max_prog_steps 10 //orgine era 180 + +int joint0[max_prog_steps]; // Almacena posiciones del servo 0 +int joint1[max_prog_steps]; // Almacena posiciones del servo 1 +int joint2[max_prog_steps]; // Almacena posiciones del servo 2 +int joint3[max_prog_steps]; // Almacena posiciones del servo 3 +int top = max_prog_steps - 1; // Índice máximo para los arreglos +boolean playmode = false, Step = false; // Modo de reproducción y paso diff --git a/Codice Arduino/Fablab_Pinerolo_Robot_Semplice_00/_100_Input_00.ino b/Codice Arduino/Fablab_Pinerolo_Robot_Semplice_00/_100_Input_00.ino new file mode 100644 index 0000000..1479319 --- /dev/null +++ b/Codice Arduino/Fablab_Pinerolo_Robot_Semplice_00/_100_Input_00.ino @@ -0,0 +1,10 @@ +// Función para leer valores de los potenciómetros +void readPot() +{ + SensVal[0] = analogRead(sensorPin0); + SensVal[1] = analogRead(sensorPin1); + SensVal[2] = analogRead(sensorPin2); + SensVal[3] = analogRead(sensorPin3); + //Serial.print("Sensor4: "); + //Serial.println(SensVal[3]); +} diff --git a/Codice Arduino/Fablab_Pinerolo_Robot_Semplice_00/_200_Pulsanti_00.ino b/Codice Arduino/Fablab_Pinerolo_Robot_Semplice_00/_200_Pulsanti_00.ino new file mode 100644 index 0000000..b47f903 --- /dev/null +++ b/Codice Arduino/Fablab_Pinerolo_Robot_Semplice_00/_200_Pulsanti_00.ino @@ -0,0 +1,60 @@ +// Función para manejar el botón +void Button() +{ + //Serial.print("P1: "); Serial.println(digitalRead(6)); //GB + + if (digitalRead(6) == false) //originale + //if (digitalRead(6) == true) //GB + { + delay(1); + if (digitalRead(6) == true) //originale + //if (digitalRead(6) == false) //GB + { + if (Taster == 0) + { + Taster = 1; + previousMillis3 = currentMillis; + } + else if ((Taster == 1) && (currentMillis - previousMillis3 < 250)) + { + Taster = 2; + } + } + } + + + +if (Taster != old_Taster){ //GB + Serial.print("Taster: "); Serial.println(Taster); + old_Taster=Taster; +} + + if ((Taster == 1) && (currentMillis - previousMillis3 > 1000)) + { + arrayStep += 1; + arrayMax = arrayStep; + record(); + Taster = 0; + playmode = false; + Serial.print("Record Step: "); Serial.println(arrayStep); + digitalWrite(13, HIGH); + delay(100); + digitalWrite(13, LOW); + } + else if (Taster == 2) + { + arrayStep = 0; + playmode = true; + Taster = 0; + Step = 1; + Serial.println("playmode "); + data_out(); + delay(250); + digitalWrite(13, LOW); + } + + if (currentMillis - previousMillis3 > 2000) + { + Taster = 0; + } +} diff --git a/Codice Arduino/Fablab_Pinerolo_Robot_Semplice_00/_300_Calcoli_00.ino b/Codice Arduino/Fablab_Pinerolo_Robot_Semplice_00/_300_Calcoli_00.ino new file mode 100644 index 0000000..f61b522 --- /dev/null +++ b/Codice Arduino/Fablab_Pinerolo_Robot_Semplice_00/_300_Calcoli_00.ino @@ -0,0 +1,67 @@ +// Función para calcular el retraso entre movimientos +void calc_pause() +{ + readPot(); + temp = SensVal[3]; + if (temp < 0) temp = 0; + temp = map(temp, 0, 680, 0, 6); + verz = Delay[temp]; // verz = retraso en segundos +} + +// Función para mapear valores de los potenciómetros a milisegundos +void mapping() +{ + ist[0] = map(SensVal[0], 150, 900, 600, 2400); // drehen + ist[1] = map(SensVal[1], 1000, 100, 550, 2400); // Schulter + ist[2] = map(SensVal[2], 120, 860, 400, 2500); // Hand + ist[3] = map(SensVal[3], 1023, 0, 500, 2500); // Zange +} + +// Función para almacenar posiciones en los arreglos +void record() +{ + joint0[arrayStep] = ist[0]; + joint1[arrayStep] = ist[1]; + joint2[arrayStep] = ist[2]; + joint3[arrayStep] = ist[3]; +} + +// Función para leer posiciones desde los arreglos +void Read() +{ + sol[0] = joint0[arrayStep]; + sol[1] = joint1[arrayStep]; + sol[2] = joint2[arrayStep]; + sol[3] = joint3[arrayStep]; +} + +// Función para calcular pasos individuales +void calculate() +{ + dif[0] = abs(ist[0] - sol[0]); + dif[1] = abs(ist[1] - sol[1]); + dif[2] = abs(ist[2] - sol[2]); + dif[3] = abs(ist[3] - sol[3]); + + stepsMax = max(dif[0], dif[1]); + stepsMax = max(stepsMax, dif[2]); + stepsMax = max(stepsMax, dif[3]); + + if (stepsMax < 500) + del = 1200; + else + del = 600; + + if (sol[0] < ist[0]) dir[0] = 0 - dif[0] / stepsMax; + else + dir[0] = dif[0] / stepsMax; + if (sol[1] < ist[1]) dir[1] = 0 - dif[1] / stepsMax; + else + dir[1] = dif[1] / stepsMax; + if (sol[2] < ist[2]) dir[2] = 0 - dif[2] / stepsMax; + else + dir[2] = dif[2] / stepsMax; + if (sol[3] < ist[3]) dir[3] = 0 - dif[3] / stepsMax; + else + dir[3] = dif[3] / stepsMax; +} diff --git a/Codice Arduino/Fablab_Pinerolo_Robot_Semplice_00/_400_Servo_00.ino b/Codice Arduino/Fablab_Pinerolo_Robot_Semplice_00/_400_Servo_00.ino new file mode 100644 index 0000000..8afbb09 --- /dev/null +++ b/Codice Arduino/Fablab_Pinerolo_Robot_Semplice_00/_400_Servo_00.ino @@ -0,0 +1,46 @@ +// Función para mover los servos +void move_servo() +{ + servo_0.writeMicroseconds(ist[3]); + servo_1.writeMicroseconds(ist[2]); + servo_2.writeMicroseconds(ist[0]); + servo_3.writeMicroseconds(ist[1]); +} + + +// Función para mover los servos durante la reproducción +void play_servo() +{ + steps += 1; + if (steps < stepsMax) + { + if (steps == 20) time = del * 4; + else if (steps == 40) time = del * 3; + else if (steps == 80) time = del * 2; + else if (steps == 100) time = del - 1; + + if (steps == stepsMax - 200) time = del * 2; + else if (steps == stepsMax - 80) time = del * 3; + else if (steps == stepsMax - 40) time = del * 4; + else if (steps == stepsMax - 20) time = del * 5; + + ist[0] += dir[0]; + ist[1] += dir[1]; + ist[2] += dir[2]; + ist[3] += dir[3]; + +Serial.print(ist[3]); Serial.println(".."); //GB + + servo_0.writeMicroseconds(ist[3]); + servo_1.writeMicroseconds(ist[2]); + servo_2.writeMicroseconds(ist[0]); + servo_3.writeMicroseconds(ist[1]); + } + else + { + Step = 1; + steps = 0; + playmode =0; //GB + + } +} diff --git a/Codice Arduino/Fablab_Pinerolo_Robot_Semplice_00/_700_Debug_00.ino b/Codice Arduino/Fablab_Pinerolo_Robot_Semplice_00/_700_Debug_00.ino new file mode 100644 index 0000000..ac6cae6 --- /dev/null +++ b/Codice Arduino/Fablab_Pinerolo_Robot_Semplice_00/_700_Debug_00.ino @@ -0,0 +1,39 @@ +// Función para imprimir los datos grabados por el puerto serial +void data_out() +{ + int i = 0; + +Serial.print("passi: "); Serial.println(arrayMax+1); //GB + + while (i < arrayMax) + { + digitalWrite(13, HIGH); + i += 1; + Serial.print(joint0[i]); Serial.print(", "); + } + Serial.println("Joint0"); + i = 0; + while (i < arrayMax) + { + digitalWrite(13, HIGH); + i += 1; + Serial.print(joint1[i]); Serial.print(", "); + } + Serial.println("Joint1"); + i = 0; + while (i < arrayMax) + { + digitalWrite(13, HIGH); + i += 1; + Serial.print(joint2[i]); Serial.print(", "); + } + Serial.println("Joint2"); + i = 0; + while (i < arrayMax) + { + digitalWrite(13, HIGH); + i += 1; + Serial.print(joint3[i]); Serial.print(", "); + } + Serial.println("Joint3"); +} diff --git a/Codice Arduino/Fablab_Pinerolo_Robot_Semplice_00/_800_setup_00.ino b/Codice Arduino/Fablab_Pinerolo_Robot_Semplice_00/_800_setup_00.ino new file mode 100644 index 0000000..2fba9e6 --- /dev/null +++ b/Codice Arduino/Fablab_Pinerolo_Robot_Semplice_00/_800_setup_00.ino @@ -0,0 +1,18 @@ +// Configuración inicial del programa +void setup() +{ + pinMode(4, INPUT); // Configura el pin digital 4 como entrada + pinMode(6, INPUT); // Configura el pin digital 6 como entrada + + pinMode(13, OUTPUT); // Configura el pin digital 13 como salida + digitalWrite(13, HIGH); // Enciende el LED en el pin digital 13 + + servo_0.attach(3); // Asocia el servo_0 al pin digital 3 + servo_1.attach(5); // Asocia el servo_1 al pin digital 10 + servo_2.attach(11); // Asocia el servo_2 al pin digital 9 + servo_3.attach(12); // Asocia el servo_3 al pin digital 11 + + Serial.begin(115200); // Inicia la comunicación serial con una velocidad de 115200 baudios + Serial.println("mini robot ready..."); // Imprime mensaje de inicio en el puerto serial + digitalWrite(13, LOW); // Apaga el LED en el pin digital 13 +} diff --git a/Codice Arduino/Fablab_Pinerolo_Robot_Semplice_00/_900_loop_00.ino b/Codice Arduino/Fablab_Pinerolo_Robot_Semplice_00/_900_loop_00.ino new file mode 100644 index 0000000..9efd30b --- /dev/null +++ b/Codice Arduino/Fablab_Pinerolo_Robot_Semplice_00/_900_loop_00.ino @@ -0,0 +1,91 @@ +// Bucle principal del programa +void loop() +{ + //Serial.print("x."); //GB + currentMillis = millis(); // Obtiene el tiempo actual en milisegundos + currentMicros = micros(); // Obtiene el tiempo actual en microsegundos + + +//---> Gestione Pulsanti + +// Button(); // Llama a la función Button() para manejar el botón + +//---------------------------------------------------------------------- + +//---> Gestione Movimento Manuale Robot +// Sección de código para el modo manual... + if (!playmode) + { + if (currentMillis - previousMillis1 > 25) + { + if (arrayStep < top) + { + previousMillis1 = currentMillis; + readPot(); // Lee los valores de los potenciómetros + mapping(); // Mapea los valores a milisegundos para los servos + move_servo(); // Establece la nueva posición del servo + } + } + } +//---------------------------------------------------------------------- + + +// ---> Gestione Movimento Automatico Robot +/* + // Sección de código para el modo de reproducción... + else if (playmode) + { + if (Step) + { + digitalWrite(13, HIGH); // Enciende el LED en el pin digital 13 + if (arrayStep < arrayMax) + { + arrayStep += 1; + Read(); + calculate(); + Step = 0; + digitalWrite(13, LOW); // Apaga el LED en el pin digital 13 + } + else + { + arrayStep = 0; + calc_pause(); + countverz = 0; + while (countverz < verz) + { + countverz += 1; + calc_pause(); + digitalWrite(13, HIGH); delay(25); + digitalWrite(13, LOW); delay(975); + } + } + } + else + { + if (currentMicros - previousMicros > time) + { + previousMicros = currentMicros; + play_servo(); + } + } + } +*/ +//---------------------------------------------------------------------- + +// ---> Gestione Pulsante D4 Pausa +/* +// Bucle de espera hasta que se presione el botón de pausa... + while (digitalRead(4) == false) //orginale + //while (digitalRead(4) == true) //GB + { + Serial.print("."); + digitalWrite(13, HIGH); delay(500); + digitalWrite(13, LOW); delay(500); + } +*/ +//---------------------------------------------------------------------- + + + // Comentario: Sección de salida de texto por el puerto serial (comentada para mayor concisión) + // ... +}