In the end, open the .ino file: when you'll open it, arduino will ask you to create a dedicated folder, obviously allow it.
PS: to make MinioBot do what he was programmed to do using Bluetooth commands you can use a Serial Bluetooth Terminal (the app that has been used by us is this; we've developed a more user-friendly app, but the bluetooth libreries aren't compatible with the HC06 module because it isn't a BLE device).
There've been included 3 libreries:-
Servo.h: gives the opportunity to change servos' angle with high precision. -
<SoftwareSerial.h>: allows serial communication between digital pins. -
<Otto.h>: otto's library, it allows to implement useful functions, likeOtto.walk().
There are two main #define sections:
- Defining notes : in this section it has been assigned to each note a frequency, to make easier and more understandable the melodies' arrays declaration.
///////////////////////////////////////////////////////////////////
//-- Defining Notes ---------------------------------------------//
///////////////////////////////////////////////////////////////////
#define NOTE_B0 31
#define NOTE_C1 33
#define NOTE_CS1 35
#define NOTE_D1 37
#define NOTE_DS1 39
#define NOTE_E1 41
#define NOTE_F1 44
#define NOTE_FS1 46
#define NOTE_G1 49
#define NOTE_GS1 52
#define NOTE_A1 55
#define NOTE_AS1 58
#define NOTE_B1 62
#define NOTE_C2 65
#define NOTE_CS2 69
#define NOTE_D2 73
#define NOTE_DS2 78
#define NOTE_E2 82
#define NOTE_F2 87
#define NOTE_FS2 93
#define NOTE_G2 98
#define NOTE_GS2 104
#define NOTE_A2 110
#define NOTE_AS2 117
#define NOTE_B2 123
#define NOTE_C3 131
#define NOTE_CS3 139
#define NOTE_D3 147
#define NOTE_DS3 156
#define NOTE_E3 165
#define NOTE_F3 175
#define NOTE_FS3 185
#define NOTE_G3 196
#define NOTE_GS3 208
#define NOTE_A3 220
#define NOTE_AS3 233
#define NOTE_B3 247
#define NOTE_C4 262
#define NOTE_CS4 277
#define NOTE_D4 294
#define NOTE_DS4 311
#define NOTE_E4 330
#define NOTE_F4 349
#define NOTE_FS4 370
#define NOTE_G4 392
#define NOTE_GS4 415
#define NOTE_A4 440
#define NOTE_AS4 466
#define NOTE_B4 494
#define NOTE_C5 523
#define NOTE_CS5 554
#define NOTE_D5 587
#define NOTE_DS5 622
#define NOTE_E5 659
#define NOTE_F5 698
#define NOTE_FS5 740
#define NOTE_G5 784
#define NOTE_GS5 831
#define NOTE_A5 880
#define NOTE_AS5 932
#define NOTE_B5 988
#define NOTE_C6 1047
#define NOTE_CS6 1109
#define NOTE_D6 1175
#define NOTE_DS6 1245
#define NOTE_E6 1319
#define NOTE_F6 1397
#define NOTE_FS6 1480
#define NOTE_G6 1568
#define NOTE_GS6 1661
#define NOTE_A6 1760
#define NOTE_AS6 1865
#define NOTE_B6 1976
#define NOTE_C7 2093
#define NOTE_CS7 2217
#define NOTE_D7 2349
#define NOTE_DS7 2489
#define NOTE_E7 2637
#define NOTE_F7 2794
#define NOTE_FS7 2960
#define NOTE_G7 3136
#define NOTE_GS7 3322
#define NOTE_A7 3520
#define NOTE_AS7 3729
#define NOTE_B7 3951
#define NOTE_C8 4186
#define NOTE_CS8 4435
#define NOTE_D8 4699
#define NOTE_DS8 4978
#define REST 0- Defining Servos and others : in this section every servo and sensor has been defined.
///////////////////////////////////////////////////////////////////
//-- Defining servos and others ---------------------------------//
///////////////////////////////////////////////////////////////////
#define LeftLeg 2 // Looking MinioBot from the front
#define RightLeg 3 // Looking MinioBot from the front
#define LeftFoot 4 // Looking MinioBot from the front
#define RightFoot 5 // Looking MinioBot from the front
#define Buzzer 13
#define RightArm 6 // Looking MinioBot from the front
#define LeftArm 7 // Looking MinioBot from the front
Servo Servo_6; /* RightArm */
Servo Servo_7; /* LeftArm */
Servo Servo_5; /* RightFoot */
Servo Servo_4; /* LeftFoot */Also there are many variables tied to many important functions. They are:
bool walkForward = false;
bool walkBackwards = false; // they're tied to the functions walkForward_si and walkBackwards_si; they're used to stop the walk functions while they're false.
int Piezo = 13; // Buzzer, used to play the melodies' notes
int rxPin = 11;
int txPin = 12; // they're used to initialize rx and tx pin used by the bluetooth module HC-06.
int i = 0; // used to stop the fly function while its value is equal to 0.
char message; // used to memorize the message sent by the user, wich'll trigger one of the switch cases situated in the loop function.-
MinioBot All Moves : functions that move MinioBot's servos.
-
Melodies : functions that allow the Buzzer to play melodies.
startArms(): sets both arms in a neutral position.
///////////////////////////////////////////////////////////////////
//-- MinioBot All Moves -----------------------------------------//
///////////////////////////////////////////////////////////////////
void startArms(){
Servo_6.write(0); delay(100);
Servo_7.write(180); delay(100);
}move_RightArm(): allows to move the right arm's servo based on its position (when its down it goes up, when it's up it goes down).
void move_RigthArm() {
if(Servo_6.read() == 0){
Servo_6.write(90);
Servo_6.write(1);
Servo_6.write(180);
} else{
Servo_6.write(0);
}
}move_LeftArm(): allows to move the left arm's servo based on its position (when its down it goes up, when it's up it goes down).
void move_LeftArm() {
if(Servo_7.read() == 180){
Servo_7.write(90);
Servo_7.write(179);
Servo_7.write(5);
} else{
Servo_7.write(180);
}
}bothArms(): allows to move both arms' servos based on its position (when the're down they go up, when they're up they go down).
void bothArms() {
if(Servo_6.read() == 0 && Servo_7.read() == 180){
Servo_6.write(180);
Servo_7.write(0);
} else{
Servo_6.write(0);
Servo_7.write(180);
}
}walkForward_si(): allows MinioBot to go forward while walkForward is true.
void walkForward_si(){
while(walkForward = true){
Otto.walk(1, 750, 1);
message = char(bluetooth.read());
if (message=='h'){
walkForward = false;
}
}
}walkBackwards_si(): allows MinioBot to go backwards while walkBackwards is true.
void walkBackwards_si(){
while(walkBackwards = true){
Otto.walk(1, 750, -1);
message = char(bluetooth.read());
if (message=='h'){
walkBackwards = false;
}
}
}TurnLeft(): allows MinioBot to turn left making 5 steps.
void TurnLeft(){
Otto.turn(5, 750, 1);
}TurnRight(): allows MinioBot to turn left making 5 steps.
void TurnRight(){
Otto.turn(5, 750, -1);
}fly(): allows Miniobot to "fly" (he doesn't fly, he just moves his arms up and down simultaneously :p).
void fly(){
for (i=0; i<10;i++){
Servo_6.write(90) ; delay(100);
Servo_7.write(90); delay(100);
Servo_6.write(0) ; delay(100);
Servo_7.write(180); delay(45);
message = char(bluetooth.read());
if (message=='0'){
break;
}
}
}The code written to make the Buzzer play these melodies is from this repository, but it has been readapted to work with Miniobot. Here's the code:
///////////////////////////////////////////////////////////////////
//-- Melodies ---------------------------------------------------//
///////////////////////////////////////////////////////////////////
void HappyBirthday(){
int tempo = 140;
int melody[] = {
NOTE_C4,4, NOTE_C4,8,
NOTE_D4,-4, NOTE_C4,-4, NOTE_F4,-4,
NOTE_E4,-2, NOTE_C4,4, NOTE_C4,8,
NOTE_D4,-4, NOTE_C4,-4, NOTE_G4,-4,
NOTE_F4,-2, NOTE_C4,4, NOTE_C4,8,
NOTE_C5,-4, NOTE_A4,-4, NOTE_F4,-4,
NOTE_E4,-4, NOTE_D4,-4, NOTE_AS4,4, NOTE_AS4,8,
NOTE_A4,-4, NOTE_F4,-4, NOTE_G4,-4,
NOTE_F4,-2,
};
int notes = sizeof(melody) / sizeof(melody[0]) / 2;
int wholenote = (60000 * 4) / tempo;
int divider = 0, noteDuration = 0;
for (int thisNote = 0; thisNote < notes * 2; thisNote = thisNote + 2) {
divider = melody[thisNote + 1];
if (divider > 0) {
noteDuration = (wholenote) / divider;
} else if (divider < 0) {
noteDuration = (wholenote) / abs(divider);
noteDuration *= 1.5;
}
tone(Piezo, melody[thisNote], noteDuration * 0.9);
delay(noteDuration);
noTone(Piezo);
}
}
void MerryChristmas(){
int tempo = 140;
int melody[] = {
NOTE_C5,4,
NOTE_F5,4, NOTE_F5,8, NOTE_G5,8, NOTE_F5,8, NOTE_E5,8,
NOTE_D5,4, NOTE_D5,4, NOTE_D5,4,
NOTE_G5,4, NOTE_G5,8, NOTE_A5,8, NOTE_G5,8, NOTE_F5,8,
NOTE_E5,4, NOTE_C5,4, NOTE_C5,4,
NOTE_A5,4, NOTE_A5,8, NOTE_AS5,8, NOTE_A5,8, NOTE_G5,8,
NOTE_F5,4, NOTE_D5,4, NOTE_C5,8, NOTE_C5,8,
NOTE_D5,4, NOTE_G5,4, NOTE_E5,4,
NOTE_F5,2,
};
int notes = sizeof(melody) / sizeof(melody[0]) / 2;
int wholenote = (60000 * 4) / tempo;
int divider = 0, noteDuration = 0;
for (int thisNote = 0; thisNote < notes * 2; thisNote = thisNote + 2) {
divider = melody[thisNote + 1];
if (divider > 0) {
noteDuration = (wholenote) / divider;
} else if (divider < 0) {
noteDuration = (wholenote) / abs(divider);
noteDuration *= 1.5;
}
tone(Piezo, melody[thisNote], noteDuration * 0.9);
delay(noteDuration);
noTone(Piezo);
}
}
void rickroll(){
int tempo = 114;
int melody[] = {
NOTE_D5,-4, NOTE_E5,-4, NOTE_A4,4, //1
NOTE_E5,-4, NOTE_FS5,-4, NOTE_A5,16, NOTE_G5,16, NOTE_FS5,8,
NOTE_D5,-4, NOTE_E5,-4, NOTE_A4,2,
NOTE_A4,16, NOTE_A4,16, NOTE_B4,16, NOTE_D5,8, NOTE_D5,16,
NOTE_D5,-4, NOTE_E5,-4, NOTE_A4,4, //repeat from 1
NOTE_E5,-4, NOTE_FS5,-4, NOTE_A5,16, NOTE_G5,16, NOTE_FS5,8,
NOTE_D5,-4, NOTE_E5,-4, NOTE_A4,2,
NOTE_A4,16, NOTE_A4,16, NOTE_B4,16, NOTE_D5,8, NOTE_D5,16,
REST,4, NOTE_B4,8, NOTE_CS5,8, NOTE_D5,8, NOTE_D5,8, NOTE_E5,8, NOTE_CS5,-8,
NOTE_B4,16, NOTE_A4,2, REST,4,
REST,8, NOTE_B4,8, NOTE_B4,8, NOTE_CS5,8, NOTE_D5,8, NOTE_B4,4, NOTE_A4,8, //7
NOTE_A5,8, REST,8, NOTE_A5,8, NOTE_E5,-4, REST,4,
NOTE_B4,8, NOTE_B4,8, NOTE_CS5,8, NOTE_D5,8, NOTE_B4,8, NOTE_D5,8, NOTE_E5,8, REST,8,
REST,8, NOTE_CS5,8, NOTE_B4,8, NOTE_A4,-4, REST,4,
REST,8, NOTE_B4,8, NOTE_B4,8, NOTE_CS5,8, NOTE_D5,8, NOTE_B4,8, NOTE_A4,4,
NOTE_E5,8, NOTE_E5,8, NOTE_E5,8, NOTE_FS5,8, NOTE_E5,4, REST,4,
NOTE_D5,2, NOTE_E5,8, NOTE_FS5,8, NOTE_D5,8, //13
NOTE_E5,8, NOTE_E5,8, NOTE_E5,8, NOTE_FS5,8, NOTE_E5,4, NOTE_A4,4,
REST,2, NOTE_B4,8, NOTE_CS5,8, NOTE_D5,8, NOTE_B4,8,
REST,8, NOTE_E5,8, NOTE_FS5,8, NOTE_E5,-4, NOTE_A4,16, NOTE_B4,16, NOTE_D5,16, NOTE_B4,16,
NOTE_FS5,-8, NOTE_FS5,-8, NOTE_E5,-4, NOTE_A4,16, NOTE_B4,16, NOTE_D5,16, NOTE_B4,16,
NOTE_E5,-8, NOTE_E5,-8, NOTE_D5,-8, NOTE_CS5,16, NOTE_B4,-8, NOTE_A4,16, NOTE_B4,16, NOTE_D5,16, NOTE_B4,16, //18
NOTE_D5,4, NOTE_E5,8, NOTE_CS5,-8, NOTE_B4,16, NOTE_A4,8, NOTE_A4,8, NOTE_A4,8,
NOTE_E5,4, NOTE_D5,2, NOTE_A4,16, NOTE_B4,16, NOTE_D5,16, NOTE_B4,16,
NOTE_FS5,-8, NOTE_FS5,-8, NOTE_E5,-4, NOTE_A4,16, NOTE_B4,16, NOTE_D5,16, NOTE_B4,16,
NOTE_A5,4, NOTE_CS5,8, NOTE_D5,-8, NOTE_CS5,16, NOTE_B4,8, NOTE_A4,16, NOTE_B4,16, NOTE_D5,16, NOTE_B4,16,
NOTE_D5,4, NOTE_E5,8, NOTE_CS5,-8, NOTE_B4,16, NOTE_A4,4, NOTE_A4,8,
NOTE_E5,4, NOTE_D5,2, REST,4,
};
int notes = sizeof(melody) / sizeof(melody[0]) / 2;
int wholenote = (60000 * 4) / tempo;
int divider = 0, noteDuration = 0;
for (int thisNote = 0; thisNote < notes * 2; thisNote = thisNote + 2) {
divider = melody[thisNote + 1];
if (divider > 0) {
noteDuration = (wholenote) / divider;
} else if (divider < 0) {
noteDuration = (wholenote) / abs(divider);
noteDuration *= 1.5;
}
tone(Piezo, melody[thisNote], noteDuration * 0.9);
delay(noteDuration);
noTone(Piezo);
}
}setup() sensors and pins get initialized with certain parameters.
///////////////////////////////////////////////////////////////////
//-- Setup ------------------------------------------------------//
///////////////////////////////////////////////////////////////////
void setup() {
pinMode(Piezo, OUTPUT); // pin 13 gets initialized as "OUTPUT", because a Buzzer has as an "OUTPUT" sounds
Serial.begin(9600); // sets serial communication between digital pin at 9600 baud rate
bluetooth.begin(9600); // sets serial communication beetween HC-06 and user's device at 9600 baud rate
Servo_6.attach(RightArm);
Servo_7.attach(LeftArm); // initializes RightArm and LeftArm using a function from <Servo.h>
Otto.init(LeftLeg, RightLeg, LeftFoot, RightFoot, true, Piezo);
startArms(); // sets arms in a neutral position
Otto.sing(S_connection); // makes the Buzzer play the connection sound (beep)
Otto.home(); // sets legs and foots in a neutral position
}Loop() gets executed, the variable message (which contains the message that the user sent) passes through the switch, if bluetooth is avaible; certain chars can trigger cases of the switch and in these are called the functions that have been declared earlier.
It's important to say that the Loop() function is the core of this code: without it, MinioBot can't do a thing (except for the setup initializations).
///////////////////////////////////////////////////////////////////
//-- Principal Loop ---------------------------------------------//
///////////////////////////////////////////////////////////////////
void loop(){
Serial.println("Start"); // to notice, using the serial monitor, when the loop() function gets executed
if (bluetooth.available()) {
message = char(bluetooth.read()); // the data memorized in the variable "message" gets overwritten with the char that the user sent using Bluetooth
Serial.println("message=");
Serial.println(message); // prints what's contained in the variable "message"
switch(message)
{
case 'a':
move_RigthArm();
break;
case 'b':
move_LeftArm();
break;
case 'c':
bothArms();
break;
case 'f':
fly();
break;
case 'g':
walkForward = !walkForward;
walkForward_si();
break;
case 'i':
HappyBirthday();
break;
case 'l':
walkBackwards_si();
break;
case 'p':
MerryChristmas();
break;
case 'n':
TurnLeft();
break;
case 'o':
TurnRight();
break;
case 'r':
rickroll();
break;
}
}
}This project is licensed under the GPL-3.0 License.