{"id":360,"date":"2015-03-07T13:53:12","date_gmt":"2015-03-07T18:53:12","guid":{"rendered":"http:\/\/pages.vassar.edu\/darwinsdevices\/?page_id=360"},"modified":"2015-03-07T14:38:10","modified_gmt":"2015-03-07T19:38:10","slug":"code","status":"publish","type":"page","link":"https:\/\/pages.vassar.edu\/darwinsdevices\/code\/","title":{"rendered":"Code"},"content":{"rendered":"

Let’s get moving!\u00a0 You can use the code here to animate the robots Tadro and Sparki.<\/p>\n

Cycloptic Tadro<\/strong>
\nGet started building your own Tadro!\u00a0 Nick Livingston and I wrote this code for our light-seeking cycloptic (one-eyed) Tadro.\u00a0 The program runs on an Arduino Uno.\u00a0 You can learn how to build the Tadro if you tune into my educational program, “Robotics,” through The Great Courses<\/a> (tentative release date:\u00a0 June, 2015).\u00a0 Just copy and paste this program (below, in<\/span> blue)<\/span> into an open sketch in the Arduino IDE (integrated development environment, which you can download<\/a> for free).<\/p>\n

 <\/p>\n

\/****************\r\nLight-seeking Cycloptic (one-eyed) Tadro.\r\nThis program is a HACK, combining two sample programs that you can find Ardunio.com \u2014<\/span>\r\n\r\nProgram 1:\u00a0 Sweep<\/span>\r\nby BARRAGAN <http:\/\/barraganstudio.com> <\/span>\r\nThis example code is in the public domain.<\/span>\r\n\r\nProgram 2:\u00a0 Knob<\/span>\r\nControlling a servo position using a potentiometer (variable resistor) <\/span>\r\nby Michal Rinott <http:\/\/people.interaction-ivrea.it\/m.rinott> <\/span>\r\n\r\nOn 23 Dec 2014, John Long and Nick Livingston combined and modified these two<\/span>\r\nprograms in order create this program to run a ONE-EYED TADRO. Changing light<\/span>\r\nintensities at the light-dependent photoresistor changes beta, the turning angle<\/span>\r\nof the flapping tail.\u00a0 Phototaxis results from embodiment.<\/span>\r\n\r\nThis code was created for \"Robotics,\" a program produced by The Great Courses.\r\n******************\/<\/span>\r\n\r\n#include <Servo.h> \/\/ loading library code to drive servo motor <\/span>\r\nServo myservo;\u00a0 \/\/ create servo object to control a servo <\/span>\r\n\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 \/\/ a maximum of eight servo objects can be created <\/span>\r\n\u00a0<\/span>\r\nint pos = 0;\u00a0\u00a0\u00a0\u00a0\u00a0 \/\/ variable to store the servo position <\/span>\r\nint alpha = 30;\u00a0\u00a0 \/\/ amplitude (not double amplitude)<\/span>\r\nint beta = 0;\u00a0\u00a0\u00a0\u00a0 \/\/ variable to store turning<\/span>\r\nint shift = 90;\u00a0\u00a0 \/\/ makes zero degrees at 12 o'clock<\/span>\r\nint LDRpin = 0;\u00a0\u00a0 \/\/ variable to read the light-dependent photoresistor<\/span>\r\nint eye1;\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 \/\/ variable to hold the light intensity of the first eye<\/span>\r\n\r\nvoid setup() <\/span>\r\n{ <\/span>\r\n\u00a0 myservo.attach(9);\u00a0 \/\/ attaches the servo on pin 9 to the servo object <\/span>\r\n\u00a0 pos = shift;\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 \/\/ assigns the shift value to the servo position for set-up before swim<\/span>\r\n\u00a0 myservo.write(pos); \/\/ moves the servo to the \"zero\" position to allow tail alignment<\/span>\r\n\u00a0 delay(5000);\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 \/\/ pause of 5 sec to allow adjustments<\/span>\r\n} <\/span>\r\n\u00a0<\/span>\r\nvoid loop() <\/span>\r\n{ <\/span>\r\n\u00a0 int minpos;\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 \/\/ local variable to set limit on servo motion to one side<\/span>\r\n\u00a0 int maxpos;\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 \/\/ local variable to set limit on servo motion to other side<\/span>\r\n\u00a0 eye1 = analogRead(LDRpin);\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 \/\/ reading light intensity<\/span>\r\n\u00a0 beta = map(eye1, 0, 1023, -90+alpha, 90-alpha);\u00a0\u00a0 \/\/ scale light value & calculate tail offset beta<\/span>\r\n\u00a0 minpos = shift+beta-alpha;\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 \/\/ set limit to servo (part of amplitude)<\/span>\r\n\u00a0 maxpos = shift+beta+alpha;\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 \/\/ set limit to servo (part of amplitude)<\/span>\r\n\u00a0 for(pos = minpos; pos < maxpos; pos += 1)\u00a0 \/\/ steps through FOR loop from minpos to maxpos<\/span>\r\n\u00a0 {\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 \/\/ in steps of 1 degree; to increase frequency change degree <\/span>\r\n\u00a0\u00a0\u00a0 myservo.write(pos);\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 \/\/ tell servo to go to position in variable 'pos' <\/span>\r\n\u00a0\u00a0\u00a0 delay(15);\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 \/\/ waits 15ms for the servo to reach the position <\/span>\r\n\u00a0 } <\/span>\r\n\u00a0 for(pos = maxpos; pos>=minpos+1; pos-=1)\u00a0\u00a0 \/\/ steps through FOR loop from maxpos to minpos <\/span>\r\n\u00a0 {\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 \u00a0<\/span>\r\n\u00a0\u00a0\u00a0 myservo.write(pos);\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 \/\/ tell servo to go to position in variable 'pos' <\/span>\r\n\u00a0\u00a0\u00a0 delay(15);\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 \/\/ waits 15ms for the servo to reach the position <\/span>\r\n\u00a0 }<\/span>\r\n}\r\n\r\n<\/span><\/pre>\n
<\/p>\n
Safe-driving Sparki
\n<\/strong>Own a Sparki <\/a>robot?\u00a0 Then try out the safe-driver program, a partial-autonomy program inspired by the great idea of Peter Staten.\u00a0 You can learn more about Sparki and this code if you tune into my educational program, “Robotics,” through The Great Courses<\/a> (tentative release date:\u00a0 June, 2015).\u00a0 Just copy and paste this program (below, in<\/span> blue)<\/span> into an open sketch in the SparkiDuino IDE (integrated development environment, which you can download<\/a> for free).<\/p>\n
\/*******************************************<\/span>\r\n\u00a0 IR Remote + Edge_Avoidance<\/span>\r\n\u00a0 <\/span>\r\n\u00a0 Peter Staten's idea was the Safe Driver Program: have Sparki let you,<\/span>\r\n\u00a0 the human, have control until you, the human, do something <\/span>\r\n\u00a0 stupid, like try to drive it off the table.\u00a0 Then Sparki takes over, stops<\/span>\r\n\u00a0 the forward motion, and turns.<\/span>  Peter and I combined the following programs\r\n  available as sample code from Arcbotics.com:  remote control and edge avoidance.<\/span>\r\n\u00a0 7 March 2015.<\/span>\r\n\u00a0 <\/span>\r\n********************************************\/<\/span>\r\n#include <Sparki.h> \/\/ include the sparki library<\/span>\r\n\r\nvoid setup() <\/span>\r\n{ <\/span>\r\n\u00a0 sparki.clearLCD();<\/span>\r\n}<\/span>\r\n\r\nvoid loop() <\/span>\r\n{ \u00a0<\/span>\r\n\u00a0 int threshold = 100; \/\/ If sensor reading is below this value, then no surface underneath --> edge!<\/span>\r\n\u00a0 int code = sparki.readIR();<\/span>\r\n\u00a0 int edgeLeft\u00a0\u00a0 = sparki.edgeLeft();\u00a0\u00a0 \/\/ Read the left edge IR sensor.<\/span>\r\n\u00a0 int edgeRight\u00a0 = sparki.edgeRight();\u00a0 \/\/ Read the right edge IR sensor.<\/span>\r\n\u00a0 <\/span>\r\n\u00a0 if (edgeLeft < threshold) \/\/ If no surface underneath left sensor...<\/span>\r\n\u00a0\u00a0\u00a0 {<\/span>\r\n\u00a0\u00a0\u00a0 sparki.moveRight(20); \/\/ ... then turn right.<\/span>\r\n\u00a0\u00a0\u00a0 }<\/span>\r\n\r\n\u00a0\u00a0 if (edgeRight < threshold) \/\/ If no surface underneath right sensor...<\/span>\r\n\u00a0\u00a0\u00a0 {<\/span>\r\n\u00a0\u00a0\u00a0 sparki.moveLeft(20); \/\/ ... then turn left\/<\/span>\r\n\u00a0\u00a0\u00a0 }<\/span>\r\n\r\n\u00a0\/\/If no edge is detected then you, the driver, have remote control for 0.5 seconds.<\/span>\r\n\u00a0 if(code != -1){<\/span>\r\n\u00a0\u00a0\u00a0 sparki.print(\"Received code: \");<\/span>\r\n\u00a0\u00a0\u00a0 sparki.println(code);<\/span>\r\n\u00a0 }<\/span>\r\n\r\n\u00a0 switch(code){<\/span>\r\n\u00a0\u00a0 \u00a0<\/span>\r\n\u00a0 \/\/ Movement buttons (these are clear when you have the remote control in hand)<\/span>\r\n\u00a0 case 70: sparki.moveForward(); break;<\/span>\r\n\u00a0 case 21: sparki.moveBackward(); break;<\/span>\r\n\u00a0 case 67: <\/span>\r\n\u00a0 case 71: sparki.moveRight(); break;<\/span>\r\n\u00a0 case 68:<\/span>\r\n\u00a0 case 69: sparki.moveLeft(); break;<\/span>\r\n\u00a0 case 64: sparki.moveStop(); <\/span>\r\n\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 sparki.gripperStop();<\/span>\r\n\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 break;<\/span>\r\n\r\n\u00a0 \/\/ Gripper Buttons<\/span>\r\n\u00a0 case 9:\u00a0 sparki.gripperOpen(); break;<\/span>\r\n\u00a0 case 7:\u00a0 sparki.gripperClose(); break;<\/span>\r\n\r\n\u00a0 \/\/ buzzer<\/span>\r\n\u00a0 case 74: sparki.beep(); break;<\/span>\r\n\r\n\u00a0 \/\/ Servo<\/span>\r\n\u00a0 case 90: sparki.servo(SERVO_LEFT); break;<\/span>\r\n\u00a0 case 28: sparki.servo(SERVO_CENTER); break;<\/span>\r\n\u00a0 case 8: sparki.servo(SERVO_RIGHT); break;<\/span>\r\n\r\n\u00a0 \/\/ RGB LED<\/span>\r\n\u00a0 case 25: sparki.RGB(RGB_OFF); break;<\/span>\r\n\u00a0 case 12: sparki.RGB(RGB_RED); break;<\/span>\r\n\u00a0 case 24: sparki.RGB(RGB_GREEN); break;<\/span>\r\n\u00a0 case 94: sparki.RGB(RGB_BLUE); break;<\/span>\r\n\u00a0 <\/span>\r\n\u00a0 default:<\/span>\r\n\u00a0\u00a0\u00a0 break;<\/span>\r\n\u00a0 }<\/span>\r\n\r\n\u00a0 sparki.updateLCD();<\/span>\r\n\u00a0 delay(200); \/\/ wait 0.5 seconds<\/span>\r\n}<\/span><\/pre>\n","protected":false},"excerpt":{"rendered":"
Let’s get moving!\u00a0 You can use the code here to animate the robots Tadro and Sparki. Cycloptic Tadro Get started building your own Tadro!\u00a0 Nick Livingston and I wrote this code for our light-seeking cycloptic (one-eyed) Tadro.\u00a0 The program runs on an Arduino Uno.\u00a0 You can learn how to build the Tadro if you tune […]<\/p>\n","protected":false},"author":1345,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-360","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/pages.vassar.edu\/darwinsdevices\/wp-json\/wp\/v2\/pages\/360","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/pages.vassar.edu\/darwinsdevices\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/pages.vassar.edu\/darwinsdevices\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/pages.vassar.edu\/darwinsdevices\/wp-json\/wp\/v2\/users\/1345"}],"replies":[{"embeddable":true,"href":"https:\/\/pages.vassar.edu\/darwinsdevices\/wp-json\/wp\/v2\/comments?post=360"}],"version-history":[{"count":11,"href":"https:\/\/pages.vassar.edu\/darwinsdevices\/wp-json\/wp\/v2\/pages\/360\/revisions"}],"predecessor-version":[{"id":371,"href":"https:\/\/pages.vassar.edu\/darwinsdevices\/wp-json\/wp\/v2\/pages\/360\/revisions\/371"}],"wp:attachment":[{"href":"https:\/\/pages.vassar.edu\/darwinsdevices\/wp-json\/wp\/v2\/media?parent=360"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}