越來越多人詢問 P&B Spider 材料清單以及嘗試組裝,另外機器蜘蛛零組件不是很多,不過組裝它還是有些事情需要注意,因此本文一併說明。
P&B Spider 的電子材料清單如下:
一、主控板 Arduino Uno R3 x 1 含 USB cable x 1
ROSA 作業系統需下載到 Arduino 主控板執行
USB cable 除了可以從 PC 下載編譯後的韌體到 Arduino 之外,
執行程式時,它從行動電源提供電力給主控板。
二、傳感器擴充板 Arduino Sensor Shield V5 x 1
把它插在主控板上,然後 SG90 馬達及紅外線遙控器可以直接插接在上面
三、雙孔 USB 行動電源 (Output 5V 2.1A) x 1
2016年2月27日 星期六
ROSA 系統開發 27 ─ P&B Spider 的材料清單及組裝注意事項
標籤:
其它機器人,
ROSA (Arduino)
2016年2月24日 星期三
訓練數學感 88 ─ 維修排程問題
2016年2月20日 星期六
ROSA 系統開發 26 ─ P&B 6x2 Spider 妖怪手錶體操舞
https://4rdp.blogspot.com/2016/02/rosa-26-p-6x2-spider.html?m=0
P&B 6x2 Spider 妖怪手錶體操舞
親自編舞之後,也可以更加了解,編舞創作者需要什麼工具與功能,才能提升創作速度,畢竟一般人耐性有限,過度繁雜的事,多數人容易半途而廢,現在 ROSA 有了 TEMPO 及 DANCE 指令,就很容易精準控制節拍,不用安插多餘的等待指令,並且快動作、慢動作自動配合節拍調整速度,讓舞蹈動作編輯簡單許多,這就是使用 ROSA 並且沒有動作編輯軟體,也很容易精準編舞創作。
// (C) 2015, Bridan Wang, CC BY-NC-SA 3.0 TW
// http://4rdp.blogspot.tw/search/label/ROSA%20(Arduino)
#define zeo 0 // zero
#define lif 45 // lift leg
#define ris 135 // rise leg
#define std 90 // stand
#define hon 251 // hold on
#define hof 250 // hold off
#define fwd 60 // forward
#define mid 90 // middle
#define bck 120 // backward
#define fd5 45 // forward 45
#define bk5 135 // backward 135
#define fd0 30 // forward 30
#define bk0 150 // backward 150
const byte RUN_5[] PROGMEM = {
// 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12
_TEMPO, 50, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //0
_DANCE, fd5, zeo, fd5, zeo, fwd, std, fwd, std, mid, std, mid, std, //1 14-17
_DANCE, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //2
_LOOP, 3, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //3
_DANCE, 255, lif, 255, lif, 255, 255, 255, 255, 255, 255, 255, 255, //4
_DANCE, 255, zeo, 255, zeo, 255, 255, 255, 255, 255, 255, 255, 255, //5
_NEXT, 3, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //6
// 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12
_LOOP, 2, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //7
_DANCE, 255, zeo, 255, zeo, mid, 255, fd0, 255, bck, 255, fwd, 255, //8 17-25
_DANCE, 255, lif, 255, lif, 255, 255, 255, 255, 255, 255, 255, 255, //9
_DANCE, 255, zeo, 255, zeo, fd0, 255, mid, 255, fwd, 255, bck, 255, //10
_DANCE, 255, lif, 255, lif, 255, 255, 255, 255, 255, 255, 255, 255, //11
_DANCE, 255, zeo, 255, zeo, fwd, 255, fwd, 255, mid, bck, mid, bck, //12
_DANCE, 255, lif, 255, lif, 255, 255, 255, 255, 255, std, 255, std, //13
_DANCE, 255, zeo, 255, zeo, 255, 255, 255, 255, 255, bck, 255, bck, //14
_DANCE, 255, lif, 255, lif, 255, 255, 255, 255, 255, std, 255, std, //15
_NEXT, 9, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //16
// 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12
_DANCE, 255, lif, 255, zeo, mid, std, mid, std, fd5, hon, fd5, hon, //17 25-29
_LOOP, 3, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //18
_DANCE, 255, 255, mid, 255, 255, hon, 255, hon, 255, 70, 255, 110, //19
_DANCE, 255, 255, fd5, 255, 255, hon, 255, hon, 255, 110, 255, 70, //20
_NEXT, 3, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //21
_DANCE, fd5, zeo, fd5, zeo, fwd, std, fwd, std, mid, std, mid, std, //22
// 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12
_TEMPO, 25, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //23 29-33
_LOOP, 2, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //24
_DANCE, fd5, zeo, bk5, zeo, fwd, std, fwd, std, 255, std, 255, std, //25
_DANCE, 255, 255, 255, lif, 255, hon, 255, hon, 255, 255, 255, 255, //26
_NEXT, 3, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //27
_LOOP, 2, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //28
_DANCE, mid, zeo, fd5, zeo, 255, 255, 255, 255, 255, std, 255, std, //29
_DANCE, 255, lif, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //30
_NEXT, 3, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //31
_LOOP, 2, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //32
_DANCE, fd5, zeo, mid, zeo, 255, 255, 255, 255, 255, std, 255, std, //33
_DANCE, 255, 255, 255, lif, 255, 255, 255, 255, 255, 255, 255, 255, //34
_NEXT, 3, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //35
_DANCE, bk5, zeo, fd5, zeo, mid, std, mid, std, mid, std, mid, std, //36
_DANCE, fd5, zeo, bk5, zeo, 255, hon, 255, hon, mid, hon, mid, hon, //37
_DANCE, bk5, zeo, fd5, zeo, 255, 255, 255, 255, mid, 255, mid, 255, //38
_DANCE, bk5, lif, bk5, lif, mid, std, mid, std, fd5, 255, fd5, 255, //39
// 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12
_LOOP, 12, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //40 33-37
_DANCE, bk5, 100, bk5, 80, mid, 100, mid, 80, fd5, 100, fd5, 80, //41
_DANCE, hon, 80, hon, 100, hon, 80, hon, 100, hon, 80, hon, 100, //42
_NEXT, 3, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //43
_TEMPO, 50, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //44
_DANCE, bk5, zeo, fd5, zeo, 255, std, 255, std, 255, std, 255, std, //45
_DANCE, fd5, zeo, bk5, zeo, 255, std, 255, std, 255, std, 255, std, //46
// 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12
_LOOP, 2, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //47
_DANCE, fd5, zeo, fd5, zeo, mid, std, mid, std, mid, std, mid, std, //48 37-41
_DANCE, 255, std, 255, std, 255, 255, 255, 255, 255, 255, 255, 255, //49
_NEXT, 3, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //50
_DANCE, bk5, bk5, bk5, zeo, 255, 255, 255, 255, 255, 255, 255, 255, //51
_DANCE, 255, bk5, 255, lif, 255, 255, 255, 255, 255, 255, 255, 255, //52
_DANCE, 255, bk5, 255, zeo, 255, 255, 255, 255, 255, 255, 255, 255, //53
_DANCE, 255, bk5, 255, bk5, 255, 255, 255, 255, 255, 255, 255, 255, //54
// 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12
_DANCE, bk5, zeo, bk5, bk5, 255, 255, 255, 255, 255, 255, 255, 255, //55 41-45
_DANCE, 255, lif, 255, bk5, 255, 255, 255, 255, 255, 255, 255, 255, //56
_DANCE, 255, zeo, 255, bk5, 255, 255, 255, 255, 255, 255, 255, 255, //57
_DANCE, 255, bk5, 255, bk5, 255, 255, 255, 255, 255, 255, 255, 255, //58
_TEMPO, 100, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //59
_DANCE, bk5, bk5, zeo, bk5, 255, 255, 255, 255, 255, 255, 255, 255, //60
_DANCE, bk5, zeo, bk5, zeo, 255, 255, 255, 255, 255, 255, 255, 255, //61
// 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12
_DANCE, zeo, bk5, bk5, bk5, 255, 255, 255, 255, 255, 255, 255, 255, //62 45-51
_DANCE, bk5, zeo, bk5, zeo, 255, 255, 255, 255, 255, 255, 255, 255, //63
_LOOP, 2, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //64
_DANCE, fd5, lif, fd5, lif, 255, 255, 255, 255, 255, bck, 255, bck, //65
_DANCE, fd5, zeo, fd5, zeo, 255, 255, 255, 255, 255, std, 255, std, //66
_NEXT, 3, 255, 255, 255, 255, 255, 255, 255, 255, hon, 255, hon, //67
// 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12
_TEMPO, 25, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //68
_LOOP, 2, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //69
_DANCE, mid, std, mid, zeo, 255, zeo, 255, std, 255, std, 255, std, //70 51-53
_DANCE, mid, std, mid, std, 255, std, 255, std, 255, std, 255, std, //71
_DANCE, mid, zeo, mid, std, 255, std, 255, zeo, 255, std, 255, std, //72
_DANCE, mid, std, mid, std, 255, std, 255, std, 255, std, 255, std, //73
_NEXT, 5, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //74
// 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12
_TEMPO, 50, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //75
_DANCE, mid, std, mid, zeo, 255, zeo, 255, std, 255, std, 255, std, //76 53-57
_DANCE, mid, std, mid, std, 255, std, 255, std, 255, std, 255, std, //77
_TEMPO, 25, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //78
_LOOP, 5, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //79
_DANCE, bk5, 100, bk5, 80, mid, 100, mid, 80, fd5, 100, fd5, 80, //80
_DANCE, hon, 80, hon, 100, hon, 80, hon, 100, hon, 80, hon, 100, //81
_NEXT, 3, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //82
_DANCE, bk5, 100, bk5, 80, mid, 100, mid, 80, fd5, 100, fd5, 80, //83
_DANCE, mid, zeo, mid, zeo, mid, std, mid, std, mid, std, mid, std, //84
// 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12
_TEMPO, 50, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //85
_DANCE, fd0, zeo, bk5, zeo, 255, 255, 255, 255, 255, 255, 255, 255, //86 57-61
_DANCE, fd5, zeo, mid, zeo, 255, 255, 255, 255, 255, 255, 255, 255, //87
_DANCE, mid, zeo, fd5, zeo, 255, 255, 255, 255, 255, 255, 255, 255, //88
_DANCE, fd5, zeo, fd5, zeo, 255, 255, 255, 255, 255, 255, 255, 255, //89
_TEMPO, 100, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //90
_DANCE, fd0, std, bk5, std, 255, 255, 255, 255, 255, 255, 255, 255, //91
_DANCE, fd0, bk5, fd5, zeo, 255, 255, 255, 255, 255, 255, 255, 255, //92
// 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12
_DANCE, 255, 255, 255, lif, 255, 255, 255, 255, 255, 255, 255, 255, //93 61-66
_DANCE, 255, 255, 255, zeo, 255, 255, 255, 255, 255, 255, 255, 255, //94
_TEMPO, 10, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //95
_LOOP, 8, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //96
_DANCE, fd0, std, fd0, std, bk0, std, bk0, std, fd0, std, fd0, std, //97
_DANCE, bk0, lif, bk0, hon, fd0, hon, fd0, lif, bk0, lif, bk0, hon, //98
_DANCE, hon, std, hon, std, hon, std, hon, std, hon, std, hon, std, //99
_DANCE, fd0, hon, fd0, lif, bk0, lif, bk0, hon, fd0, hon, fd0, lif, //100
_NEXT, 5, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //101
_GOTO, 212, // goto RUN_P
};
// (C) 2015, Bridan Wang, CC BY-NC-SA 3.0 TW
// http://4rdp.blogspot.tw/search/label/ROSA%20(Arduino)
#define zeo 0 // zero
#define lif 45 // lift leg
#define ris 135 // rise leg
#define std 90 // stand
#define hon 251 // hold on
#define hof 250 // hold off
#define fwd 60 // forward
#define mid 90 // middle
#define bck 120 // backward
#define fd5 45 // forward 45
#define bk5 135 // backward 135
#define fd0 30 // forward 30
#define bk0 150 // backward 150
const byte RUN_5[] PROGMEM = {
// 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12
_TEMPO, 50, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //0
_DANCE, fd5, zeo, fd5, zeo, fwd, std, fwd, std, mid, std, mid, std, //1 14-17
_DANCE, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //2
_LOOP, 3, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //3
_DANCE, 255, lif, 255, lif, 255, 255, 255, 255, 255, 255, 255, 255, //4
_DANCE, 255, zeo, 255, zeo, 255, 255, 255, 255, 255, 255, 255, 255, //5
_NEXT, 3, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //6
// 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12
_LOOP, 2, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //7
_DANCE, 255, zeo, 255, zeo, mid, 255, fd0, 255, bck, 255, fwd, 255, //8 17-25
_DANCE, 255, lif, 255, lif, 255, 255, 255, 255, 255, 255, 255, 255, //9
_DANCE, 255, zeo, 255, zeo, fd0, 255, mid, 255, fwd, 255, bck, 255, //10
_DANCE, 255, lif, 255, lif, 255, 255, 255, 255, 255, 255, 255, 255, //11
_DANCE, 255, zeo, 255, zeo, fwd, 255, fwd, 255, mid, bck, mid, bck, //12
_DANCE, 255, lif, 255, lif, 255, 255, 255, 255, 255, std, 255, std, //13
_DANCE, 255, zeo, 255, zeo, 255, 255, 255, 255, 255, bck, 255, bck, //14
_DANCE, 255, lif, 255, lif, 255, 255, 255, 255, 255, std, 255, std, //15
_NEXT, 9, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //16
// 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12
_DANCE, 255, lif, 255, zeo, mid, std, mid, std, fd5, hon, fd5, hon, //17 25-29
_LOOP, 3, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //18
_DANCE, 255, 255, mid, 255, 255, hon, 255, hon, 255, 70, 255, 110, //19
_DANCE, 255, 255, fd5, 255, 255, hon, 255, hon, 255, 110, 255, 70, //20
_NEXT, 3, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //21
_DANCE, fd5, zeo, fd5, zeo, fwd, std, fwd, std, mid, std, mid, std, //22
// 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12
_TEMPO, 25, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //23 29-33
_LOOP, 2, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //24
_DANCE, fd5, zeo, bk5, zeo, fwd, std, fwd, std, 255, std, 255, std, //25
_DANCE, 255, 255, 255, lif, 255, hon, 255, hon, 255, 255, 255, 255, //26
_NEXT, 3, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //27
_LOOP, 2, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //28
_DANCE, mid, zeo, fd5, zeo, 255, 255, 255, 255, 255, std, 255, std, //29
_DANCE, 255, lif, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //30
_NEXT, 3, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //31
_LOOP, 2, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //32
_DANCE, fd5, zeo, mid, zeo, 255, 255, 255, 255, 255, std, 255, std, //33
_DANCE, 255, 255, 255, lif, 255, 255, 255, 255, 255, 255, 255, 255, //34
_NEXT, 3, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //35
_DANCE, bk5, zeo, fd5, zeo, mid, std, mid, std, mid, std, mid, std, //36
_DANCE, fd5, zeo, bk5, zeo, 255, hon, 255, hon, mid, hon, mid, hon, //37
_DANCE, bk5, zeo, fd5, zeo, 255, 255, 255, 255, mid, 255, mid, 255, //38
_DANCE, bk5, lif, bk5, lif, mid, std, mid, std, fd5, 255, fd5, 255, //39
// 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12
_LOOP, 12, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //40 33-37
_DANCE, bk5, 100, bk5, 80, mid, 100, mid, 80, fd5, 100, fd5, 80, //41
_DANCE, hon, 80, hon, 100, hon, 80, hon, 100, hon, 80, hon, 100, //42
_NEXT, 3, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //43
_TEMPO, 50, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //44
_DANCE, bk5, zeo, fd5, zeo, 255, std, 255, std, 255, std, 255, std, //45
_DANCE, fd5, zeo, bk5, zeo, 255, std, 255, std, 255, std, 255, std, //46
// 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12
_LOOP, 2, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //47
_DANCE, fd5, zeo, fd5, zeo, mid, std, mid, std, mid, std, mid, std, //48 37-41
_DANCE, 255, std, 255, std, 255, 255, 255, 255, 255, 255, 255, 255, //49
_NEXT, 3, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //50
_DANCE, bk5, bk5, bk5, zeo, 255, 255, 255, 255, 255, 255, 255, 255, //51
_DANCE, 255, bk5, 255, lif, 255, 255, 255, 255, 255, 255, 255, 255, //52
_DANCE, 255, bk5, 255, zeo, 255, 255, 255, 255, 255, 255, 255, 255, //53
_DANCE, 255, bk5, 255, bk5, 255, 255, 255, 255, 255, 255, 255, 255, //54
// 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12
_DANCE, bk5, zeo, bk5, bk5, 255, 255, 255, 255, 255, 255, 255, 255, //55 41-45
_DANCE, 255, lif, 255, bk5, 255, 255, 255, 255, 255, 255, 255, 255, //56
_DANCE, 255, zeo, 255, bk5, 255, 255, 255, 255, 255, 255, 255, 255, //57
_DANCE, 255, bk5, 255, bk5, 255, 255, 255, 255, 255, 255, 255, 255, //58
_TEMPO, 100, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //59
_DANCE, bk5, bk5, zeo, bk5, 255, 255, 255, 255, 255, 255, 255, 255, //60
_DANCE, bk5, zeo, bk5, zeo, 255, 255, 255, 255, 255, 255, 255, 255, //61
// 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12
_DANCE, zeo, bk5, bk5, bk5, 255, 255, 255, 255, 255, 255, 255, 255, //62 45-51
_DANCE, bk5, zeo, bk5, zeo, 255, 255, 255, 255, 255, 255, 255, 255, //63
_LOOP, 2, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //64
_DANCE, fd5, lif, fd5, lif, 255, 255, 255, 255, 255, bck, 255, bck, //65
_DANCE, fd5, zeo, fd5, zeo, 255, 255, 255, 255, 255, std, 255, std, //66
_NEXT, 3, 255, 255, 255, 255, 255, 255, 255, 255, hon, 255, hon, //67
// 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12
_TEMPO, 25, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //68
_LOOP, 2, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //69
_DANCE, mid, std, mid, zeo, 255, zeo, 255, std, 255, std, 255, std, //70 51-53
_DANCE, mid, std, mid, std, 255, std, 255, std, 255, std, 255, std, //71
_DANCE, mid, zeo, mid, std, 255, std, 255, zeo, 255, std, 255, std, //72
_DANCE, mid, std, mid, std, 255, std, 255, std, 255, std, 255, std, //73
_NEXT, 5, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //74
// 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12
_TEMPO, 50, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //75
_DANCE, mid, std, mid, zeo, 255, zeo, 255, std, 255, std, 255, std, //76 53-57
_DANCE, mid, std, mid, std, 255, std, 255, std, 255, std, 255, std, //77
_TEMPO, 25, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //78
_LOOP, 5, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //79
_DANCE, bk5, 100, bk5, 80, mid, 100, mid, 80, fd5, 100, fd5, 80, //80
_DANCE, hon, 80, hon, 100, hon, 80, hon, 100, hon, 80, hon, 100, //81
_NEXT, 3, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //82
_DANCE, bk5, 100, bk5, 80, mid, 100, mid, 80, fd5, 100, fd5, 80, //83
_DANCE, mid, zeo, mid, zeo, mid, std, mid, std, mid, std, mid, std, //84
// 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12
_TEMPO, 50, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //85
_DANCE, fd0, zeo, bk5, zeo, 255, 255, 255, 255, 255, 255, 255, 255, //86 57-61
_DANCE, fd5, zeo, mid, zeo, 255, 255, 255, 255, 255, 255, 255, 255, //87
_DANCE, mid, zeo, fd5, zeo, 255, 255, 255, 255, 255, 255, 255, 255, //88
_DANCE, fd5, zeo, fd5, zeo, 255, 255, 255, 255, 255, 255, 255, 255, //89
_TEMPO, 100, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //90
_DANCE, fd0, std, bk5, std, 255, 255, 255, 255, 255, 255, 255, 255, //91
_DANCE, fd0, bk5, fd5, zeo, 255, 255, 255, 255, 255, 255, 255, 255, //92
// 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12
_DANCE, 255, 255, 255, lif, 255, 255, 255, 255, 255, 255, 255, 255, //93 61-66
_DANCE, 255, 255, 255, zeo, 255, 255, 255, 255, 255, 255, 255, 255, //94
_TEMPO, 10, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //95
_LOOP, 8, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //96
_DANCE, fd0, std, fd0, std, bk0, std, bk0, std, fd0, std, fd0, std, //97
_DANCE, bk0, lif, bk0, hon, fd0, hon, fd0, lif, bk0, lif, bk0, hon, //98
_DANCE, hon, std, hon, std, hon, std, hon, std, hon, std, hon, std, //99
_DANCE, fd0, hon, fd0, lif, bk0, lif, bk0, hon, fd0, hon, fd0, lif, //100
_NEXT, 5, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, //101
_GOTO, 212, // goto RUN_P
};
標籤:
程式設計,
ROSA (Arduino)
2016年2月17日 星期三
2016年2月13日 星期六
ROSA 系統開發 25 ─ 舞蹈節奏控制 (Tempo & Dance)
https://4rdp.blogspot.com/2016/02/rosa-25-tempo-dance.html?m=0
妖怪手錶體操舞
因此,我決定在 ROSA 的動作程序裡追加 TEMPO 與 DANCE 兩個指令,這樣做的優點可以減少程序記憶空間耗用,如果每行動作程序都加一個時間欄,一百個動作就會增加 100 bytes 記憶體耗用,而增加指令雖增加處理程式,但耗用程序記憶體並不多。TEMPO 指令設定音樂一拍所需的時間,時間單位為 10 ms,數值範圍 0 ~ 255,DANCE 指令基本上同 SERVO,但它會自動調速,讓每顆伺服馬達動作盡量均速,不會讓馬達很快轉到定位後就停在那裏,空耗時間,例如一號馬達半拍轉 50 度角與二號馬達半拍轉 20 度角,兩者速度就是不一樣,那麼看看程式如何設計可以達成這些功能。
// (C) 2015, Bridan Wang, CC BY-NC-SA 3.0 TW
// http://4rdp.blogspot.tw/search/label/ROSA%20(Arduino)
byte servo_pin[] =
{ 0, 4, 5, 6, 7, 9, 10, 11, 12, 14, 15, 16, 17 };
byte servo_revse[] =
{ 0, 0, 1, 1, 0, 0, 1, 1, 0, 0, 1, 1, 0 }; // 6x2-2
enum {
_NONE,
_DANCE,
_GOTO,
_HOLD,
_LOOP,
_NEXT,
_RETURN,
_SERVO,
_SPEED,
_STOP,
_TEMPO,
_WAIT,
};
byte tempo;
byte tempo_set;
unsigned int tempo_time;
標籤:
程式設計,
ROSA (Arduino)
2016年2月10日 星期三
訓練數學感 87 ─ 四子三連線
https://4rdp.blogspot.com/2016/02/87.html?m=0
猴年開春祝大家事事如意,也期望台南永康維冠震災能救援快速與順利。這題就像五子棋一樣,在圍棋盤上只要四子就可以一連線,可以直線、橫線、45度斜線,請問最少需要幾顆子可以排列三連線?這是單人遊戲,只用一色棋子即可。
2016年2月6日 星期六
ROSA 系統開發 24 ─ 以軟體序列埠程式連接 Arduino 藍芽通訊
https://4rdp.blogspot.com/2016/02/rosa-24-arduino.html?m=0
雖然在 ROSA 系統開發 21 已經說明 HC-05 藍牙連線,但是這個方法會佔用 Arduino 的 pin 0 及 1,它是會影響 Arduino 程式的 USB 燒錄,如果你有多餘的空腳,可以改用軟體序列埠程式連接 Arduino 藍芽通訊,它會使用 Arduino 兩隻 IO 腳,本文選用 pin 3 及 13,// (C) 2015-2016, Bridan Wang, CC BY-NC-SA 3.0 TW
// http://4rdp.blogspot.tw/search/label/ROSA%20(Arduino)
#include "SoftwareSerial.h"
SoftwareSerial BT(3,13); // pin 3 RX pin 13 TX
void setup(void) {
BT.begin(9600); // max 57600
}
void loop()
{
if (BT.available())
BT.write(BT.read());
}
標籤:
程式設計,
ROSA (Arduino)
2016年2月3日 星期三
訓練數學感 86 ─ 平衡與傾倒
https://4rdp.blogspot.com/2016/02/86.html?m=0
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