【CurieNano试用】机器人调试助手
【CurieNano试用】机器人调试助手一个有趣的【神经元自动计算】的现象:
【找衣架,晾衣服】
~每次从洗衣机里取出一堆衣服后，
再去寻找衣架（有的直接拿来，有的是退下干净衣服取出）
的数量与衣服的数量误差常常为0最多为1。
【~全程根本没数过！没数过！没数过！】
科学家们正在研学神经元的种种功能应用于智慧机器人，
这会不会改变全世界呢？！
【特此声明：本文与神经元没有什么关联...】
【但恳请知晓Curie与神经元相关内容者能够提示一二:handshake谢谢】
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CurieNano功能强大，我却仅能用之极少!:funk:
我的一点儿想法：
在手机上接收机器人的实时数据，并能无线控制它。
比如以下纸盒游戏机器人的姿态数据：
http://v.youku.com/v_show/id_XMjc4ODUzOTE4MA==.html如果机器人在多次经历摔倒之后的数据收集分析，是不是就能慢慢学会避免摔倒呢？【超级程序吗】下面是手机收集的一点点数据（章动角、旋进角、自转角等）http://v.youku.com/v_show/id_XMjc4ODYyMTYxNg==.html当然也可以手机控制机器人的简单动作等http://v.youku.com/v_show/id_XMjc5MjM0OTUwMA==.html
----------------所需材料---------------一、机器人结构件：【舵机*4、多功能支架*4、长U支架*2、U型梁*2、L型*1、大脚板*2等】
二、控制器：【CurieNano 英特尔居里控制小板】
【IO 传感器扩展板 V7.1】、
【Bluno主控器 小米特别版】
三、电源：【7.4V、3.7V】
四、通讯模块：【如果完全搞清了以上控制器蓝牙通信，以下可免】蓝牙HC06*1、ZIGBEE*2
五、其它【安卓手机、面包板、接头、开关、杜邦线等】
--------------------模块化工程--------------------【模块一】、机器人结构定型组装【主要是我儿子完成】
【模块二】、了解CurireNano的官方文档资料、理解其基本功能及代码实现【耗时最多】// 05/25/2017
/*
The orientations of the board:
0:处理器平面--朝上
1:处理器平面--朝下
2:模拟针脚侧--朝下
3:模拟针脚侧--朝上
4:USB接口-----朝上
5:USB接口-----朝下
0: flat, processor facing up
1: flat, processor facing down
2: landscape, analog pins down
3: landscape, analog pins up
4: portrait, USB connector up
5: portrait, USB connector down
*/
#include <CurieIMU.h>
#include <MadgwickAHRS.h>
#include <SoftwareSerial.h>
SoftwareSerial mySerial(2, 3); // RX, TX
Madgwick filter;
unsigned long microsPerReading, microsPrevious;
float accelScale, gyroScale;
int lastOrientation = - 1; // previous orientation (for comparison)
void setup() {
Serial1.begin(9600);
mySerial.begin(9600);
while (!Serial1); // wait for the Serial1 port to open
// initialize device
Serial1.println("初始化 IMU 设备...");
// start the IMU and filter
CurieIMU.begin();
CurieIMU.setGyroRate(25);
CurieIMU.setAccelerometerRate(25);
filter.begin(25);
// Set the accelerometer range to 2G
CurieIMU.setAccelerometerRange(2);
// Set the gyroscope range to 250 degrees/second
CurieIMU.setGyroRange(250);
// initialize variables to pace updates to correct rate
microsPerReading = 1000000 / 25;
microsPrevious = micros();
}
void loop() {
int aix, aiy, aiz;
int gix, giy, giz;
float ax, ay, az;
float gx, gy, gz;
float roll, pitch, heading;
unsigned long microsNow;
int orientation = - 1; // the board's orientation
String orientationString; // string for printing description of orientation
// check if it's time to read data and update the filter
microsNow = micros();
if (microsNow - microsPrevious >= microsPerReading) {
// read raw data from CurieIMU
CurieIMU.readMotionSensor(aix, aiy, aiz, gix, giy, giz);
// convert from raw data to gravity and degrees/second units
ax = convertRawAcceleration(aix);
ay = convertRawAcceleration(aiy);
az = convertRawAcceleration(aiz);
gx = convertRawGyro(gix);
gy = convertRawGyro(giy);
gz = convertRawGyro(giz);
// read accelerometer:
int x = CurieIMU.readAccelerometer(X_AXIS);
int y = CurieIMU.readAccelerometer(Y_AXIS);
int z = CurieIMU.readAccelerometer(Z_AXIS);
// calculate the absolute values, to determine the largest
int absX = abs(x);
int absY = abs(y);
int absZ = abs(z);
if ( (absZ > absX) && (absZ > absY)) {
// base orientation on Z
if (z > 0) {
orientationString = "处理器平面--朝上";
orientation = 0;
} else {
orientationString = "处理器平面--朝下";
orientation = 1;
}
} else if ( (absY > absX) && (absY > absZ)) {
// base orientation on Y
if (y > 0) {
orientationString = "数字 Pin 侧--朝上";
orientation = 2;
} else {
orientationString = "模拟 Pin 侧--朝上";
orientation = 3;
}
} else {
// base orientation on X
if (x < 0) {
orientationString = "USB 接口--朝上";
orientation = 4;
} else {
orientationString = "USB 接口--朝下";
orientation = 5;
}
}
// update the filter, which computes orientation
filter.updateIMU(gx, gy, gz, ax, ay, az);
// print the heading, pitch and roll
roll = filter.getRoll();
pitch = filter.getPitch();
heading = filter.getYaw();
Serial1.println("-----------------------------");
Serial1.print("heading: ");
Serial1.println(heading);
Serial1.print(" pitch: ");
Serial1.println(pitch);
Serial1.print(" roll: ");
Serial1.println(roll);
Serial1.println("-----------------------------");
// if the orientation has changed, print out a description:
//if (orientation != lastOrientation) {
Serial1.println(orientationString);
Serial1.println("-----------------------------");
lastOrientation = orientation;
//}
delay(300);
// increment previous time, so we keep proper pace
microsPrevious = microsPrevious + microsPerReading;
}
if (Serial1.available())// 手机蓝牙向CurieNano101硬串口（0，1）发来的命令，
mySerial.write(Serial1.read()); // 通过串口（2，3）转发出去
} // end loop
/////////////////////////////////////////////////
float convertRawAcceleration(int aRaw) {
// since we are using 2G range
// -2g maps to a raw value of -32768
// +2g maps to a raw value of 32767
float a = (aRaw * 2.0) / 32768.0;
return a;
}
///////////////////////////////////////////////
float convertRawGyro(int gRaw) {
// since we are using 250 degrees/seconds range
// -250 maps to a raw value of -32768
// +250 maps to a raw value of 32767
float g = (gRaw * 250.0) / 32768.0;
return g;
}
///////////////////////////////////////////////
【模块三】、舵机控制器接收串口命令并执行
// 05/26/2017 OK ^-^
#include <Servo.h>
Servo myServoA;
Servo myServoB;
Servo myServoC;
Servo myServoD;
int valueOfAngle = 0;
String servoString = "";
/////////////////////////////////////////////////////
void setup() {
// put your setup code here, to run once:
Serial.begin(9600);
while (!Serial) {
;
}
pinMode(13,OUTPUT);
myServoA.attach(5);
myServoB.attach(6);
myServoC.attach(9);
myServoD.attach(10);
digitalWrite(13,HIGH);// 舵机重置归中
myServoA.write(90);
delay(300);
myServoB.write(90);
delay(300);
myServoC.write(90);
delay(300);
myServoD.write(90);
delay(300);
digitalWrite(13,LOW);
}
/////////////////////////////////////////////////////
void loop() {
while (Serial.available() > 0) {
servoString = Serial.readString();
if (servoString.startsWith("A")) {
servoString = servoString.substring(1);
myServoA.write(servoString.toInt());
delay(500);
}else if(servoString.startsWith("B")) {
servoString = servoString.substring(1);
myServoB.write(servoString.toInt());
delay(500);
}else if(servoString.startsWith("C")) {
servoString = servoString.substring(1);
myServoC.write(servoString.toInt());
delay(500);
}else if(servoString.startsWith("D")) {
servoString = servoString.substring(1);
myServoD.write(servoString.toInt());
delay(500);
} // end if
servoString = "";
} // end while
} // end loop
/////////////////////////////////////////////////////
【模块四】、安卓手机APP【蓝牙通讯】实现无线接收数据与发送命令
【手机APP界面】
手机APP编译代码：
附：四自由度机器人全身照
小黑金刚~
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