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[项目]【Arduino 动手做】在 Rangoli 或沙子上绘画和书写的机器人

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2025-5-28 17:20:16 [显示全部楼层]
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[项目] 【Arduino 动手做】在 Rangoli 或沙子上绘画和书写的机器人

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Arduino是一个开放源码的电子原型平台，它可以让你用简单的硬件和软件来创建各种互动的项目。Arduino的核心是一个微控制器板，它可以通过一系列的引脚来连接各种传感器、执行器、显示器等外部设备。Arduino的编程是基于C/C++语言的，你可以使用Arduino IDE（集成开发环境）来编写、编译和上传代码到Arduino板上。Arduino还有一个丰富的库和社区，你可以利用它们来扩展Arduino的功能和学习Arduino的知识。

Arduino的特点是：
1、开放源码：Arduino的硬件和软件都是开放源码的，你可以自由地修改、复制和分享它们。
2、易用：Arduino的硬件和软件都是为初学者和非专业人士设计的，你可以轻松地上手和使用它们。
3、便宜：Arduino的硬件和软件都是非常经济的，你可以用很低的成本来实现你的想法。
4、多样：Arduino有多种型号和版本，你可以根据你的需要和喜好来选择合适的Arduino板。
5、创新：Arduino可以让你用电子的方式来表达你的创意和想象，你可以用Arduino来制作各种有趣和有用的项目，如机器人、智能家居、艺术装置等。

【Arduino 动手做】在 Rangoli 或沙子上绘画和书写的机器人图1

【Arduino 动手做】在 Rangoli 或沙子上绘画和书写的机器人图2

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驴友花雕  中级技神
 楼主|

发表于 前天 17:23

【Arduino 动手做】在 Rangoli 或沙子上绘画和书写的机器人

这是一个绘画/沙画制作机器人。它有两个伺服电机，由 Arduino Uno 原型板控制。它可以绘制不同的形状。


【Arduino 动手做】在 Rangoli 或沙子上绘画和书写的机器人图1
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驴友花雕  中级技神
 楼主|

发表于 前天 17:28

【Arduino 动手做】在 Rangoli 或沙子上绘画和书写的机器人

这个项目中使用的东西

硬件组件
Arduino UNO       
×        1       
SG90微型伺服电机       
×        2       
面包板（通用）       
×        1       
跳线（通用）       
×        1       
USB-A 转 Mini-USB 线缆       
×        1       

手动工具和制造机器
剪刀，电工       
电气胶带       

你的项目是关于什么的？

这个项目是关于一个可以在兰戈里上绘画和书写的机器人。它有两个伺服电机，由安装在 Arduino Uno 原型板上的 Atmega328p 微控制器控制。

你为什么决定做这个？
制作这个机器人的目的是为了在兰戈里上画任何形状。兰戈里是手绘的。我不擅长画兰戈里。所以我决定做一个机器人，可以帮我画兰戈里。

它是如何工作的？
它有两个伺服电机，由安装在 Arduino Uno 原型板上的 Atmega328p 微控制器控制。它的工作原理是逆运动学。待绘制图像的轮廓坐标存储在 Arduino 代码的一个数组中。

CAD设计

【Arduino 动手做】在 Rangoli 或沙子上绘画和书写的机器人图1


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驴友花雕  中级技神
 楼主|

发表于 前天 17:32

【Arduino 动手做】在 Rangoli 或沙子上绘画和书写的机器人

这是机器人的CAD设计图。我们可以看到，两个电机、两个连杆和一支铅笔。第一个电机放置在地面上。连杆与其轴连接。第二个电机安装在该轴上。另一个连杆连接到第二个电机的轴上。连杆末端连接着一支铅笔。铅笔的尖端指向目标点。当两个电机旋转时，借助地面上的铅笔，可以画出任何东西。这是真正的机器人，有 2 个马达、2 个连杆和一支笔作为追踪的末端执行器。

真实设计

【Arduino 动手做】在 Rangoli 或沙子上绘画和书写的机器人图1

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驴友花雕  中级技神
 楼主|

发表于 前天 17:36

【Arduino 动手做】在 Rangoli 或沙子上绘画和书写的机器人

【Arduino 动手做】在 Rangoli 或沙子上绘画和书写的机器人图1

【Arduino 动手做】在 Rangoli 或沙子上绘画和书写的机器人图2

【Arduino 动手做】在 Rangoli 或沙子上绘画和书写的机器人图3

【Arduino 动手做】在 Rangoli 或沙子上绘画和书写的机器人图4

【Arduino 动手做】在 Rangoli 或沙子上绘画和书写的机器人图5

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驴友花雕  中级技神
 楼主|

发表于 前天 17:38

【Arduino 动手做】在 Rangoli 或沙子上绘画和书写的机器人

图像到坐标的转换
要从图像中获取坐标，我们可以从这个网站获取帮助。这里我们只需要上传图像。我们需要它的坐标。图像将显示在下方。单击图形的边缘。将生成相应的坐标。所有坐标将显示在下方。复制它们，然后将它们存储在 Arduino 代码的数组中。

转换问题
但是伺服电机需要输入角度，并旋转到给定的角度。因此，我们必须将笛卡尔坐标转换为球坐标。这需要借助三角函数。

【Arduino 动手做】在 Rangoli 或沙子上绘画和书写的机器人图1

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驴友花雕  中级技神
 楼主|

发表于 前天 17:42

【Arduino 动手做】在 Rangoli 或沙子上绘画和书写的机器人

这是要到达的点。两条连线的长度相同。因此，计算该点到原点的距离D，以及高度H。我们可以轻松计算出所有角度。

绘制兰戈里的原因
我们不用笔在纸上画画。因为装置不够坚固，无法在纸上施加足够的压力。

不过，我们还是成功画了一些画。虽然画得不太好，但我们对结果很满意。

【Arduino 动手做】在 Rangoli 或沙子上绘画和书写的机器人图3

【Arduino 动手做】在 Rangoli 或沙子上绘画和书写的机器人图2

【Arduino 动手做】在 Rangoli 或沙子上绘画和书写的机器人图1

【Arduino 动手做】在 Rangoli 或沙子上绘画和书写的机器人图4

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驴友花雕  中级技神
 楼主|

发表于 前天 17:48

【Arduino 动手做】在 Rangoli 或沙子上绘画和书写的机器人

定制零件和外壳

【Arduino 动手做】在 Rangoli 或沙子上绘画和书写的机器人图1

【Arduino 动手做】在 Rangoli 或沙子上绘画和书写的机器人图3

【Arduino 动手做】在 Rangoli 或沙子上绘画和书写的机器人图2

【Arduino 动手做】在 Rangoli 或沙子上绘画和书写的机器人图4


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驴友花雕  中级技神
 楼主|

发表于 前天 17:51

【Arduino 动手做】在 Rangoli 或沙子上绘画和书写的机器人

项目代码

  1. #include <Servo.h>

  2. 

  3. Servo m1,m2;

  4. 

  5. float d,h,l,phi;

  6. float theta1,theta2;

  7. int i,j;

  8. 

  9. int dly=80;

  10. 

  11. void setup() {

  12.   m1.attach(11);

  13.   m2.attach(10);

  14.   

  15. 

  16. }

  17. 

  18. void go(float x, float y){

  19.   

  20.   l = 8; //length of link, l= 8cm

  21.   

  22.   d = sqrt((x*x)+(y*y)); //distace between origin left and (x,y) point

  23. 

  24.   phi = atan2(y,x)*180/3.14; // phi, angle between d and x axis  

  25.   

  26.   h = sqrt((l*l)-((d/2)*(d/2))); //height of the triangle

  27.   

  28.   theta1 = atan2(h,(d/2))*180/3.14; // phi 1, angle between d and axis

  29.   

  30.   theta2 = (90 - theta1)*2; // angle between l and l

  31. 

  32. 

  33.   theta1+=phi;

  34.   

  35.   if ((theta1>0 && theta2>0) && (theta1<180 && theta2<180)){

  36.     m1.writeMicroseconds((int)((theta1/180)*1500+700));

  37.     m2.writeMicroseconds((int)((theta2/180)*1500+700));

  38.     

  39.   }

  40.   

  41. }

  42. 

  43. void coverage(){

  44.   for (i=0;i<180;i+=1){

  45.     m1.write(i);  

  46.     delay(25);

  47.   }  

  48. 

  49.   for (j=10;j<180;j+=1){

  50.     m2.write(j);

  51.     delay(25);

  52.   }

  53.   

  54.   for (i=180;i>0;i-=1){

  55.     m1.write(i);  

  56.     delay(25);

  57.   }  

  58. 

  59.   

  60.   for (j=180;j>10;j-=1){

  61.     m2.write(j);

  62.     delay(25);

  63.   }

  64. }

  65. 

  66. void human(){

  67.   int l= 100;

  68.   float x[l]={1.92, 2.33, 2.75, 3.17, 2.25, 1.33, 0.83, 0.5, 0.25, 0.25, 0.33, 0.83, 1.25, 1.75, 2.33, 2.92, 3.5, 3.25, 3.0, 2.83, 2.75, 2.83, 2.92, 3.25, 3.5, 3.92, 4.33, 4.92, 5.33, 5.83, 6.25, 6.5, 6.67, 6.75, 6.75, 6.75, 6.67, 6.5, 6.33, 6.25, 6.67, 7.0, 7.5, 8.0, 8.33, 8.67, 9.0, 9.0, 9.0, 9.0, 8.83, 8.5, 8.0, 7.5, 7.0, 6.5, 6.08, 6.25, 6.42, 6.58, 6.75, 6.92, 7.17, 7.33, 7.5, 7.67, 8.08, 8.42, 8.83, 8.75, 8.67, 8.42, 8.0, 7.42, 6.92, 6.42, 5.92, 5.67, 5.42, 5.17, 4.92, 4.75, 4.5, 4.25, 4.0, 3.67, 3.5, 2.92, 2.25, 1.67, 1.25, 0.92, 0.58, 0.5, 0.5, 0.67, 1.0, 1.42, 1.58, 1.92};

  69.   float y[l]={8.92, 8.33, 7.5, 6.58, 6.67, 6.75, 6.67, 6.33, 5.92, 5.33, 4.83, 4.5, 4.33, 4.25, 4.17, 4.17, 4.17, 3.83, 3.5, 3.08, 2.58, 2.0, 1.5, 1.17, 0.83, 0.5, 0.25, 0.25, 0.42, 0.58, 0.83, 1.25, 1.58, 2.0, 2.42, 2.92, 3.25, 3.58, 3.92, 4.0, 4.25, 4.25, 4.25, 4.42, 4.5, 4.67, 4.92, 5.25, 5.67, 5.92, 6.33, 6.58, 6.67, 6.67, 6.67, 6.5, 6.5, 6.83, 7.17, 7.5, 7.92, 8.25, 8.58, 8.92, 9.25, 9.33, 9.42, 9.58, 9.92, 10.33, 10.83, 11.25, 11.42, 11.42, 11.58, 11.5, 11.25, 11.0, 10.67, 10.42, 10.17, 9.92, 10.0, 10.42, 10.83, 11.0, 11.33, 11.5, 11.5, 11.58, 11.33, 11.08, 10.83, 10.33, 9.92, 9.58, 9.42, 9.5, 9.33, 8.92};

  70.   

  71.   for(i=0;i<l;i+=1){

  72.     go(x[i],y[i]+2);  

  73.     delay(dly);

  74.   }

  75.   

  76. }

  77. 

  78. void star(){

  79.   int l=99;

  80.   float x[l] = {3.8333, 3.9167, 4.0, 4.1667, 4.25, 4.3333, 4.4167, 4.5, 4.6667, 4.25, 3.9167, 3.5833, 3.25, 2.8333, 2.5833, 2.6667, 2.9167, 3.1667, 3.5, 3.75, 4.0, 4.3333, 4.6667, 4.9167, 5.25, 5.25, 5.4167, 5.5, 5.6667, 5.75, 5.8333, 5.9167, 6.0, 6.1667, 6.1667, 6.25, 6.3333, 6.4167, 6.4167, 6.5, 6.5833, 6.6667, 6.6667, 6.75, 6.8333, 6.8333, 7.0, 7.0833, 7.3333, 7.5, 7.75, 7.9167, 8.0833, 8.25, 8.5, 8.75, 9.0, 9.1667, 9.0833, 8.75, 8.5, 8.25, 8.0, 7.8333, 7.6667, 7.4167, 7.25, 7.3333, 7.4167, 7.5833, 7.5833, 7.6667, 7.75, 7.8333, 7.9167, 8.0833, 8.1667, 8.0, 7.8333, 7.5, 7.1667, 7.0, 6.8333, 6.5, 6.25, 6.0, 5.75, 5.5833, 5.5, 5.1667, 5.0833, 4.8333, 4.6667, 4.5, 4.3333, 4.0833, 3.9167, 3.8333, 3.6667};

  81.   float y[l] = {8.75, 8.4167, 8.0833, 7.75, 7.4167, 7.0833, 6.75, 6.5, 6.1667, 6.0, 5.75, 5.5, 5.25, 5.0833, 4.8333, 4.6667, 4.6667, 4.6667, 4.6667, 4.6667, 4.6667, 4.6667, 4.6667, 4.6667, 4.75, 4.4167, 4.0833, 3.75, 3.5, 3.1667, 2.8333, 2.5833, 2.3333, 2.5, 2.6667, 2.8333, 3.0833, 3.25, 3.4167, 3.5833, 3.75, 4.0, 4.1667, 4.3333, 4.4167, 4.5833, 4.6667, 4.6667, 4.6667, 4.6667, 4.6667, 4.6667, 4.6667, 4.6667, 4.6667, 4.6667, 4.6667, 4.6667, 4.8333, 5.0, 5.1667, 5.3333, 5.5, 5.75, 5.8333, 6.0, 6.1667, 6.4167, 6.5, 6.8333, 7.0833, 7.3333, 7.5, 7.8333, 8.0833, 8.25, 8.5833, 8.3333, 8.1667, 8.0833, 7.9167, 7.6667, 7.5, 7.25, 7.0833, 7.0, 7.0833, 7.25, 7.4167, 7.5833, 7.75, 7.9167, 8.0833, 8.1667, 8.25, 8.4167, 8.5833, 8.75, 8.8333};

  82. 

  83.   for(i=0;i<l;i+=1){

  84.     go(x[i],y[i]);  

  85.     delay(dly);

  86.   }

  87. }

  88. 

  89. void hand(){

  90.   int l=55;

  91.   float x[l] ={3.5833, 3.5, 3.75, 4.1667, 4.25, 4.25, 4.5833, 4.5833, 4.5833, 4.5833, 4.9167, 5.25, 5.3333, 5.3333, 5.4167, 5.4167, 5.6667, 5.75, 5.75, 5.6667, 5.9167, 6.25, 6.5833, 6.5833, 6.5833, 6.5833, 6.5833, 6.8333, 6.9167, 7.0, 7.0, 7.25, 7.6667, 7.6667, 7.75, 7.75, 7.75, 7.75, 8.1667, 8.5, 9.0, 9.3333, 9.0, 8.5, 8.0, 7.5, 6.8333, 6.0833, 5.1667, 4.5833, 4.0833, 3.6667, 3.5833, 3.5, 3.5833};

  92.   float y[l] ={6.5, 4.1667, 3.9167, 3.9167, 4.5, 5.9167, 5.8333, 4.9167, 3.5, 2.9167, 2.5833, 2.5833, 2.8333, 3.3333, 5.25, 5.75, 5.6667, 4.9167, 3.9167, 2.5833, 2.1667, 2.25, 2.3333, 2.9167, 3.9167, 5.0, 5.5, 5.5833, 4.5833, 3.6667, 3.1667, 2.8333, 2.9167, 3.5, 4.5833, 5.3333, 6.0833, 7.1667, 6.5833, 5.9167, 5.8333, 6.1667, 6.6667, 8.0, 8.9167, 9.4167, 9.75, 9.8333, 9.8333, 9.5, 9.0, 8.3333, 7.5833, 6.9167, 6.5};

  93. 

  94.   for(i=0;i<l;i+=1){

  95.     go(x[i],y[i]);  

  96.     delay(dly);

  97.   }

  98. }

  99. 

  100. void head(){

  101.   int l=128;

  102.   float x[l] ={7.0, 6.92, 6.92, 7.0, 7.0, 7.08, 7.08, 7.17, 7.17, 7.33, 7.5, 7.58, 8.17, 8.25, 8.42, 8.5, 8.67, 8.83, 8.83, 8.75, 8.75, 8.92, 8.92, 8.83, 8.75, 8.75, 8.83, 8.92, 9.0, 8.92, 8.92, 9.08, 9.17, 9.25, 9.33, 9.42, 9.25, 9.25, 9.08, 9.08, 9.0, 9.0, 8.83, 8.83, 8.75, 8.75, 8.67, 8.67, 8.75, 8.75, 8.67, 8.67, 8.58, 8.58, 8.5, 8.5, 8.33, 8.33, 8.17, 8.17, 7.75, 7.67, 7.42, 7.33, 7.25, 7.17, 7.08, 7.0, 6.92, 6.75, 6.67, 6.5, 6.42, 6.17, 6.08, 4.67, 4.58, 4.33, 4.25, 4.08, 4.0, 3.83, 3.75, 3.67, 3.5, 3.42, 2.92, 2.92, 2.75, 2.75, 2.67, 2.67, 2.58, 2.58, 2.5, 2.5, 2.58, 2.58, 2.67, 2.67, 2.75, 2.75, 2.83, 2.83, 2.92, 2.92, 3.08, 3.08, 3.17, 3.17, 3.33, 3.33, 3.42, 3.42, 3.5, 3.5, 3.58, 3.58, 3.67, 3.67, 3.58, 3.58, 3.5, 3.5, 3.42, 3.42, 3.33, 3.25};

  103.   float y[l] ={10.08, 10.0, 9.92, 9.83, 9.5, 9.42, 9.25, 9.17, 9.08, 8.92, 8.92, 9.0, 9.0, 9.08, 9.08, 9.0, 9.0, 8.83, 8.33, 8.25, 8.08, 7.92, 7.75, 7.75, 7.67, 7.58, 7.5, 7.5, 7.42, 7.33, 6.92, 6.75, 6.75, 6.67, 6.67, 6.58, 6.42, 6.33, 6.17, 6.08, 6.0, 5.92, 5.75, 5.67, 5.58, 5.5, 5.42, 5.25, 5.17, 4.67, 4.58, 4.25, 4.17, 4.0, 3.92, 3.75, 3.58, 3.5, 3.33, 3.25, 2.83, 2.83, 2.58, 2.58, 2.5, 2.5, 2.42, 2.42, 2.33, 2.33, 2.25, 2.25, 2.17, 2.17, 2.08, 2.08, 2.17, 2.17, 2.25, 2.25, 2.33, 2.33, 2.42, 2.42, 2.58, 2.58, 3.08, 3.17, 3.33, 3.5, 3.58, 3.75, 3.83, 4.17, 4.25, 4.83, 4.92, 5.42, 5.5, 5.75, 5.83, 6.0, 6.08, 6.25, 6.33, 6.42, 6.58, 6.67, 6.75, 6.83, 7.0, 7.08, 7.17, 7.25, 7.33, 7.42, 7.5, 7.75, 7.83, 9.0, 9.08, 9.42, 9.5, 9.75, 9.83, 9.92, 10.0, 10.0};

  104. 

  105.   for(i=0;i<l;i+=1){

  106.     go(x[i],y[i]+1);  

  107.     delay(dly);

  108.   }

  109. }

  110. 

  111. void heart(){

  112.   int l=65;

  113.   float x[l] ={5.92, 6.25, 6.58, 6.92, 7.17, 7.58, 7.92, 8.42, 9.0, 9.5, 10.0, 10.42, 10.83, 11.33, 11.58, 11.83, 11.92, 11.92, 11.75, 11.5, 11.25, 10.83, 10.42, 9.83, 9.17, 8.58, 8.0, 7.42, 7.08, 6.67, 6.42, 6.0, 5.5, 5.0, 4.42, 3.92, 3.42, 3.0, 2.5, 2.0, 1.67, 1.33, 1.0, 0.58, 0.33, 0.08, 0.08, 0.17, 0.42, 0.75, 1.17, 1.58, 2.0, 2.58, 3.08, 3.5, 3.83, 4.33, 4.75, 5.0, 5.25, 5.58, 5.67, 5.83, 6.0};

  114.   float y[l] ={2.25, 1.92, 1.5, 1.0, 0.67, 0.5, 0.33, 0.25, 0.17, 0.17, 0.33, 0.5, 0.83, 1.17, 1.67, 2.42, 3.33, 4.0, 4.58, 5.33, 5.83, 6.5, 7.33, 8.08, 8.83, 9.5, 10.17, 10.67, 11.08, 11.33, 11.67, 12.17, 11.58, 11.0, 10.5, 9.92, 9.33, 8.92, 8.25, 7.75, 7.17, 6.67, 6.08, 5.42, 4.75, 3.83, 3.0, 2.17, 1.67, 1.25, 0.83, 0.5, 0.17, 0.08, 0.08, 0.17, 0.17, 0.25, 0.5, 0.75, 1.08, 1.33, 1.67, 2.0, 2.33};

  115. 

  116.   for(i=0;i<l;i+=1){

  117.     go(x[i],y[i]+2);  

  118.     delay(dly);

  119.   }

  120. }

  121. 

  122. void house(){

  123.   int l=112;

  124.   float x[l] ={1.4167, 1.4167, 1.4167, 1.4167, 1.4167, 1.4167, 1.4167, 1.4167, 1.0833, 0.8333, 0.5833, 0.25, 0.25, 0.5833, 0.9167, 1.25, 1.6667, 2.0833, 2.5, 2.9167, 3.25, 3.5833, 3.9167, 4.25, 4.5833, 5.0, 5.3333, 5.75, 6.0, 6.3333, 6.6667, 7.0, 7.25, 7.5, 7.6667, 7.75, 7.6667, 7.6667, 7.6667, 8.0, 8.3333, 8.5833, 8.9167, 9.0, 8.9167, 9.0, 9.0, 9.0, 9.0, 8.9167, 8.9167, 9.1667, 9.4167, 9.6667, 10.0, 10.25, 10.5833, 10.8333, 11.0833, 11.4167, 11.5833, 11.5833, 11.3333, 11.0833, 10.8333, 10.5833, 10.5833, 10.5833, 10.5833, 10.5833, 10.5833, 10.5833, 10.5833, 10.5833, 10.5833, 10.5833, 10.5833, 10.5833, 10.5833, 10.5833, 10.5833, 10.3333, 10.0, 9.6667, 9.25, 8.9167, 8.4167, 8.0, 7.5833, 7.25, 6.75, 6.4167, 6.0, 5.75, 5.3333, 5.0, 4.5833, 4.0833, 3.8333, 3.5833, 3.25, 2.8333, 2.5833, 2.0833, 1.9167, 1.75, 1.4167, 1.4167, 1.4167, 1.4167, 1.4167, 1.4167};

  125.   float y[l] ={7.5, 7.0, 6.5, 6.0, 5.5833, 5.25, 4.75, 4.4167, 4.4167, 4.4167, 4.4167, 4.4167, 4.0833, 3.8333, 3.6667, 3.4167, 3.0833, 2.8333, 2.5833, 2.4167, 2.25, 2.0, 1.6667, 1.5, 1.25, 1.0, 0.8333, 0.5833, 0.4167, 0.5833, 0.6667, 0.9167, 1.0, 1.1667, 1.25, 1.0, 0.8333, 0.5, 0.3333, 0.3333, 0.3333, 0.3333, 0.3333, 0.5, 0.5833, 0.9167, 1.25, 1.5, 1.75, 1.9167, 2.1667, 2.3333, 2.5, 2.6667, 2.8333, 3.0, 3.1667, 3.3333, 3.5, 3.6667, 3.75, 4.1667, 4.1667, 4.1667, 4.1667, 4.1667, 4.3333, 4.5, 4.8333, 5.1667, 5.5, 5.9167, 6.1667, 6.4167, 6.6667, 6.9167, 7.1667, 7.4167, 7.6667, 7.9167, 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 8.1667, 8.0, 7.9167, 7.6667, 7.5};

  126. 

  127.   for(i=0;i<l;i+=1){

  128.     go(x[i],y[i]+1);  

  129.     delay(dly);

  130.   }

  131. }

  132. 

  133. void f22(){

  134.   int l=102;

  135.   float x[l] ={1.8333, 2.1667, 2.4167, 2.75, 3.0, 3.3333, 3.5, 3.8333, 4.0, 4.0, 4.0, 4.0, 4.25, 4.5, 4.5, 4.5833, 4.5833, 4.6667, 4.75, 4.8333, 4.9167, 5.0, 5.0833, 5.1667, 5.1667, 5.25, 5.25, 5.25, 5.25, 5.25, 5.4167, 5.5833, 5.75, 5.75, 5.75, 5.8333, 5.8333, 5.8333, 5.9167, 6.0833, 6.25, 6.5, 6.6667, 6.9167, 7.1667, 7.3333, 7.5833, 7.8333, 7.8333, 7.8333, 7.8333, 7.8333, 7.6667, 7.5, 7.25, 7.0, 6.75, 6.4167, 6.0833, 6.1667, 6.3333, 6.5833, 6.75, 6.8333, 6.8333, 6.8333, 6.8333, 6.8333, 6.6667, 6.5, 6.25, 6.0, 5.75, 5.5833, 5.5833, 5.5, 5.1667, 4.8333, 4.5833, 4.3333, 4.3333, 4.3333, 4.1667, 4.0, 3.9167, 3.6667, 3.3333, 3.0, 3.0, 3.0, 3.1667, 3.4167, 3.6667, 3.3333, 3.0, 2.6667, 2.3333, 2.0, 1.9167, 1.8333, 1.75, 1.8333};

  136.   float y[l] ={7.5833, 7.25, 7.0, 6.8333, 6.5, 6.25, 5.9167, 5.6667, 5.3333, 4.9167, 4.5833, 4.25, 4.0833, 3.9167, 3.5, 3.0833, 2.75, 2.3333, 2.0, 1.75, 1.8333, 1.9167, 2.1667, 2.4167, 2.6667, 2.9167, 3.1667, 3.4167, 3.6667, 3.9167, 4.0833, 4.1667, 4.25, 4.4167, 4.6667, 4.9167, 5.0833, 5.3333, 5.5833, 5.75, 5.9167, 6.0833, 6.25, 6.5, 6.75, 7.0, 7.1667, 7.4167, 7.5833, 7.6667, 7.9167, 8.1667, 8.1667, 8.3333, 8.4167, 8.5, 8.5833, 8.6667, 8.75, 9.0, 9.0833, 9.25, 9.5, 9.5, 9.5833, 9.75, 9.9167, 10.0833, 10.1667, 10.25, 10.25, 10.0833, 9.9167, 9.75, 9.5, 9.3333, 9.25, 9.25, 9.25, 9.25, 9.3333, 9.5833, 9.75, 10.0, 10.0833, 10.25, 10.25, 10.1667, 10.0, 9.6667, 9.4167, 9.1667, 8.9167, 8.6667, 8.5833, 8.5, 8.4167, 8.25, 8.0, 7.6667, 7.5833, 7.4167};

  137. 

  138.   for(i=0;i<l;i+=1){

  139.     go(x[i],y[i]+1);  

  140.     delay(dly);

  141.   }

  142. }

  143. 

  144. void butterfly(){

  145.   int l=133;

  146.   float x[l] ={3.333, 3.75, 4.083, 4.417, 4.75, 5.083, 5.333, 5.667, 5.833, 6.25, 6.583, 6.917, 7.167, 7.333, 7.583, 7.75, 8.083, 8.333, 8.667, 9.083, 9.417, 9.75, 10.083, 10.5, 10.917, 11.333, 11.667, 11.667, 11.667, 11.667, 11.583, 11.583, 11.417, 11.25, 11.083, 11.0, 10.917, 10.833, 10.833, 10.75, 10.5, 10.083, 9.75, 9.417, 9.083, 8.833, 9.0, 9.417, 9.667, 9.917, 10.083, 10.25, 10.333, 10.417, 10.417, 10.333, 10.333, 10.083, 10.0, 9.75, 9.583, 9.25, 8.917, 8.667, 8.333, 8.083, 7.833, 7.5, 7.333, 7.333, 7.167, 7.0, 6.917, 6.75, 6.667, 6.583, 6.5, 6.333, 6.083, 5.917, 5.833, 5.833, 5.667, 5.667, 5.583, 5.583, 5.417, 5.25, 5.0, 4.667, 4.417, 4.083, 3.75, 3.417, 3.0, 2.667, 2.417, 2.25, 2.083, 2.083, 2.25, 2.333, 2.583, 2.917, 3.167, 3.333, 3.083, 2.917, 2.5, 2.25, 2.0, 1.667, 1.583, 1.333, 1.25, 1.083, 1.083, 0.917, 0.667, 0.417, 0.333, 0.25, 0.25, 0.583, 0.917, 1.25, 1.75, 2.0, 2.25, 2.583, 2.667, 2.917, 3.083};

  147.   float y[l] ={1.667, 1.917, 2.25, 2.5, 2.833, 3.0, 3.25, 3.5, 3.75, 3.833, 3.833, 3.583, 3.25, 2.917, 2.75, 2.583, 2.25, 1.917, 1.667, 1.25, 1.167, 0.917, 0.583, 0.583, 0.5, 0.417, 0.5, 0.667, 1.0, 1.25, 1.5, 1.833, 2.083, 2.333, 2.583, 2.917, 3.25, 3.5, 3.833, 4.083, 4.333, 4.333, 4.333, 4.333, 4.167, 4.25, 4.5, 4.667, 4.833, 5.0, 5.167, 5.417, 5.667, 6.0, 6.333, 6.667, 7.0, 7.25, 7.5, 7.667, 7.833, 7.917, 8.167, 8.25, 8.333, 8.333, 8.333, 8.167, 7.917, 7.583, 7.333, 7.0, 6.833, 6.667, 6.417, 6.167, 6.0, 6.0, 6.0, 6.0, 6.25, 6.5, 6.75, 7.083, 7.417, 7.667, 8.167, 8.25, 8.333, 8.5, 8.5, 8.5, 8.5, 8.333, 8.167, 7.917, 7.583, 7.25, 6.833, 6.333, 6.0, 5.583, 5.25, 5.0, 4.833, 4.667, 4.583, 4.583, 4.583, 4.583, 4.583, 4.5, 4.083, 3.75, 3.333, 3.0, 2.667, 2.333, 2.083, 1.833, 1.5, 1.25, 0.75, 0.583, 0.583, 0.583, 0.667, 0.833, 1.0, 1.083, 1.25, 1.25, 1.417};

  148. 

  149.   for(i=0;i<l;i+=1){

  150.     go(x[i],y[i]+2);  

  151.     delay(dly);

  152.   }

  153. }

  154. 

  155. void lamp(){

  156.   int l=114;

  157.   float x[l] ={0.5833, 1.0, 1.3333, 1.75, 2.1667, 2.6667, 3.1667, 3.6667, 4.1667, 4.5833, 5.0, 5.25, 5.0833, 5.0833, 5.0833, 4.75, 4.4167, 4.25, 3.9167, 3.8333, 3.8333, 3.9167, 4.0, 4.1667, 4.3333, 4.5, 4.6667, 4.6667, 4.6667, 4.6667, 4.6667, 4.6667, 4.6667, 4.75, 4.75, 4.9167, 5.0833, 5.25, 5.4167, 5.5833, 5.75, 5.8333, 6.0, 6.0833, 6.1667, 6.25, 6.25, 6.25, 6.3333, 6.3333, 6.25, 6.0833, 6.0, 5.9167, 5.75, 5.6667, 5.4167, 5.3333, 5.25, 5.25, 5.25, 5.25, 5.25, 5.25, 5.5, 5.9167, 6.3333, 6.75, 7.1667, 7.5833, 8.0, 8.4167, 8.8333, 9.25, 9.6667, 9.5833, 9.5, 9.4167, 9.3333, 9.1667, 9.0, 8.6667, 8.5, 8.25, 7.9167, 7.75, 7.4167, 7.0833, 6.75, 6.4167, 6.0, 5.5833, 5.25, 4.75, 4.3333, 4.0, 3.5833, 3.25, 2.9167, 2.5833, 2.3333, 2.0, 1.75, 1.5833, 1.4167, 1.1667, 1.0, 0.8333, 0.75, 0.6667, 0.6667, 0.5833, 0.5833, 0.5833};

  158.   float y[l] ={7.4167, 7.1667, 7.0, 6.9167, 6.8333, 6.8333, 6.6667, 6.6667, 6.6667, 6.6667, 6.6667, 6.5833, 6.5, 6.1667, 5.75, 5.6667, 5.5833, 5.3333, 5.0, 4.5833, 4.1667, 3.75, 3.5, 3.1667, 2.75, 2.5, 2.1667, 1.8333, 1.5, 1.1667, 0.9167, 0.6667, 0.3333, 0.5833, 0.8333, 0.9167, 1.0, 1.25, 1.4167, 1.6667, 1.9167, 2.1667, 2.3333, 2.6667, 2.9167, 3.1667, 3.5, 3.75, 4.0, 4.25, 4.5, 4.75, 5.0, 5.1667, 5.3333, 5.3333, 5.4167, 5.5, 5.6667, 6.0, 6.0833, 6.3333, 6.4167, 6.5833, 6.6667, 6.6667, 6.6667, 6.6667, 6.6667, 6.75, 6.8333, 6.8333, 7.0, 7.0833, 7.25, 7.5833, 7.9167, 8.25, 8.5833, 8.9167, 9.3333, 9.5, 9.8333, 10.1667, 10.3333, 10.5833, 10.6667, 10.9167, 11.0833, 11.25, 11.25, 11.3333, 11.3333, 11.3333, 11.25, 11.1667, 11.1667, 11.0, 10.8333, 10.75, 10.5833, 10.4167, 10.1667, 9.9167, 9.6667, 9.5, 9.25, 9.0, 8.8333, 8.5, 8.3333, 8.1667, 7.8333, 7.4167};

  159. 

  160.   for(i=0;i<l;i+=1){

  161.     go(x[i],y[i]+2);  

  162.     delay(dly);

  163.   }

  164. }

  165. 

  166. void tree(){

  167.   int l=79;

  168.   float x[l] ={3.08, 3.42, 3.58, 3.75, 3.75, 3.75, 3.75, 3.67, 3.17, 2.58, 2.17, 1.58, 1.08, 0.83, 0.67, 0.42, 0.17, 0.17, 0.42, 0.75, 1.0, 1.25, 1.25, 1.42, 1.67, 2.08, 2.5, 2.83, 3.17, 3.42, 3.58, 3.92, 4.25, 4.5, 4.83, 5.0, 5.33, 5.67, 6.0, 6.25, 6.67, 6.83, 7.0, 7.25, 7.58, 7.92, 8.08, 8.17, 8.17, 8.17, 7.92, 8.0, 8.25, 8.33, 8.5, 8.58, 8.58, 8.42, 8.25, 8.0, 7.75, 7.5, 7.17, 6.67, 6.25, 5.92, 5.75, 5.42, 5.17, 5.08, 5.0, 5.0, 5.0, 5.08, 5.17, 5.33, 5.5, 5.75, 5.92};

  169.   float y[l] ={11.0, 10.25, 9.67, 9.0, 8.42, 7.67, 6.92, 6.33, 6.33, 6.17, 6.25, 6.33, 6.17, 5.67, 5.0, 4.58, 4.17, 3.5, 3.08, 2.67, 2.5, 2.42, 2.0, 1.58, 1.33, 1.17, 1.0, 1.08, 1.25, 1.25, 1.0, 0.92, 1.0, 1.08, 0.92, 0.67, 0.67, 0.58, 0.58, 0.67, 0.67, 0.92, 1.25, 1.17, 1.42, 1.5, 1.92, 2.17, 2.58, 2.92, 3.17, 3.33, 3.58, 3.75, 4.17, 4.5, 4.92, 5.33, 5.75, 5.92, 6.08, 6.33, 6.5, 6.5, 6.5, 6.33, 6.17, 6.17, 6.33, 6.67, 6.92, 7.42, 8.0, 8.5, 9.0, 9.42, 9.92, 10.33, 10.83};

  170. 

  171.   for(i=0;i<l;i+=1){

  172.     go(x[i],y[i]+2);  

  173.     delay(dly);

  174.   }

  175. }

  176. 

  177. void A(){

  178.   int l=14;

  179.   float x[l] ={3.5833, 4.25, 5.5833, 6.25, 7.5, 8.25, 7.5, 4.25, 7.5, 8.25, 6.25, 5.5833, 4.25, 3.5833};

  180.   float y[l] ={8.1667, 6.1667, 2.4167, 2.4167, 6.1667, 8.1667, 6.1667, 6.1667, 6.1667, 8.1667, 2.4167, 2.4167, 6.1667, 8.1667};

  181. 

  182.   for(i=0;i<l;i+=1){

  183.     go(x[i],y[i]);  

  184.     delay(dly);

  185.   }

  186. }

  187. 

  188. void square(){

  189.   for(i=0;i<10;i++){

  190.     go(0,i);  

  191.     delay(dly);

  192.   } 

  193.   for (i=0;i<10;i++){

  194.     go(i,10);  

  195.     delay(dly);

  196.   }

  197.   for(i=10;i>0;i-=1){

  198.     go(10,i);

  199.     delay(dly);

  200.   }

  201.   for(i=10;i>0;i-=1){

  202.     go(i,0);

  203.     delay(dly);

  204.   }

  205. }

  206. 

  207. void line(){

  208. 

  209.     for(i=0;i<10;i++){

  210.       go(i+4,4);

  211.       delay(dly);

  212.       }

  213.     for(i=10;i>0;i--){

  214.       go(i+4,4);

  215.       delay(dly);

  216.       }

  217. }

  218. 

  219. void working_envelop(){

  220.   

  221.   for(float x=16;x>=0;x-=0.20){

  222.     go(x,1);  

  223.     delay(50);

  224.   }

  225.   

  226.   m2.write(20);

  227.   

  228.   for (i=150;i<180;i+=1){

  229.     m1.write(i); 

  230.     delay(50);

  231.   }  

  232. 

  233.   for (i=20;i<170;i+=1){

  234.     m2.write(i);

  235.     delay(15);

  236.   }

  237. 

  238.   for(i=180;i>10;i-=1){

  239.     m1.write(i);

  240.     delay(25);

  241.   }

  242. }

  243. 

  244. void working_envelop_one(){

  245.   for(i=0;i<180;i+=1){

  246.     m1.write(i);

  247.     delay(25);  

  248.   }

  249.   

  250.   for(i=180;i>0;i-=1){

  251.     m1.write(i);

  252.     delay(25);  

  253.   }  

  254. }

  255. 

  256. void loop() {

  257.  

  258. 

  259.   working_envelop();

  260.   

  261.   star();

  262.   tree();

  263.   lamp();

  264.   human();

  265.   house();

  266.   heart();

  267.   hand();

  268.   f22();

  269.   butterfly();

  270.   A();

  271.   

  272.   delay(500);

  273. }
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驴友花雕  中级技神
 楼主|

发表于 前天 18:02

【Arduino 动手做】在 Rangoli 或沙子上绘画和书写的机器人

附录
项目链接：https://www.hackster.io/Robotics ... making-robot-7e3d60
项目作者：印度浦那 Robotics EveryDay
视频教程（4分钟）：https://www.youtube.com/watch?v=GRJwoxl9V6U
项目代码：https://www.hackster.io/code_files/572041/download
3D打印文件：https://hacksterio.s3.amazonaws. ... obot_uQ2SvRREZ2.stl

【Arduino 动手做】在 Rangoli 或沙子上绘画和书写的机器人图1

【Arduino 动手做】在 Rangoli 或沙子上绘画和书写的机器人图2

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