“Bot:bit”的版本间的差异
来自Labplus盛思维基百科
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− | == | + | == bot:bit 拼装形态 == |
=== Walk Bot=== | === Walk Bot=== | ||
* 4自由度舵机作为双腿、实现自由行走 | * 4自由度舵机作为双腿、实现自由行走 |
2018年2月2日 (五) 12:07的版本
目录
概述
bot:bit人形机器人是一款可以编程控制的人形机器人,支持Mpython图形化编程和Python代码编程,简单易学,通过编程可拓展人的空间思维空间能力。机器人具有多种工作形态,一是装4自由度舵机作为手臂,加上2路电机作为轮子,自由移动的同时双手可灵活操作;二是装有4自由度舵机作为双腿、实现自由行走、避障。
产品特点
- 动作灵活:全身拥有8个动作关节,拟人造型,实现动作舞蹈,身手灵活。
- 无线遥控:2.4GHz射频传输模块,可实现遥控格斗运动,欢乐无穷。
- 内置加速度计
- 测距避障:内置的高精度超声波模块,能快速返回测量信息、走迷宫、越野的多种任务挑战。
- 高续航:双节14500锂电池,可循环充电,支持课堂教学应用。
百变创意玩法
程序下载教程
Step1.下载并安装m:python编程软件,该软件支持图形化编程和python源码编程。http://labplus.cn/index.php/product/download
Step3.打开m:python编程软件,根据需要选择图形化编程或python代码编程方式来完成程序。
Step4.程序完成后,点击
,下载程序并保存到microbit可移动盘上 ,待下载指示灯闪烁完毕后,说明程序下载成功。
bot:bit 拼装形态
Walk Bot
- 4自由度舵机作为双腿、实现自由行走
Walk Bot硬件连接
Walk Bot python编程
# -*- coding: utf-8 -*- from microbit import * import music import math servo_pos = bytearray([0, 0x05, 0xDC, 0x05, 0xDC, 0x05, 0xDC, 0x05, 0xDC]) def setServo(servo, angle): "set the servo angel" a = (1.5 + angle/90) * 1000 servo_pos[servo*2 + 1] = int(a / 256) servo_pos[servo*2 + 2] = int(a % 256) def updatePosition(): servo_pos[0] = 0 i2c.write(0x2A, servo_pos) def getDistance(): i2c.write(0x0b, bytearray([1])) temp=i2c.read(0x0B,2) dis =(temp[0]+temp[1]*256)/10 return dis inc = 0 phase_start=[0, 0, 0, 0] phase=[0, 0, 0, 0] offset=[0, 0, 0, 0] amplitude=[0, 0, 0, 0] t = 0 def refresh(): global t, phase, inc, amplitude, phase_start if (running_time() - t) > 50: t = running_time() for i in range(0, 4): pos = round(amplitude[i]*math.sin(phase[i] + phase_start[i]) + offset[i]) setServo(i, pos) phase[i] = phase[i] + inc updatePosition() def action(A, O, DIFF, T, steps): global inc, amplitude, phase_start, offset t2 = 0 inc = 2*math.pi/(T/50) for i in range(0, 4): amplitude[i] = A[i] phase_start[i] = DIFF[i] offset[i] = O[i] cycle = int(steps) t2 = running_time() + T*cycle while (running_time() < t2): refresh() for i in range(0, 4): amplitude[i] = A[i] phase_start[i] = DIFF[i] offset[i] = O[i] # move the servo t2 = running_time() + T*(steps - cycle) while (running_time() < t2): refresh() def walking(steps, T=1000, dir=1): AMP = (30, 30, 20, 20) OFFSET = (0, 0, 4, -4) DIFF = (0, 0, -math.pi/2 * dir, -math.pi/2 * dir) action(AMP, OFFSET, DIFF, T, steps) return def turn(steps, T=2000, dir=1): OFFSET = [0, 0, 4, -4] DIFF = (0, 0, -math.pi/2 * dir, -math.pi/2 * dir) if dir == 1: AMP = (30, 10, 20, 20) else: AMP = (10, 30, 20, 20) action(AMP, OFFSET, DIFF, T, steps) return def moonwalker(steps, T=900, h=20, dir=1): 'Moonwalker. Otto moves like Michael Jackson' AMP = [0, 0, h, h] OFFSET = [0, 0, h/2 + 2, -h/2 -2] DIFF = [0, 0, math.pi/180*dir*-90, math.pi/180*dir*-150] action(AMP, OFFSET, DIFF, T, steps) return def crusaito(steps, T, h, dir): AMP = [25, 25, h, h] OFFSET = [0, 0, h/2+ 4, -h/2 - 4] DIFF = [90, 90, 0, math.pi/180*dir*-60] action(AMP, OFFSET, DIFF, T, steps) def flapping(steps, T, h, dir): AMP = [12, 12, h, h] OFFSET = [0, 0, h-10, -h+10] DIFF = [0, math.pi/180*180, math.pi/180*dir*-90, math.pi/180*dir*90] action(AMP, OFFSET, DIFF, T, steps) return servo_position = [0, 0, 0, 0] servo_increment = [0, 0, 0, 0] def moveServos(time, servo_target): if time > 20: for i in range(0, 4): servo_increment[i] = (servo_target[i] - servo_position[i])/(time/20) final_time = running_time() + time; iteration = 1 while running_time() < final_time: partial_time = running_time()+20 for i in range(0, 4): setServo(i, servo_position[i]+iteration*servo_increment[i]) updatePosition() while running_time() < partial_time: pass iteration = iteration+1 else: for i in range(0, 4): setServo(i, servo_target[i]) updatePosition() for i in range(0, 4): servo_position[i] = servo_target[i] return def jump(steps, T): up = [0, 0, 45, -45] moveServos(T, up) down = [0, 0, 0, 0] moveServos(T, down) return def home(): for i in range(0, 4): setServo(i, 0) servo_position[i] = 0 updatePosition() display.off() home() while True: walking(5, 1500, 1) walking(5, 1500, -1) music.play(music.BA_DING) moonwalker(5, 1000, 25, 1) moonwalker(5, 1000, 25, -1) music.play(music.BADDY) crusaito(8, 1000, 15, 1) crusaito(8, 1000, 15, -1) crusaito(4, 2000, 15, 1) crusaito(4, 2000, 15, -1) music.play(music.NYAN) flapping(5, 1500, 15, 1) flapping(5, 1500, 15, -1) music.play(music.BIRTHDAY)
Auto Bot
- 4自由度舵机作为手臂,加上2路电机作为轮子,自由移动的同时双手可灵活操作
Auto Bot硬件连接
Auto Bot python编程
- 程序说明:需要下载有两个程序,一个是micro:bit作为遥控程序,另一个为cc bot执行动作程序。micro:bit实时发送xyz加速度数据操控cc bot轮子行走,按下「A」按键+xyz加速度操控两臂动作。
- micro:bit遥控程序
from microbit import * import radio radio.on() radio.config(length=8, queue=3, channel=79, power=7, address=0x44773311, group=0x1B, data_rate=radio.RATE_250KBIT) msg = bytearray(8) x = 0 y = 0 z = 0 a = 0 while True: x = accelerometer.get_x() y = accelerometer.get_y() z = accelerometer.get_z() if button_a.is_pressed(): a = a | 0x01 else: a = a & 0xFE if button_b.is_pressed(): a = a | 0x02 else: a = a & 0xFD x = x + 10000; msg[0] = int(x / 256) msg[1] = x % 256 y = y + 10000; msg[2] = int(y / 256) msg[3] = y % 256 z = z + 10000; msg[4] = int(z / 256) msg[5] = z % 256 msg[6] = int(a / 256) msg[7] = a % 256 radio.send_bytes(msg) sleep(100)
- cc bot执行程序
# -*- coding: utf-8 -*- from microbit import * import radio import math motor_pwm = bytearray([8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00]) servo_pos = bytearray([0, 0x05, 0xDC, 0x05, 0xDC, 0x05, 0xDC, 0x05, 0xDC]) ''' motor_pwm.ch1 = M1.A motor_pwm.ch2 = M1.B motor_pwm.ch3 = M2.A motor_pwm.ch4 = M2.B ''' def motion(leftSpeed, rightSpeed): if leftSpeed > 2000: leftSpeed = 2000 if leftSpeed < -2000: leftSpeed = -2000 if leftSpeed == 0: motor_pwm[1] = 0 motor_pwm[2] = 0 motor_pwm[3] = 0 motor_pwm[4] = 0 if leftSpeed > 0: motor_pwm[1] = int(leftSpeed / 256) motor_pwm[2] = int(leftSpeed % 256) motor_pwm[3] = 0 motor_pwm[4] = 0 if leftSpeed < 0: leftSpeed = -leftSpeed motor_pwm[1] = 0 motor_pwm[2] = 0 motor_pwm[3] = int(leftSpeed / 256) motor_pwm[4] = int(leftSpeed % 256) if rightSpeed > 2000: rightSpeed = 2000 if rightSpeed < -2000: rightSpeed = -2000 if rightSpeed == 0: motor_pwm[5] = 0 motor_pwm[6] = 0 motor_pwm[7] = 0 motor_pwm[8] = 0 if rightSpeed > 0: motor_pwm[5] = 0 motor_pwm[6] = 0 motor_pwm[7] = int(rightSpeed / 256) motor_pwm[8] = int(rightSpeed % 256) if rightSpeed < 0: rightSpeed = -rightSpeed motor_pwm[5] = int(rightSpeed / 256) motor_pwm[6] = int(rightSpeed % 256) motor_pwm[7] = 0 motor_pwm[8] = 0 i2c.write(0x2A, motor_pwm) def setServo(servo, angle): "set the servo angel" a = (1.5 + angle/90) * 1000 servo_pos[servo*2 + 1] = int(a / 256) servo_pos[servo*2 + 2] = int(a % 256) def updatePosition(): servo_pos[0] = 0 i2c.write(0x2A, servo_pos) def getDistance(): i2c.write(0x0b, bytearray([1])) temp = i2c.read(0x0B, 2) dis = (temp[0]+temp[1]*256)/10 return dis # application display.off() motion(0, 0) radio.on() radio.config(length=8, queue=20, channel=79, power=7, address=0x44773311, group=0x1B, data_rate=radio.RATE_250KBIT) x = 0 y = 0 z = 0 a = 0 left = 0 right = 0 while True: # print("running") msg = bytes(8) msg = radio.receive_bytes() if msg is not None: x = msg[0]*256 + msg[1] x = x - 10000 y = msg[2]*256 + msg[3] y = y - 10000 z = msg[4]*256 + msg[5] z = z - 10000 a = msg[6]*256 + msg[7] if a == 0: left = int((y + x)/1000 * 2000) right = int((y - x)/1000 * 2000) # print('left = ', left) # print('right = ', right) motion(right, left) if (a & 0x03) != 0: motion(0, 0) y = min(max(-1000, y), 1000) x = min(max(-1000, x), 1000) sv = math.asin(y/1000)*180/math.pi sh = math.asin(x/1000)*180/math.pi sv = min(max(-45, sv), 45) sh = min(max(-45, sh), 45) if (a & 0x01) != 0: setServo(0, sv) setServo(1, -sh) if (a & 0x02) != 0: setServo(2, -sv) setServo(3, sh) updatePosition()