Bot:bit
来自Labplus盛思维基百科
概述
CC-Bot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；三是同时组转双手和双腿，8自由度舵机实现各种舞蹈动作，使用方法灵活多变，富有创意。
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.CC-Bot USB接口连接至电脑，打开电源开关。电脑应能识别mbed端口设备，如提示"未能安装成功驱动"，须下载安装mbedSerial！
CC-Bot 拼装形态
Walk Bot
Walk Bot
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)
Motion Bot
motion_bot