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TheOfficialJacobTheOfficialJacob
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Walking code and Arduino
Added arduino scripts for the robot and fixed the walking code to include annulus segment calculations rather than the circles which had flaws.
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9 files changed

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9 files changed

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‎Arduino Scripts/AX12_Motor_LED_ID_Checker/AX12_Motor_LED_ID_Checker.ino

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#include <ax12.h>
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#include <BioloidController.h>
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void setup() {
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Serial.begin(38400);
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Serial.println("serial delimit test 1.0"); // so I can keep track of what is loaded
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}
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/*
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void loop() {
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for (int id = 0; id <= 16; id++) {
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ax12SetRegister( id, AX_LED, 1); //for on
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Serial.print("Motor ID IS: ");
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Serial.println(id);
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delay(5000);
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ax12SetRegister( id, AX_LED, 0); //for off
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delay(10);
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}
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}
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*/
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int LEDIDold, LEDID, loc1, loc2;
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String readString, substring;
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void loop() {
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//expect a string like "LED 1k"
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if (Serial.available()) {
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char c = Serial.read(); //gets one byte from serial buffer
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//if (c == '\n') { //looks for end of data packet marker
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if (c == 'k') {
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Serial.println(readString); //prints string to serial port out
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//do stuff
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loc1 = readString.indexOf("LED");
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loc2 = readString.indexOf("k");
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substring = readString.substring(loc1+4, loc2);
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LEDID=substring.toInt();
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for (int id = 0; id <= 255; id++) {
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ax12SetRegister( id, AX_LED, 0);
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}
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delay(2000);
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/*
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ax12SetRegister( LEDIDold, AX_LED, 0); //for off
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Serial.print("Turning Off LED ");
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Serial.println(LEDIDold);
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*/
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ax12SetRegister( LEDID, AX_LED, 1); //for on
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Serial.print("Turning ON LED ");
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Serial.println(LEDID);
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readString=""; //clears variable for new input
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substring="";
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}
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else {
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readString += c; //continue reading and adding until k is reached
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}
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}
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}

‎Arduino Scripts/AX12_Motor_LED_Scanner/AX12_Motor_LED_Scanner/AX12_Motor_LED_Scanner.ino

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// Test to move all motors to 500 position
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#include <ax12.h>
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#include <BioloidController.h>
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void setup() {
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Serial.begin(38400);
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Serial.println("serial delimit test 1.0"); // so I can keep track of what is loaded
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}
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void loop() {
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for (int id = 0; id <= 100; id++) {
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ax12SetRegister( id, AX_LED, 1); //for on
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Serial.print("Motor ID IS: ");
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Serial.println(id);
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delay(200);
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//ax12SetRegister( id, AX_LED, 0); //for off
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delay(10);
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}
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}
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‎Arduino Scripts/JacobMovement/JacobMovement.ino

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//I'm only writing this because I'm sick of wading through years-old poorly documented code that's meant to do it for me.
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//It might be a shit job but it'll at least work.
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#include <ax12.h>
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#include <BioloidController.h>
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//#include "poses.h"
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BioloidController bioloid = BioloidController(1000000);
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const int SERVOCOUNT = 12;
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int id;
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int pos;
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boolean IDCheck;
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boolean RunCheck;
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// TO TURN ON OR OFF THE LED. Use this to work out servo ID's...
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//ax12SetRegister( id, AX_LED, 1) //for on
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//ax12SetRegister( id, AX_LED, 0) //for off
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//zoomkat 3-5-12 simple delimited ',' string
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//from serial port input (via serial monitor)
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//and print result out serial port
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String readString, substring;
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int loc1;
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int loc2, Position1, Position2, Position3, Position4, Position5, Position6, Position7, Position8, Position9, Position10, Position11, Position12, Position13, Position14, Position15, Position16;
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void setup() {
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Serial.begin(38400);
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Serial.println("serial delimit test 1.0"); // so I can keep track of what is loaded
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}
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void loop() {
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//expect a string like "#1 P100 #2 P200 .... #12 P500k"
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if (Serial.available()) {
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char c = Serial.read(); //gets one byte from serial buffer
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//if (c == '\n') { //looks for end of data packet marker
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if (c == 'k') {
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Serial.println(readString); //prints string to serial port out
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//do stuff
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loc1 = readString.indexOf("#1 P");
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loc2 = readString.indexOf("#2");
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substring = readString.substring(loc1+4, loc2);
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Position1=substring.toInt();
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loc1 = readString.indexOf("#2 P");
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loc2 = readString.indexOf("#3");
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substring = readString.substring(loc1+4, loc2);
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Position2=substring.toInt();
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loc1 = readString.indexOf("#3 P");
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loc2 = readString.indexOf("#4");
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substring = readString.substring(loc1+4, loc2);
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Position3=substring.toInt();
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loc1 = readString.indexOf("#4 P");
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loc2 = readString.indexOf("#5");
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substring = readString.substring(loc1+4, loc2);
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Position4=substring.toInt();
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loc1 = readString.indexOf("#5 P");
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loc2 = readString.indexOf("#6");
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substring = readString.substring(loc1+4, loc2);
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Position5=substring.toInt();
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loc1 = readString.indexOf("#6 P");
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loc2 = readString.indexOf("#7");
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substring = readString.substring(loc1+4, loc2);
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Position6=substring.toInt();
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loc1 = readString.indexOf("#7 P");
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loc2 = readString.indexOf("#8");
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substring = readString.substring(loc1+4, loc2);
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Position7=substring.toInt();
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loc1 = readString.indexOf("#8 P");
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loc2 = readString.indexOf("#9");
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substring = readString.substring(loc1+4, loc2);
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Position8=substring.toInt();
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loc1 = readString.indexOf("#9 P");
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loc2 = readString.indexOf("#10");
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substring = readString.substring(loc1+4, loc2);
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Position9=substring.toInt();
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loc1 = readString.indexOf("#10 P");
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loc2 = readString.indexOf("#11");
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substring = readString.substring(loc1+5, loc2);
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Position10=substring.toInt();
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loc1 = readString.indexOf("#11 P");
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loc2 = readString.indexOf("#12");
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substring = readString.substring(loc1+5, loc2);
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Position11=substring.toInt();
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loc1 = readString.indexOf("#12 P");
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loc2 = readString.indexOf("k");
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substring = readString.substring(loc1+5, loc2);
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Position12=substring.toInt();
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//Position13=1023-Position2;
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//Position14=1023-Position5;
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//Position15=1023-Position15;
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//Position16=1023-Position16;
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readString=""; //clears variable for new input
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substring="";
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SetPosition(1, Position1);
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SetPosition(2, Position2);
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SetPosition(3, Position3);
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SetPosition(4, Position4);
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SetPosition(5, Position5);
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SetPosition(6, Position6);
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SetPosition(7, Position7);
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SetPosition(8, Position8);
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SetPosition(9, Position9);
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SetPosition(10, Position10);
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SetPosition(11, Position11);
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SetPosition(12, Position12);
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//SetPosition(13, Position13);
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//SetPosition(14, Position14);
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//SetPosition(15, Position15);
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//SetPosition(16, Position16);
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}
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else {
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readString += c; //continue reading and adding until k is reached
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}
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}
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}

‎Arduino Scripts/JacobMovement2/JacobMovement2.ino

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// Example 3 - Receive with start- and end-markers
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#include <ax12.h>
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#include <BioloidController.h>
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//#include "poses.h"
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BioloidController bioloid = BioloidController(1000000);
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String readString, substring;
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int loc1;
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int loc2, Position1, Position2, Position3, Position4, Position5, Position6, Position7, Position8, Position9, Position10, Position11, Position12, Position13, Position14, Position15, Position16;
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const byte numChars = 100;
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char receivedChars[numChars];
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boolean newData = false;
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void setup() {
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Serial.begin(38400);
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Serial.println("<Arduino is ready>");
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}
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void loop() {
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recvWithStartEndMarkers();
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showNewData();
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}
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void recvWithStartEndMarkers() {
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static boolean recvInProgress = false;
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static byte ndx = 0;
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char startMarker = '<';
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char endMarker = '>';
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char rc;
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while (Serial.available() > 0 && newData == false) {
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rc = Serial.read();
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if (recvInProgress == true) {
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if (rc != endMarker) {
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receivedChars[ndx] = rc;
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ndx++;
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if (ndx >= numChars) {
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ndx = numChars - 1;
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}
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}
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else {
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receivedChars[ndx] = '\0'; // terminate the string
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recvInProgress = false;
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ndx = 0;
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newData = true;
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}
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}
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else if (rc == startMarker) {
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recvInProgress = true;
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}
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}
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}
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void showNewData() {
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if (newData == true) {
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String str(receivedChars);
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loc1 = str.indexOf("#1 P");
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loc2 = str.indexOf("#2");
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substring = str.substring(loc1+4, loc2);
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Position1=substring.toInt();
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loc1 = str.indexOf("#2 P");
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loc2 = str.indexOf("#3");
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substring = str.substring(loc1+4, loc2);
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Position2=substring.toInt();
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loc1 = str.indexOf("#3 P");
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loc2 = str.indexOf("#4");
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substring = str.substring(loc1+4, loc2);
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Position3=substring.toInt();
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loc1 = str.indexOf("#4 P");
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loc2 = str.indexOf("#5");
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substring = str.substring(loc1+4, loc2);
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Position4=substring.toInt();
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loc1 = str.indexOf("#5 P");
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loc2 = str.indexOf("#6");
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substring = str.substring(loc1+4, loc2);
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Position5=substring.toInt();
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loc1 = str.indexOf("#6 P");
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loc2 = str.indexOf("#7");
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substring = str.substring(loc1+4, loc2);
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Position6=substring.toInt();
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loc1 = str.indexOf("#7 P");
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loc2 = str.indexOf("#8");
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substring = str.substring(loc1+4, loc2);
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Position7=substring.toInt();
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loc1 = str.indexOf("#8 P");
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loc2 = str.indexOf("#9");
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substring = str.substring(loc1+4, loc2);
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Position8=substring.toInt();
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loc1 = str.indexOf("#9 P");
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loc2 = str.indexOf("#10");
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substring = str.substring(loc1+4, loc2);
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Position9=substring.toInt();
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loc1 = str.indexOf("#10 P");
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loc2 = str.indexOf("#11");
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substring = str.substring(loc1+5, loc2);
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Position10=substring.toInt();
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loc1 = str.indexOf("#11 P");
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loc2 = str.indexOf("#12");
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substring = str.substring(loc1+5, loc2);
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Position11=substring.toInt();
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loc1 = str.indexOf("#12 P");
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loc2 = str.indexOf("k");
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substring = str.substring(loc1+5, loc2);
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Position12=substring.toInt();
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Position13=1023-Position2;
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Position14=1023-Position5;
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Position15=1023-Position15;
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Position16=1023-Position16;
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Serial.print("Motor 1 Position ");
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Serial.println(Position1);
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Serial.print("Motor 2 Position ");
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Serial.println(Position2);
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Serial.print("Motor 3 Position ");
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Serial.println(Position3);
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Serial.print("Motor 4 Position ");
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Serial.println(Position4);
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Serial.print("Motor 5 Position ");
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Serial.println(Position5);
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Serial.print("Motor 6 Position ");
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Serial.println(Position6);
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Serial.print("Motor 7 Position ");
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Serial.println(Position7);
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Serial.print("Motor 8 Position ");
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Serial.println(Position8);
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Serial.print("Motor 9 Position ");
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Serial.println(Position9);
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Serial.print("Motor 10 Position ");
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Serial.println(Position10);
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Serial.print("Motor 11 Position ");
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Serial.println(Position11);
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Serial.print("Motor 12 Position ");
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Serial.println(Position12);
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newData = false;
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substring="";
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SetPosition(1, Position1);
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SetPosition(2, Position2);
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SetPosition(3, Position3);
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SetPosition(4, Position4);
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SetPosition(5, Position5);
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SetPosition(6, Position6);
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SetPosition(7, Position7);
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SetPosition(8, Position8);
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SetPosition(9, Position9);
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SetPosition(10, Position10);
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SetPosition(11, Position11);
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SetPosition(12, Position12);
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/*
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SetPosition(13, Position13);
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SetPosition(14, Position14);
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SetPosition(15, Position15);
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SetPosition(16, Position16);
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*/
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Serial.write("command received thank you");
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}
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}
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