大兵萊恩一路直前: 108 大眼仔, 進化, (1) 專屬程式庫 (Arduino, SG90, Animatronic Eye)

大眼仔從左至右, 再由右至左連動

熱閙的 Maker Faire 過後, 冷卻了幾天, 是時候讓大眼仔進化了.

萊恩大兵把大眼仔的程式碼包成 class 與 library, 從 Arduino 寫程式操控這些小傢伙們會更直覺一點.

程式下載.

 
/*
  AniEyeball.h - Library for Openlab Taipei Animatronic Eveball.
  Created by Ryan Tseng, May 27, 2014.
  Released into the public domain.
*/

#ifndef AniEyeball_h
#define AniEyeball_h

#include <Arduino.h>
#include <Servo.h>

class AniEyeball
{
  public:
    AniEyeball();
    AniEyeball(int pinServoP, int pinServoB);
    void setPinP(int pinP);
    void setPinB(int pinB);
    void setPPos(int msec);
    void setBPos(int msec);
    void acting(int n);
    void mix();
    void center();
    void turnLeftSlowly();
    void turnRightSlowly();
    void turnLeftBlinking();    
    void turnRightBlinking();    
    void guarding();
    void sleepy();
  private:
    Servo _servoP;
    Servo _servoB;
    int _pinServoP;
    int _pinServoB;
};
#endif

Class: AniEyeball

- 它內含兩個 Servo, 分別是眼皮(P)與眼球(B).

- 它的 constructor 需要餵 servo pin# 當參數. 也可以直接宣告不帶任何參數, 稍後再另行設定 servo pin#.

- 它的 method 主要包括有:

setPPos(int msec): 設定眼皮的位置. 參數單位是 microseconds.
setBPos(int msec): 設定眼球的位置. 參數單位是 microseconds.
acting(int n): 指定眼皮眼球做某個預設動作組.
其它turnLeftSlowly(), turnRightBlinking(), guarding(), sleepy(): 這些都是預設動作組.

AniEyeball.cpp

 
/*
  AniEyeball.cpp - Library for Openlab Taipei Animatronic Eveball.
  Created by Ryan Tseng, May 27, 2014.
  Released into the public domain.
*/

#include <Arduino.h>
#include "AniEyeball.h"

int posP, posB;

// 眼皮: 
//   - 1000: 全開
//   - 1500: 半開
//   - 2000: 閉眼
// 眼球:
//   - 1000: 左
//   - 1500: 中
//   - 2000: 右

AniEyeball::AniEyeball()
{
}

AniEyeball::AniEyeball(int pinP, int pinB)
{
  _pinServoP = pinP;
  _pinServoB = pinB;
  _servoP.attach(_pinServoP);
  _servoB.attach(_pinServoB);  
}

void AniEyeball::setPinP(int pinP)
{
  _pinServoP = pinP;
  _servoP.attach(_pinServoP);
}

void AniEyeball::setPinB(int pinB)
{
  _pinServoB = pinB;
  _servoB.attach(_pinServoB);
}

void AniEyeball::setPPos(int msec)
{
  if (msec > 2000) posP = 2000;
  if (msec < 1000) posP = 1000;
  posP = msec;
  
  if (!_servoP.attached()) _servoP.attach(_pinServoP);  
  _servoP.writeMicroseconds(posP);
  delay(15);      

  //_servoP.detach();
}

void AniEyeball::setBPos(int msec)
{
  if (msec > 2000) posB = 2000;
  if (msec < 1000) posB = 1000;
  posB = msec;
  
  if (!_servoB.attached()) _servoB.attach(_pinServoB);  
  _servoB.writeMicroseconds(posB);
  delay(15);      

  //_servoB.detach();
}

void AniEyeball::acting(int n)
{
  switch (n)
  {
    case 1:
      turnLeftSlowly();
      break;
    case 2:
      turnRightSlowly();
      break;
    case 3:
      turnLeftBlinking();
      break;
    case 4:
      turnRightBlinking();
      break;
    case 5:
      guarding();
      break;
    case 6:
      sleepy();
      break;
    case 7:
      mix();
      break;
    default:
      break;
  }
}

void AniEyeball::center()
{
  if (!_servoP.attached()) _servoP.attach(_pinServoP);
  if (!_servoB.attached()) _servoB.attach(_pinServoB);

  posP = posB = 1500;

  _servoP.writeMicroseconds(posP);  
  _servoB.writeMicroseconds(posB);
  delay(15);      

  _servoP.detach();
  _servoB.detach();
}

void AniEyeball::turnLeftSlowly()
{
  if (!_servoP.attached()) _servoP.attach(_pinServoP);
  if (!_servoB.attached()) _servoB.attach(_pinServoB);

  posP = 1000;
  posB = 1800;
  
  _servoP.writeMicroseconds(posP);  
  _servoB.writeMicroseconds(posB);
  delay(1000);
  
  while (posB >= 1000)
  {
    _servoB.writeMicroseconds(posB);  
    posB -= 200;
    delay(100);
  } 

//  delay(3000);

  _servoP.detach();
  _servoB.detach();  
}

void AniEyeball::turnRightSlowly()
{
  if (!_servoP.attached()) _servoP.attach(_pinServoP);
  if (!_servoB.attached()) _servoB.attach(_pinServoB);

  posP = 1000;
  posB = 1200;
  
  _servoP.writeMicroseconds(posP);  
  _servoB.writeMicroseconds(posB);
  delay(1000);
  
  while (posB <= 2000)
  {
    _servoB.writeMicroseconds(posB);  
    posB  = 200;
    delay(100);
  } 

//  delay(3000);

  _servoP.detach();
  _servoB.detach();  
}

void AniEyeball::turnLeftBlinking()
{
  // 眼皮: 
  //   - 閉 -&gt 全開, 瞬開
  // 眼球
  //   - 中 -&gt 左, 慢慢
  // 眼皮:
  //   - 全開 -&gt 閉, 瞬閉

  if (!_servoP.attached()) _servoP.attach(_pinServoP);
  if (!_servoB.attached()) _servoB.attach(_pinServoB);

  _servoP.writeMicroseconds(2000);
  delay(1000);

  _servoP.writeMicroseconds(1000);
  delay(1000);

  posB = 1700;
  _servoB.writeMicroseconds(posB);
  delay(500);

  while (posB > 1000)
  {
    posB -= 50;
    _servoB.writeMicroseconds(posB);
    delay(30);
  }
  delay(3000);

  _servoP.writeMicroseconds(2000);
//  delay(1000);

  _servoP.detach();
  _servoB.detach();    
}

void AniEyeball::turnRightBlinking()
{
  // 眼皮: 
  //   - 閉 -&gt 全開, 瞬開
  // 眼球
  //   - 中 -&gt 右, 慢慢
  // 眼皮:
  //   - 全開 -&gt 閉, 瞬閉

  if (!_servoP.attached()) _servoP.attach(_pinServoP);
  if (!_servoB.attached()) _servoB.attach(_pinServoB);

  _servoP.writeMicroseconds(2000);
  delay(1000);

  _servoP.writeMicroseconds(1000);
  delay(1000);

  posB = 1300;
  _servoB.writeMicroseconds(posB);
  delay(500);

  while (posB < 2000)
  {
    posB  = 50;
    _servoB.writeMicroseconds(posB);
    delay(30);
  }
  delay(3000);

  _servoP.writeMicroseconds(2000);
//  delay(1000);

  _servoP.detach();
  _servoB.detach();      
}

void AniEyeball::guarding()
{
  // 眼皮: 
  //   - 閉 -&gt 全開, 瞬開
  // 眼球
  //   - 中+ -&gt 左 -> 右, 瞬轉
  // 眼皮:
  //   - 全開 -&gt -半閉, 瞬閉
  //   - 重覆 2 遍

  if (!_servoP.attached()) _servoP.attach(_pinServoP);
  if (!_servoB.attached()) _servoB.attach(_pinServoB);

  _servoP.writeMicroseconds(2000);
  _servoB.writeMicroseconds(1800);
  delay(1000);

  _servoP.writeMicroseconds(1000);
  _servoB.writeMicroseconds(1000);
  delay(500);

  _servoB.writeMicroseconds(2000);

  for (int i=0; i<2; i++)
  {
    _servoP.writeMicroseconds(1800);
    delay(500);  

    _servoP.writeMicroseconds(1000);
    delay(500);
  }  
//  delay(1000);  

  _servoP.detach();
  _servoB.detach();        
}

void AniEyeball::sleepy()
{
  // 眼皮: 
  //   - 閉 -&gt +半開, 慢慢張開
  //   - +半開 -&gt 閉, 瞬閉
  //   - 重覆 3 遍

  if (!_servoP.attached()) _servoP.attach(_pinServoP);
  if (!_servoB.attached()) _servoB.attach(_pinServoB);

  posP = 2000;

  for (int i=0; i<3; i++)
  {
    while (posP >= 1200)
    { 
      _servoP.writeMicroseconds(posP);
      posP -= 50;
      delay(100);
    }
    delay(1000);
    posP = 2000;
    _servoP.writeMicroseconds(posP);  
    delay(1000);
  }
 // delay(1000);

  _servoP.detach();
  _servoB.detach();          
}

void AniEyeball::mix()
{
  if (!_servoP.attached()) _servoP.attach(_pinServoP);
  if (!_servoB.attached()) _servoB.attach(_pinServoB);

  posP = 2000;
  posB = 1500;

  _servoP.writeMicroseconds(posP);
  _servoB.writeMicroseconds(posB);  
  delay(15);

  // 眼皮: 
  //   - 閉 -&gt 半開, 慢慢張開
  while (posP >= 1300)
  {
    _servoP.writeMicroseconds(posP);
    posP -= 50;
    delay(100);
  }

  // 眼球: 
  //   - 中 -&gt 右, 慢慢轉
  //   - 右 -&gt 左, 快轉
  //   - 左 -&gt 中, 慢慢轉
  while (posB <= 2000)
  {
    _servoB.writeMicroseconds(posB);
    posB  = 50;
    delay(100);
  }  

  while (posB >= 1000)
  {
    _servoB.writeMicroseconds(posB);
    posB -= 150;
    delay(30);
  }  

  while (posB <= 1500)
  {
    _servoB.writeMicroseconds(posB);
    posB  = 50;
    delay(100);
  } 

  // 眼皮: 
  //   - 半開 -&gt 全開, 慢慢張開
  //   - 全開 -&gt 閉, 快快閉
  //   - 閉 -&gt 全開, 快快開
  posP = 1700;
  while (posP >= 1000)
  {
    _servoP.writeMicroseconds(posP);
    posP -= 50;
    delay(100);
  }  

  while (posP <= 2000)
  {
    _servoP.writeMicroseconds(posP);
    posP  = 150;
    delay(30);
  } 

  while (posP >= 1000)
  {
    _servoP.writeMicroseconds(posP);
    posP -= 150;
    delay(30);
  }   

 // delay(1000);

  _servoP.detach();
  _servoB.detach();            
}

在 Arduino 端, 直接宣告 AniEyeball 陣列, 程式碼變得乾淨多了.

 
#include <Servo.h>
#include <AniEyeball.h>

#define N_EYEBALL 4

AniEyeball ot108eyeball[N_EYEBALL];

// 眼皮_PIN # i
// 眼球_PIN # i+1
//const byte servoPin[N_EYEBALL*2] = {2,3,4,5,6,7,8,9,10,11,12,13};
const byte servoPin[N_EYEBALL*2] = {2,3,4,5,6,7,8,9};

void setup()
{
  Serial.begin(9600);

  for (int i=0; i<N_EYEBALL; i++)
  {
   ot108eyeball[i].setPinP(servoPin[i*2]);
   ot108eyeball[i].setPinB(servoPin[i*2+1]);
  }
}

void loop()
{
  for (int i=0; i<N_EYEBALL; i++)
    ot108eyeball[i].setPPos(1000); // 眼皮全開
  delay(500);

  for (int pos=1000; pos<=2000; pos+=250)
  {
    for (int i=0; i<N_EYEBALL; i++)
    {
      ot108eyeball[i].setBPos(pos); // 眼球 左-&gt右
      delay(150);
    }
  }
  delay(500);
    
  for (int pos=2000; pos>=1000; pos-=250)
  {
    for (int i=N_EYEBALL-1; i>=0; i--)
    {
      ot108eyeball[i].setBPos(pos); // 眼球 右-&gt左
      delay(150);
    }
  }
  delay(500);

  for (int pos=1000; pos<=2000; pos+=500)
  {
    for (int i=0; i<N_EYEBALL; i++)
    {
      ot108eyeball[i].setBPos(pos); // 眼球 左-&gt右
      delay(150);
    }
  }
  delay(500);
    
  for (int pos=2000; pos>=1000; pos-=500)
  {
    for (int i=N_EYEBALL-1; i>=0; i--)
    {
      ot108eyeball[i].setBPos(pos); // 眼球 右-&gt左
      delay(150);
    }
  }
  delay(500);

  for (int i=0; i<N_EYEBALL; i++)
    ot108eyeball[i].setPPos(2000); // 眼皮全閉
  delay(500);
}

實際執行... 看來效果還不錯.

嗯.. 發現一個問題. 大眼仔彼此是獨立的, 一次一個輪流動作. 如果動作的久一點, 其它的大眼仔會處在 idle 狀態, 少了群動效果.

要怎麼做到群動效果呢? 萊恩大兵的解法是, 將兩個(或更多)的大眼仔接在同一腳位上. 例如: