/* Tiptoes Hexapod Code Version 0.2.11 29/08/2006 Tiptoes is a semiautonomous 6 legged hexapod that walks with the use of 3 servos and has a 4th servo for head movements/edge sensor Cobbled together by RifRaf with significant assistance from rue_mohr, Puff-n-Stuff and pepsi */ /* ATmega32 - 40 PIN DIP LAYOUT - TipToes RX Unit _______________________ HEAD/SPARE [ 1]PB0 PA0[40] -> HEAD SERVO HEAD/SPARE [ 2]PB1 PA1[39] -> CENTER SERVO HEAD/SPARE [ 3]PB2 PA2[38] <- LM35 TEMP SENSE HEAD/SPARE [ 4]PB3 PA3[37] -> SPARE _ ADDON BRD FRONT LEFT FEELER -> [ 5]PB4 PA4[36] -> HEAD LDR LIGHT SENSE FRONT RIGHT FEELER -> [ 6]PB5 PA5[35] <- BODY LDR LIGHT SENSE REAR RIGHT FEELER -> [ 7]PB6 PA6[34] -> LEFT LEG SERVO REAR LEFT FEELER -> [ 8]PB7 PA7[33] -> RIGHT LEG SERVO RESET/TRAIN -> [ 9]RST AREF[32] <- +5V VCC 5V VCC -> [10]VCC GND[31] <- GROUND GROUND -> [11]GND AVCC[30] <- +5V VCC 16 MHZ 22pf XTAL -> [12]XTAL1 PC7[29] SPARE _ ADDON BRD 16 MHZ 22pf XTAL -> [13]XTAL2 PC6[28] SPARE _ ADDON BRD RWS-433 -> [14]PD0 PC5[27] SPARE _ ADDON BRD TWS-434 <- [15]PD1 PC4[26] SPARE _ ADDON BRD SPARE _ ADDON BRD [16]PD2 PC3[25] SPARE _ ADDON BRD SPARE _ ADDON BRD [17]PD3 PC2[24] SPARE _ ADDON BRD SPARE _ ADDON BRD [18]PD4 PC1[23] SPARE _ ADDON BRD SPARE _ ADDON BRD [19]PD5 PC0[22] SPARE _ ADDON BRD RIGHT EYE LED <- [20]PD6 PD7[21] -> LEFT EYE LED */ /* ATmega32 - 44 PIN TQFP LAYOUT - TipToes RX Unit +-------------------Gnd HEAD/SPARE (XCK, T0) PB0-----------------+ | +----------------Vcc HEAD/SPARE (T1) PB1--------------+ | | | +-------------PA0 (ADC0) HEAD SERVO HEAD/SPARE (AIN0, INT2) PB2-----------+ | | | | | +----------PA1 (ADC1) CENTER SERVO HEAD/SPARE (AIN1, OC0) PB3--------+ | | | | | | | +-------PA2 (ADC2) LM35 TEMP SENSE FRONT LEFT FEELER (/SS) PB4-----+ | | | | | | | | | +----PA3 (ADC3) SPARE _ ADDON BRD | | | | | | | | | | | 44 43 42 41 40 39 38 37 36 35 34 FRONT RIGHT FEELER(MOSI) PB5 1 /\ 33 PA4 (ADC4) SPARE _ ADDON BRD REAR RIGHT FEELER (MISO) PB6 2 /__\ ____________________ 32 PA5 (ADC5) BODY LDR LIGHT SENSE REAR LEFT FEELER (SCK) PB7 3 | _ _ ___ 31 PA6 (ADC6) LEFT LEG SERVO RESET/TRAIN BUTTON /RESET 4 / | | | | | | | 30 PA7 (ADC7) RIGHT LEG SERVO +5V Vcc 5 /_ | | | | | |--- | 29 AREF +5V GROUND Gnd 6 / | | | | | |___ |___ 28 Gnd GROUND 16 MHZ 22pf CRYSTAL XTAL2 7 -------------------------- 27 AVcc +5V 16 MHZ 22pf CRYSTAL XTAL1 8 26 PC7 (TOSC2) SPARE _ ADDON BRD RWS-433 RX (RXD) PD0 9 ATMEGA32 25 PC6 (TOSC1) SPARE _ ADDON BRD TWS-434 TX (TXD) PD1 10 16AU 0449B 24 PC5 (TDI) SPARE _ ADDON BRD SPARE _ ADDON BRD (INT0) PD2 11 23 PC4 (TDO) SPARE _ ADDON BRD 12 13 14 15 16 17 18 19 20 21 22 | | | | | | | | | | | SPARE _ ADDON BRD (INT1) PD3----+ | | | | | | | | | +-----PC3 (TMS) SPARE _ ADDON BRD SPARE _ ADDON BRD (OC1B) PD4-------+ | | | | | | | +--------PC2 (TCK) SPARE _ ADDON BRD SPARE _ ADDON BRD (OC1A) PD5----------+ | | | | | +-----------PC1 (SDA) SPARE _ ADDON BRD RIGHT EYE LED (ICP) PD6-------------+ | | | +--------------PC0 (SCL) SPARE _ ADDON BRD LEFT EYE LED (OC2) PD7----------------+ | +-----------------Gnd GROUND +5V Vcc-------------------+ */ //----- Include Files --------------------------------------------------------- #include #include #include #include #include #include #include "global.h" #include "uart.h" #include "rprintf.h" #include "a2d.h" #include "timer.h" #include "servo.h" #include "vt100.h" #include "cmdline.h" //----- Defines --------------------------------------------------------- #define WALKPAUSE 300 //set speed #define LONGPAUSE 800 //set speed enum servoChannel { head, left, right, center, arm, gripper, channel_max}; //preset head Servo Positions #define lookHardLeft() servoSetPosition(head, 50); #define lookLeft() servoSetPosition(head, 80); #define lookCenter() servoSetPosition(head, 128); #define lookRight() servoSetPosition(head, 170); #define lookHardRight() servoSetPosition(head, 200); // preset left servo positions #define leftLegsForward() servoSetPosition(left, 180); #define leftLegsSemiForward() servoSetPosition(left, 150); #define leftLegsCenter() servoSetPosition(left, 128); #define leftLegsSemiBackward() servoSetPosition(left, 100); #define leftLegsBackward() servoSetPosition(left, 80); //preset right servo positions #define rightLegsForward() servoSetPosition(right, 80); #define rightLegsSemiForward() servoSetPosition(right, 110); #define rightLegsCenter() servoSetPosition(right, 128); #define rightLegsSemiBackward() servoSetPosition(right, 160); #define rightLegsBackward() servoSetPosition(right, 180); //preset Center Servo Positions #define rockHardLeft() servoSetPosition(center, 175); #define rockLeft() servoSetPosition(center, 160); #define rockCenter() servoSetPosition(center, 135); #define rockRight() servoSetPosition(center, 100); #define rockHardRight() servoSetPosition(center, 80); //eye control #define leftEyeOn() sbi(PORTD, 7); #define rightEyeOn() sbi(PORTD, 6); #define leftEyeOff() cbi(PORTD, 7); #define rightEyeOff() cbi(PORTD, 6); //global variables //uint8_t leftServoPos, rightServoPos, centerServoPos, headServoPos; //this is crap. use servoGetPosition(left); etc. instead int leftLight, rightLight, centerLight, backLight, leftLightSet, rightLightSet, centerLightSet, backLightSet; unsigned char move; u08 Run; //procedure defines void centerAllLegs(void); void checkSwitch(void); void checkLDR(void); void setupLDR(void); void goCmdline(void); void servoSetup(void); void lightFollow(void); void lightAvoid(void); void lightDecide(void); void stepBackward(void); void stepForward(void); void stepLeft(void); void stepRight(void); int main(void) { // initialize our libraries // initialize the UART (serial port) uartInit(); // make all rprintf statements use uart for output rprintfInit(uartSendByte); // initialize the timer system timerInit(); // set the baud rate of the UART for our debug/reporting output uartSetBaudRate(9600); // initialize the timer system timerInit(); // initialize vt100 library vt100Init(); vt100ClearScreen(); rprintf("Version 0.2.11\r\n"); servoSetup(); goCmdline(); while(1); return 0; } //preset Multi Servo Positions void centerAllLegs(void) { leftLegsCenter(); rightLegsCenter(); rockCenter(); lookCenter(); } void forwardAllLegs(void) { leftLegsSemiForward(); rightLegsSemiForward(); rockCenter(); } void semiforwardLeftLegs(void) { leftLegsSemiForward(); lookRight(); } void semiforwardRightLegs(void) { rightLegsSemiForward(); lookLeft(); } void forwardLeftLegs(void) { leftLegsForward(); lookRight(); } void forwardRightLegs(void) { rightLegsForward(); lookLeft(); } void backwardAllLegs(void) { rockCenter(); leftLegsSemiBackward(); rightLegsSemiBackward(); lookCenter(); } void opposeLegsLeft(void) { rockCenter(); leftLegsSemiForward(); rightLegsSemiBackward(); lookCenter(); } void opposeLegsRight(void) { rockCenter(); rightLegsSemiForward(); leftLegsSemiBackward(); lookCenter(); } //Forward Walking Motion void stepForward(void) { rprintf("Forward\r\n"); leftEyeOn(); rightEyeOn(); rockLeft(); timerPause(WALKPAUSE); semiforwardLeftLegs(); timerPause(WALKPAUSE); rockRight(); timerPause(WALKPAUSE); semiforwardRightLegs(); timerPause(WALKPAUSE); rockLeft(); timerPause(WALKPAUSE); forwardLeftLegs(); timerPause(WALKPAUSE); rockRight(); timerPause(WALKPAUSE); forwardRightLegs(); timerPause(WALKPAUSE); rockCenter(); timerPause(WALKPAUSE); backwardAllLegs(); timerPause(WALKPAUSE); lookCenter(); timerPause(WALKPAUSE); leftEyeOff(); rightEyeOff(); } //Forward Left Walking Motion void stepForwardLeft(void) { rprintf("Forward Left\r\n"); leftEyeOn(); rockLeft(); timerPause(WALKPAUSE); forwardLeftLegs(); timerPause(WALKPAUSE); rockRight(); timerPause(WALKPAUSE); forwardRightLegs(); timerPause(WALKPAUSE); rockCenter(); timerPause(WALKPAUSE); leftLegsBackward(); timerPause(WALKPAUSE); rightLegsCenter(); timerPause(WALKPAUSE); leftEyeOff(); } //Forward Right Walking Motion void stepForwardRight(void) { rprintf("Forward Right\r\n"); rightEyeOn(); rockLeft(); timerPause(WALKPAUSE); forwardLeftLegs(); timerPause(WALKPAUSE); rockRight(); timerPause(WALKPAUSE); forwardRightLegs(); timerPause(WALKPAUSE); rockCenter(); timerPause(WALKPAUSE); rightLegsBackward(); timerPause(WALKPAUSE); leftLegsCenter(); timerPause(WALKPAUSE); rightEyeOff(); } //Backward Walking Motion void stepBackward(void) { rprintf("Backwards\r\n"); leftEyeOn(); rightEyeOn(); rockLeft(); timerPause(WALKPAUSE); leftLegsBackward(); timerPause(WALKPAUSE); rockRight(); timerPause(WALKPAUSE); rightLegsBackward(); timerPause(WALKPAUSE); rockCenter(); timerPause(WALKPAUSE); forwardAllLegs(); timerPause(WALKPAUSE); leftEyeOff(); rightEyeOff(); } //Backward Left Walking Motion void stepBackwardLeft(void) { rprintf("Backward Left\r\n"); leftEyeOn(); rockLeft(); timerPause(WALKPAUSE); leftLegsBackward(); timerPause(WALKPAUSE); rockRight(); timerPause(WALKPAUSE); rightLegsBackward(); timerPause(WALKPAUSE); rockCenter(); timerPause(WALKPAUSE); leftLegsForward(); timerPause(WALKPAUSE); rightLegsCenter(); timerPause(WALKPAUSE); leftEyeOff(); } //Backward Right Walking Motion void stepBackwardRight(void) { rprintf("Backward Right\r\n"); rightEyeOn(); rockLeft(); timerPause(WALKPAUSE); leftLegsBackward(); timerPause(WALKPAUSE); rockRight(); timerPause(WALKPAUSE); rightLegsBackward(); timerPause(WALKPAUSE); rockCenter(); timerPause(WALKPAUSE); rightLegsForward(); timerPause(WALKPAUSE); leftLegsCenter(); timerPause(WALKPAUSE); rightEyeOff(); } //Turn Left (anti-clockwise) void stepLeft(void) { rprintf("Turning Left\r\n"); leftEyeOn(); rockRight(); timerPause(WALKPAUSE); rightLegsForward(); timerPause(WALKPAUSE); rockLeft(); timerPause(WALKPAUSE); leftLegsBackward(); timerPause(WALKPAUSE); rockCenter(); timerPause(WALKPAUSE); opposeLegsLeft(); timerPause(WALKPAUSE); leftEyeOff(); } //Turn Right (clockwise) void stepRight(void) { rprintf("Turning Right\r\n"); rightEyeOn(); rockLeft(); timerPause(WALKPAUSE); leftLegsForward(); timerPause(WALKPAUSE); rockRight(); timerPause(WALKPAUSE); rightLegsBackward(); timerPause(WALKPAUSE); rockCenter(); timerPause(WALKPAUSE); opposeLegsRight(); timerPause(WALKPAUSE); rightEyeOff(); } //Feeler Switch Checks void checkSwitch(void) { if (0) { } else if ( !(PINB & (1<= backLightSet) { rprintf("Bright at back\r\n"); if (0) { } else if ( centerLight >= centerLightSet) { rprintf("Bright front too\r\n"); lightAvoid(); } else if ( centerLight <= centerLightSet) { rprintf("Dimmer Ahead\r\n"); lightFollow(); } else { checkSwitch(); } } else if ( backLight <= backLightSet) { rprintf("Very Dark\r\n"); if (0) { } else if ( centerLight <= centerLightSet) { rprintf("Dark at front too\r\n"); lightFollow(); } else if ( centerLight >= centerLightSet) { rprintf("Brighter Ahead\r\n"); lightAvoid(); } else { checkSwitch(); } } else { rprintf("Light Moderate\r\n"); } } //Light Following Code void lightFollow(void) { if (0) { } else if ( leftLight == rightLight) { rprintf("Side Light Equal\r\n"); if (0) { } else if ( centerLight == backLight) { rprintf("B/F Light Equal\r\n"); } else if ( centerLight > backLight) { rprintf("Brighter Ahead\r\n"); stepForward(); checkLDR(); } else { rprintf("Turning Around\r\n"); stepLeft(); stepLeft(); stepLeft(); checkLDR(); } } else if ( leftLight > rightLight) { rprintf("Light Left\r\n"); stepLeft(); checkLDR(); } else { rprintf("Light Right\r\n"); stepRight(); checkLDR(); } } //Light Avoiding Code void lightAvoid(void) { if (0) { } else if ( leftLight == rightLight) { rprintf("Side Light Equal\r\n"); if (0) { } else if ( centerLight == backLight) { rprintf("B/F Light Equal\r\n"); } else if ( centerLight < backLight) { rprintf("Darker Ahead\r\n"); stepForward(); checkLDR(); } else { rprintf("Turning Around\r\n"); stepRight(); stepRight(); stepRight(); checkLDR(); } } else if ( leftLight < rightLight) { rprintf("Darker on Left\r\n"); stepLeft(); checkLDR(); } else { rprintf("Darker on Right\r\n"); stepRight(); checkLDR(); } } void doRandom(void) { //Decide to maybe do something move = random() % 13; //use random with modulo 13 to leave a remainder between 0 and 12 rprintf("move value %d\r\n", move); //print current value of case switch ( move ) { case 0: //have a little rest // output movement to serial and have predefined pause rprintf("0 - lets do nothing\r\n"); timerPause(LONGPAUSE); timerPause(LONGPAUSE); break; case 1: //start 4 steps rprintf(" 1 - forward\r\n"); stepForward(); case 2: //start 3 steps rprintf(" 2 - forward\r\n"); stepForward(); case 3: //start 2 steps rprintf(" 3 - forward\r\n"); stepForward(); case 4: //start 1 step rprintf(" 4 - forward\r\n"); stepForward(); break; case 5: // move forward left rprintf(" 5 - forwardleft\r\n"); stepForwardLeft(); stepForwardLeft(); break; case 6: // move forward right rprintf(" 6 - forwardright\r\n"); stepForwardRight(); stepForwardRight(); break; case 7: // rotate left rprintf(" 7 - left\r\n"); stepLeft(); stepLeft(); stepLeft(); timerPause(LONGPAUSE); break; case 8: //rotate right rprintf(" 8 - right\r\n"); stepRight(); stepRight(); stepRight(); timerPause(LONGPAUSE); break; case 9: //move back left rprintf(" 9 - backleft\r\n"); stepBackwardLeft(); break; case 10: //move back right rprintf("10 - backright\r\n"); stepBackwardRight(); break; case 11: //move back 2 steps rprintf("11 - back"); stepBackward(); case 12: //move back one step rprintf("12 - back"); stepBackward(); break; } } void servoSetup(void) { servoInit(); servoSetChannelIO(head, _SFR_IO_ADDR(PORTA), PA0); //head servo servoSetChannelIO(left, _SFR_IO_ADDR(PORTA), PA6); //left legs servoSetChannelIO(right, _SFR_IO_ADDR(PORTA), PA7); //right legs servoSetChannelIO(center, _SFR_IO_ADDR(PORTA), PA1); //center legs //servoSetChannelIO(arm, _SFR_IO_ADDR(PORTA), PA4); //gripper l/r //servoSetChannelIO(gripper, _SFR_IO_ADDR(PORTA), PA5); //gripper outb(DDRA, 0xFF); //Set PORTA 11111111 outb(DDRB, 0x00); //Set PORTB 00000000 outb(DDRD, 0xE0); //Set PORTB 11100000 // enable and disable pullups PORTA = 0xFF; PORTB |= (1< 16Mhz/128 = 125kHz ADCSRA = _BV(ADEN) | _BV(ADPS2) | _BV(ADPS1) | _BV(ADPS0); centerAllLegs(); timerPause(LONGPAUSE); timerPause(LONGPAUSE); } void goCmdline(void) { u08 c; // print welcome message //vt100ClearScreen(); //vt100SetCursorPos(2,0); rprintfProgStrM("\r\nTipToes Command Line Interface\r\n"); cmdlineInit(); cmdlineSetOutputFunc(uartSendByte); // add commands to the command database cmdlineAddCommand("forward", stepForward); cmdlineAddCommand("forwardleft", stepForwardLeft); cmdlineAddCommand("forwardright", stepForwardRight); cmdlineAddCommand("backward", stepBackward); cmdlineAddCommand("backwardright", stepBackwardRight); cmdlineAddCommand("backwardleft", stepBackwardLeft); cmdlineAddCommand("right", stepRight); cmdlineAddCommand("left", stepLeft); cmdlineAddCommand("rest", centerAllLegs); //cmdlineAddCommand("armleft", movearmLeft); //cmdlineAddCommand("armright", movearmRight); //cmdlineAddCommand("gripperopen", movegripperOpen); //cmdlineAddCommand("gripperclose", movegripperClose); cmdlineInputFunc('\r'); //prompt Run = TRUE; // set state to run while(Run) { // main loop // pass characters received on the uart (serial port) // into the cmdline processor while(uartReceiveByte(&c)) cmdlineInputFunc(c); // run the cmdline execution functions cmdlineMainLoop(); checkSwitch(); doRandom(); } rprintfCRLF(); rprintf("Exited TipToes"); } //removed for basic version 07/08/2006 //global variables int leftLight, rightLight, centerLight, backLight, leftLightSet, rightLightSet, centerLightSet, backLightSet; u08 Run; #define ARMPAUSE 40 //set speed #define INCREMENT 1 //one step of the servo //preset Arm Servo positions #define armFullLeft() servoSetPosition(arm, 50); #define armLeft() servoSetPosition(arm, servoGetPosition(arm)-INCREMENT); #define armCenter() servoSetPosition(arm, 128); #define armRight() servoSetPosition(arm, servoGetPosition(arm)+INCREMENT); #define armFullRight() servoSetPosition(arm, 160); //preset Gripper Servo Positions #define gripperFullOpen() servoSetPosition(gripper, 50); #define gripperOpen() servoSetPosition(gripper, servoGetPosition(gripper)+INCREMENT); #define gripperCenter() servoSetPosition(gripper, 128); #define gripperClose() servoSetPosition(gripper, servoGetPosition(gripper)-INCREMENT); #define gripperFullClose() servoSetPosition(gripper, 200); void movearmLeft(void); void movearmRight(void); void movegripperOpen(void); void movegripperClose(void); //Arm Left void movearmLeft(void) { if ( !(PINB & (1<