用瓶盖制作毛毛虫的过程（制作一个串联仿生毛毛虫）
用瓶盖制作毛毛虫的过程（制作一个串联仿生毛毛虫）扩展板Basra（兼容Arduino Uno）3.1 电子硬件在这个示例中，我们采用了以下硬件，请大家参考：主控板
1. 运动功能说明该样机是一款纯关节串联的蠕虫形机器人，可以像虫子一样的上下蠕动前进，样子呈波浪状。
该样机由5个关节模组串联构成，结构比较单纯。
本样机只需要让5个舵机按照一定的时序，做出波浪形摆动的动作，即可实现蠕动爬行。
舵机和关节模组的控制方法请参考如何驱动模拟舵机【https://www.robotway.com/h-col-129.html】，以及舵机关节模组【https://www.robotway.com/h-col-121.html】。
3.1 电子硬件
在这个示例中，我们采用了以下硬件，请大家参考：
|
主控板 |
Basra（兼容Arduino Uno） |
|
扩展板 |
Bigfish2.1 |
|
电池 |
7.4V锂电池 |
3.2 编写程序
编程环境：Arduino 1.8.19
（1）实现尾部关节运动（Tail_Swing.ino），代码如下：
/*------------------------------------------------------------------------------------
版权说明：Copyright 2022 Robottime(Beijing) Technology Co. Ltd. All Rights Reserved.
Distributed under MIT license.See file LICENSE for detail or copy at
https://opensource.org/licenses/MIT
by 机器谱 2022-9-14 https://www.robotway.com/
------------------------------
实验功能： 实现机器毛毛虫尾部关节运动。
-----------------------------------------------------
实验接线：尾部关节模组的舵机接D8。
------------------------------------------------------------------------------------*/
#include <Servo.h>
#include <MsTimer2.h>
int servoPort[5]={8 3 11 7 4}; //毛毛虫的舵机连接顺序及接口号，从尾巴开始。
Servo myServo[5];
long timeCount;
#define DELTATIME 10
void setup() {
Serial.begin(9600);
for(int i = 0; i < 5; i )
myServo[i].attach(servoPort[i]);
MsTimer2::set(DELTATIME Timer);
MsTimer2::start();
delay(100);
}
void loop() {
ServoMove(0 60 120 2000); //0号舵机在2000ms内从60°转到120°
}
void Timer() {
timeCount ;
}
void ServoMove(int which int start int finish long t)
{
static int a;
static long count = 0;
static int i = 0;
static boolean begin = true;
if(begin){
if( ( start - finish ) > 0 )
a = -1;
else
a = 1;
count = timeCount;
begin = false;
}
else{
if( ( timeCount - count ) < (t/DELTATIME) ){
if( ( timeCount - count ) > ( i * (t/DELTATIME) / (abs(start-finish)) ) ){
myServo[which].write( start i * a );
delay(1);
i ;
Serial.println(start i * a);
}
}
else{
i = 0;
begin = true;
count = 0;
}
}
}
此段程序之所以看起来那么复杂，是因为它搭建了一个程序框架，在这个框架中，大家可以通过改变参数，来决定哪个舵机运动，以及怎么运动，不需要重写整个程序。
（2）编写并烧录以下程序，它可以让毛毛虫全身的关节一起运动（Body_Swing.ino），代码如下：
/*------------------------------------------------------------------------------------
版权说明：Copyright 2022 Robottime(Beijing) Technology Co. Ltd. All Rights Reserved.
Distributed under MIT license.See file LICENSE for detail or copy at
https://opensource.org/licenses/MIT
by 机器谱 2022-9-14 https://www.robotway.com/
------------------------------
实验功能： 实现机器毛毛虫全身关节运动。
-----------------------------------------------------
实验接线：从尾巴开始，对应舵机接口依次D8、D3、D11、D7、D4。
------------------------------------------------------------------------------------*/
#include <Servo.h>
#include <MsTimer2.h>
int servoPort[5]={8 3 11 7 4};
Servo myServo[5];
long servoCount[5];
boolean begin[5] = {true true true true true};
boolean complete[5] = {false false false false false};
int direct[5] = {1 1 1 1 1};
int delta[5] = {0 0 0 0 0};
long timeCount;
#define DELTATIME 10
int up = 30; //关节起始角度
int down = 120; //关节终止角度
int turnTime = 1000; //关节运动时间
String inputString = ""; // a string to hold incoming data
boolean stringComplete = false; // whether the string is complete
void setup() {
Serial.begin(9600);
for(int i = 0; i < 5; i )
myServo[i].attach(servoPort[i]);
MsTimer2::set(DELTATIME Timer);
MsTimer2::start();
delay(100);
}
void loop() {
static int phase[5] = {0 0 0 0 0};
if (stringComplete) {
Serial.println(inputString);
up = inputString.substring(0 inputString.indexOf(' ')).toInt();
inputString = inputString.substring(inputString.indexOf(' ') 1 inputString.length());
down = inputString.substring(0 inputString.indexOf(' ')).toInt();
turnTime = inputString.substring(inputString.indexOf(' ') 1 inputString.length()).toInt();
Serial.println(up);
Serial.println(down);
Serial.println(turnTime);
inputString = "";
stringComplete = false;
}
if(phase[0] == 0)
if(ServoMove(0 up down turnTime))
phase[0] = 1;
if(phase[0] == 1)
if(ServoMove(0 down up turnTime))
phase[0] = 0;
if(phase[1] == 0)
if(ServoMove(1 down up turnTime))
phase[1] = 1;
if(phase[1] == 1)
if(ServoMove(1 up down turnTime))
phase[1] = 0;
if(phase[2] == 0)
if(ServoMove(2 up down turnTime))
phase[2] = 1;
if(phase[2] == 1)
if(ServoMove(2 down up turnTime))
phase[2] = 0;
if(phase[3] == 0)
if(ServoMove(3 down up turnTime))
phase[3] = 1;
if(phase[3] == 1)
if(ServoMove(3 up down turnTime))
phase[3] = 0;
if(phase[4] == 0)
if(ServoMove(4 up down turnTime))
phase[4] = 1;
if(phase[4] == 1)
if(ServoMove(4 down up turnTime))
phase[4] = 0;
}
void Timer() {
timeCount ;
}
void serialEvent() {
while (Serial.available()) {
char inChar = (char)Serial.read();
inputString = inChar;
if (inChar == '\n')
stringComplete = true;
}
}
boolean ServoMove(int which int start int finish long t)
{
if(begin[which]){
if( ( start - finish ) > 0 )
direct[which] = -1;
else
direct[which] = 1;
servoCount[which] = timeCount;
begin[which] = false;
complete[which] = false;
}
else{
if( ( timeCount - servoCount[which] ) < (t/DELTATIME) ){
if( ( timeCount - servoCount[which] ) > ( delta[which] * (t/DELTATIME) / (abs(start-finish)) ) ){
myServo[which].write( start delta[which] * direct[which] );
delay(1);
delta[which] ;
//Serial.println(start i * a);
}
}
else{
delta[which] = 0;
begin[which] = true;
servoCount[which] = 0;
complete[which] = true;
}
}
return (complete[which]);
}
烧录后，打开Serial Monitor，输入up down turnTime的值 可直接改变全部关节的运动参数，例如，输入50 100 2000。
关节的运动状态会实时发生变化。其中50代表摆动的起始角度50°，100代表摆动的终止角度100°，2000代表运动持续时间是2000毫秒。
（2） 上一例程中，机器毛毛虫相邻关节的运动相位差为180°，根据样机的运动姿态分析，各个关节的运动相位差为90°左右的时候运动效应该比较好。
将相邻关节的运动相位差调整为90°（Worm_Go.ino），代码如下：
/*------------------------------------------------------------------------------------
版权说明：Copyright 2022 Robottime(Beijing) Technology Co. Ltd. All Rights Reserved.
Distributed under MIT license.See file LICENSE for detail or copy at
https://opensource.org/licenses/MIT
by 机器谱 2022-9-14 https://www.robotway.com/
------------------------------
实验功能： 实现机器毛毛虫向前蠕动爬行。
-----------------------------------------------------
实验接线：从尾巴开始，对应舵机接口依次D8、D3、D11、D7、D4。
------------------------------------------------------------------------------------*/
#include <Servo.h>
#include <MsTimer2.h>
int servoPort[5]={8 3 11 7 4};
Servo myServo[5];
long servoCount[5];
boolean begin[5] = {true true true true true};
boolean complete[5] = {false false false false false};
int direct[5] = {1 1 1 1 1};
int delta[5] = {0 0 0 0 0};
long timeCount;
#define DELTATIME 10
int up = 30;
int down = 120;
int turnTime = 1000;
String inputString = ""; // a string to hold incoming data
boolean stringComplete = false; // whether the string is complete
void setup() {
Serial.begin(9600);
for(int i = 0; i < 5; i )
myServo[i].attach(servoPort[i]);
MsTimer2::set(DELTATIME Timer);
MsTimer2::start();
delay(100);
}
void loop() {
static int phase[5] = {0 0 0 0 0};
if (stringComplete) {
Serial.println(inputString);
up = inputString.substring(0 inputString.indexOf(' ')).toInt();
inputString = inputString.substring(inputString.indexOf(' ') 1 inputString.length());
down = inputString.substring(0 inputString.indexOf(' ')).toInt();
turnTime = inputString.substring(inputString.indexOf(' ') 1 inputString.length()).toInt();
Serial.println(up);
Serial.println(down);
Serial.println(turnTime);
inputString = "";
stringComplete = false;
}
if(phase[0] == 0)
if(ServoMove(0 up down turnTime))
phase[0] = 1;
if(phase[0] == 1)
if(ServoMove(0 down up turnTime))
phase[0] = 0;
if(servoCount[0]>0 && (timeCount - servoCount[0])>(turnTime/(4*DELTATIME))){
if(phase[1] == 0)
if(ServoMove(1 up down turnTime))
phase[1] = 1;
if(phase[1] == 1)
if(ServoMove(1 down up turnTime))
phase[1] = 0;
}
if(servoCount[1]>0 && (timeCount - servoCount[1])>(turnTime/(4*DELTATIME))){
if(phase[2] == 0)
if(ServoMove(2 up down turnTime))
phase[2] = 1;
if(phase[2] == 1)
if(ServoMove(2 down up turnTime))
phase[2] = 0;
}
if(servoCount[2]>0 && (timeCount - servoCount[2])>(turnTime/(4*DELTATIME))){
if(phase[3] == 0)
if(ServoMove(3 up down turnTime))
phase[3] = 1;
if(phase[3] == 1)
if(ServoMove(3 down up turnTime))
phase[3] = 0;
}
if(servoCount[3]>0 && (timeCount - servoCount[3])>(turnTime/(4*DELTATIME))){
if(phase[4] == 0)
if(ServoMove(4 up down turnTime))
phase[4] = 1;
if(phase[4] == 1)
if(ServoMove(4 down up turnTime))
phase[4] = 0;
}
}
void Timer() {
timeCount ;
}
void serialEvent() {
while (Serial.available()) {
char inChar = (char)Serial.read();
inputString = inChar;
if (inChar == '\n')
stringComplete = true;
}
}
boolean ServoMove(int which int start int finish long t)
{
if(begin[which]){
if( ( start - finish ) > 0 )
direct[which] = -1;
else
direct[which] = 1;
servoCount[which] = timeCount;
begin[which] = false;
complete[which] = false;
}
else{
if( ( timeCount - servoCount[which] ) < (t/DELTATIME) ){
if( ( timeCount - servoCount[which] ) > ( delta[which] * (t/DELTATIME) / (abs(start-finish)) ) ){
myServo[which].write( start delta[which] * direct[which] );
delay(1);
delta[which] ;
//Serial.println(start i * a);
}
}
else{
delta[which] = 0;
begin[which] = true;
//servoCount[which] = 0;
complete[which] = true;
}
}
return (complete[which]);
}
烧录后，打开Serial Monitor，输入up down turnTime的值，并实时观察运动变化。你可以通过这种方法调整机器人的运动姿态，直至对爬行效果满意为止。
4. 扩展样机本样机没有设计左右摆动的结构，因此不能左右转向，有兴趣的朋友可以尝试为其加上左右摆动的结构，让它的运动方式更加丰富。
5. 资料下载资料内容：
①样机3D文件
②样机例程源代码
资料下载地址：https://www.robotway.com/h-col-149.html
