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Otto 机器人的官网。下面的图是官网截图。在这里插入图片描述

这个可爱的小家伙是一个简单的四自由度机器人（两个踝关节和两个髋关节），外壳是3D打印的，官网提供了全部的3D打印文件和源代码。还有论坛。可以让你以非常低廉的成本实现对四自由度机器人的探索。我还曾经把小OTTO倒过用它的一条腿做过云台实验。哈哈哈上面粘了一个摄像头。有想像没有约束，在没有3D打印机的情况下，也曾用废旧的包装壳实现过。

后来我自己在做其他小制作的时候发现了PCA9685，就想着用这个岂不更好用？而且可以外接电源支持更多的舵机。用更少的控制口。也许可以用WemosD1Mini来替代之前的设计。（好吧这是另外一篇帖子的故事了。。。敬请期待）但是在网上找了很久并没有见到有人做过这个尝试（至少2020年5月的时候）。于是就有了这篇帖子。

关于OTTO开源跳舞机器人

src是PCA9685的库文件所在的文件夹，nanoPca9685ODance.ino是主程序。

PCA9685库文件

下面两个文件放在src文件下。

Oscillater.cpp文件：

//--------------------------------------------------------------//-- Oscillator.pde//-- Generate sinusoidal oscillations in the servos//--------------------------------------------------------------//-- (c) Juan Gonzalez-Gomez (Obijuan), Dec 2011//-- GPL license//--------------------------------------------------------------#include "Oscillator.h"Oscillator::Oscillator(void) {
   }Oscillator::Oscillator(Adafruit_PWMServoDriver* pwm, int ch, int servomin, int servomax, int trim) {
       this->_pwm = pwm;    this->_ch = ch;    this->_servomin = servomin;    this->_servomax = servomax;    this->_trim     = trim;    attach();}//-- This function returns true if another sample//-- should be taken (i.e. the TS time has passed since//-- the last sample was takenbool Oscillator::next_sample(){
       //-- Read current time  _currentMillis = millis();   //-- Check if the timeout has passed  if(_currentMillis - _previousMillis > _TS) {
       _previousMillis = _currentMillis;       return true;  }    return false;}//-- Attach an oscillator to a servo//-- Input: pin is the arduino pin were the servo//-- is connectedvoid Oscillator::attach(bool rev){
       //-- Attach the servo and move it to the home position//    servo_write(90);    //-- Initialization of oscilaltor parameters    _TS=30;    _T=2000;    _NN = _T/_TS;    _inc = 2*M_PI/_NN;    _previousMillis=0;    //-- Default parameters    _A=45;    _phase=0;    _phase0=0;    _O=0;    _stop=false;    //-- Reverse mode    _rev = rev;    }      //-- Detach an oscillator from his servovoid Oscillator::detach(){
   }/*************************************//* Set the oscillator period, in ms  *//*************************************/void Oscillator::setT(unsigned int T){
     //-- Assign the new period  _T=T;    //-- Recalculate the parameters  _NN = _T/_TS;  _inc = 2*M_PI/_NN;};/*******************************//* Manual set of the position  *//******************************/void Oscillator::setPosition(int position){
     servo_write(position);};/*******************************************************************//* This function should be periodically called                     *//* in order to maintain the oscillations. It calculates            *//* if another sample should be taken and position the servo if so  *//*******************************************************************/void Oscillator::refresh(){
       //-- Only When TS milliseconds have passed, the new sample is obtained  if (next_sample()) {
           //-- If the oscillator is not stopped, calculate the servo position      if (!_stop) {
           //-- Sample the sine function and set the servo pos         _pos = round(_A * sin(_phase + _phase0) + _O);	       if (_rev) _pos=-_pos;         servo_write(_pos+90);      }      //-- Increment the phase      //-- It is always increased, even when the oscillator is stop      //-- so that the coordination is always kept      _phase = _phase + _inc;  }}void Oscillator::servo_write(int ang) {
       ang = ang + _trim;    ang = map(ang, 0 , 180 , _servomin, _servomax);    _pwm->setPWM(_ch, 0, ang);}

Oscillator.h文件

//--------------------------------------------------------------//-- Oscillator.pde//-- Generate sinusoidal oscillations in the servos//--------------------------------------------------------------//-- (c) Juan Gonzalez-Gomez (Obijuan), Dec 2011//-- GPL license//--------------------------------------------------------------#include "Oscillator.h"Oscillator::Oscillator(void) {
   }Oscillator::Oscillator(Adafruit_PWMServoDriver* pwm, int ch, int servomin, int servomax, int trim) {
       this->_pwm = pwm;    this->_ch = ch;    this->_servomin = servomin;    this->_servomax = servomax;    this->_trim     = trim;    attach();}//-- This function returns true if another sample//-- should be taken (i.e. the TS time has passed since//-- the last sample was takenbool Oscillator::next_sample(){
       //-- Read current time  _currentMillis = millis();   //-- Check if the timeout has passed  if(_currentMillis - _previousMillis > _TS) {
       _previousMillis = _currentMillis;       return true;  }    return false;}//-- Attach an oscillator to a servo//-- Input: pin is the arduino pin were the servo//-- is connectedvoid Oscillator::attach(bool rev){
       //-- Attach the servo and move it to the home position//    servo_write(90);    //-- Initialization of oscilaltor parameters    _TS=30;    _T=2000;    _NN = _T/_TS;    _inc = 2*M_PI/_NN;    _previousMillis=0;    //-- Default parameters    _A=45;    _phase=0;    _phase0=0;    _O=0;    _stop=false;    //-- Reverse mode    _rev = rev;    }      //-- Detach an oscillator from his servovoid Oscillator::detach(){
   }/*************************************//* Set the oscillator period, in ms  *//*************************************/void Oscillator::setT(unsigned int T){
     //-- Assign the new period  _T=T;    //-- Recalculate the parameters  _NN = _T/_TS;  _inc = 2*M_PI/_NN;};/*******************************//* Manual set of the position  *//******************************/void Oscillator::setPosition(int position){
     servo_write(position);};/*******************************************************************//* This function should be periodically called                     *//* in order to maintain the oscillations. It calculates            *//* if another sample should be taken and position the servo if so  *//*******************************************************************/void Oscillator::refresh(){
       //-- Only When TS milliseconds have passed, the new sample is obtained  if (next_sample()) {
           //-- If the oscillator is not stopped, calculate the servo position      if (!_stop) {
           //-- Sample the sine function and set the servo pos         _pos = round(_A * sin(_phase + _phase0) + _O);	       if (_rev) _pos=-_pos;         servo_write(_pos+90);      }      //-- Increment the phase      //-- It is always increased, even when the oscillator is stop      //-- so that the coordination is always kept      _phase = _phase + _inc;  }}void Oscillator::servo_write(int ang) {
       ang = ang + _trim;    ang = map(ang, 0 , 180 , _servomin, _servomax);    _pwm->setPWM(_ch, 0, ang);}

主程序：nanoPca9685ODance.ino

#include "src/Oscillator/Oscillator.h"#include 
   
    #include 
    
     //---------------------------------// Servo Settings 舵机设定//---------------------------------#define N_SERVOS 5 //五自由度舵机 0左脚 1右脚 2左腿 3右腿 4头#define INTERVALTIME 10.0 //这是中断时间为10.0int t = 620;  // 1280; //脉冲宽度？double pausemillis = 0;int servoMin[N_SERVOS]  = {
   150, 150, 150, 150, 150}; //舵机的最小输出int servoMax[N_SERVOS]  = {
   500, 500, 500, 500, 500}; //舵机的最大输出int servoTrim[N_SERVOS] = {
   10, 0, 0, -10, -10};      //int servoInit[N_SERVOS] = {
   90, 90, 90, 90, 125};     //舵机初始化int servoTest[N_SERVOS] = {
   80, 80, 80, 80, 115};     //舵机测试#define NECKV_CH 4Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver(0x40);Oscillator *servo[N_SERVOS];bool maintenanceMode = true;void setup() {
      Serial.begin(9600);   Serial.println("5 channel Servo test!");      Wire.begin();   pwm.begin();//启动舵机   pwm.setPWMFreq(50);  //模拟伺服在60赫兹更新下运行 此点很重要   //-----------舵机初始化---------------------------    for (int i = 0; i < N_SERVOS; i ++) {
        servo[i] = new Oscillator(&pwm, i, servoMin[i], servoMax[i], servoTrim[i]);    }    Serial.println("Servo init");    for (int i = 0; i < N_SERVOS; i++) {
         servo[i]->setPosition(servoTest[i]);    }    delay(1000);    for (int i = 0; i < N_SERVOS; i++) {
        servo[i]->setPosition(servoInit[i]);    }        //---------整机初始化完成，舵机休眠-----------}void loop() {
     action1();}//------------编舞1------------------------void action1() {
     displayStatus("Walk");  walk(2, t * 3);  displayStatus("Back");  backyard(2, t * 3);  displayStatus("upDown");  upDown(3, t * 2);  displayStatus("MWalkR");  moonWalkRight(1, t*2);  moonWalkRight(2, t);  displayStatus("MWalkL");  moonWalkLeft(1, t*2);  moonWalkLeft(2, t);  displayStatus("swing");  swing(2, t);}//---------------输出显示---------------------void displayStatus(String param) {
    // Serial.print(param + "    ");}//-------oscillate函数----------------------void oscillate(int A[N_SERVOS], int O[N_SERVOS], int T, double phase_diff[N_SERVOS]) {
     for (int i = 0; i < N_SERVOS; i++) {
       servo[i]->setO(O[i]);    servo[i]->setA(A[i]);    servo[i]->setT(T);    servo[i]->setPh(phase_diff[i]);  }  double ref = millis();  for (double x = ref; x < T + ref; x = millis()) {
       for (int i = 0; i < N_SERVOS; i++) {
         servo[i]->refresh();    }  } for (int i=0; i< N_SERVOS; i++) {
      servo[i]->reset();    servo[i]->setPosition(90); }}//-------------------moveNServos函数------------------------unsigned long final_time;unsigned long interval_time;int oneTime;int iteration;float increment[N_SERVOS];int oldPosition[N_SERVOS] = {
   90, 90, 90, 90, 90};void moveNServos(int time, int  newPosition[]) {
     for (int i = 0; i < N_SERVOS; i++)  increment[i] = ((newPosition[i]) - oldPosition[i]) / (time / INTERVALTIME);  final_time =  millis() + time;  iteration = 1;  while (millis() < final_time) {
    //Javi del futuro cambia esto    interval_time = millis() + INTERVALTIME;    oneTime = 0;    while (millis() < interval_time) {
         if (oneTime < 1) {
           for (int i = 0; i < N_SERVOS; i++) {
             servo[i]->setPosition(oldPosition[i] + (iteration * increment[i]));        }        iteration++;        oneTime++;      }    }  }  for (int i = 0; i < N_SERVOS; i++) {
       oldPosition[i] = newPosition[i];  }}//-------------------------------------------------// OTTO机器人的基本动作//-------------------------------------------------void walk(int steps, int T) {
     int A[N_SERVOS] = {
    15, 15, 30, 30, 25};  int O[N_SERVOS] = {
    0, 0, 0, 0, 0};  double phase_diff[N_SERVOS] = {
    DEG2RAD(0), DEG2RAD(0), DEG2RAD(90), DEG2RAD(90), DEG2RAD(135) };  for (int i = 0; i < steps; i++) {
       oscillate(A, O, T, phase_diff);  }}void backyard(int steps, int T) {
     int A[N_SERVOS] = {
   15, 15, 30, 30, 25};  int O[N_SERVOS] = {
   0, 0, 0, 0, 0};  double phase_diff[N_SERVOS] = {
   DEG2RAD(0), DEG2RAD(0), DEG2RAD(-90), DEG2RAD(-90), DEG2RAD(135)};  for (int i = 0; i < steps; i++) oscillate(A, O, T, phase_diff);}void upDown(int steps, int tempo) {
     int move1[N_SERVOS] = {
   50, 130, 90, 90, 115};  int move2[N_SERVOS] = {
   90, 90, 90, 90, 90};  for (int x = 0; x < steps; x++) {
       pausemillis = millis();    moveNServos(tempo * 0.2, move1);    delay(tempo * 0.4);    moveNServos(tempo * 0.2, move2);    while (millis() < (pausemillis + tempo));  }}void moonWalkRight(int steps, int T) {
     Serial.println("moonWalkRight");  int A[N_SERVOS] = {
   15, 15, 0, 0, 0};  int O[N_SERVOS] = {
   5 , 5, 0, 0, 0};  double phase_diff[N_SERVOS] = {
   DEG2RAD(0), DEG2RAD(180 + 120), DEG2RAD(90), DEG2RAD(90), DEG2RAD(90)};  for (int i = 0; i < steps; i++) oscillate(A, O, T, phase_diff);}void moonWalkLeft(int steps, int T) {
     Serial.println("moonWalkLeft");  int A[N_SERVOS] = {
   15, 15, 0, 0, 0};  int O[N_SERVOS] = {
   5, 5, 0, 0, 0};  double phase_diff[6] = {
   DEG2RAD(0), DEG2RAD(180 - 120), DEG2RAD(90), DEG2RAD(90), DEG2RAD(90)};  for (int i = 0; i < steps; i++) oscillate(A, O, T, phase_diff);}void swing(int steps, int T) {
     int A[N_SERVOS] = {
   25, 25, 0, 0, 0};  int O[N_SERVOS] = {
   15, 15, 0, 0, 0};  double phase_diff[N_SERVOS] = {
   DEG2RAD(0), DEG2RAD(0), DEG2RAD(90), DEG2RAD(90), DEG2RAD(90)};  for (int i = 0; i < steps; i++) oscillate(A, O, T, phase_diff);}void headSwing(int steps, int tempo) {
     int move1[N_SERVOS] = {
   90, 90, 90, 90, 90};  int move2[N_SERVOS] = {
   90, 90, 90, 90, 45};  for (int x = 0; x < steps; x++) {
       pausemillis = millis();    moveNServos(tempo * 0.2, move1);    delay(tempo * 0.4);    moveNServos(tempo * 0.2, move2);    while (millis() < (pausemillis + tempo));  }}void headSwing2(int steps, int T) {
     int A[N_SERVOS] = {
   0, 0, 0, 0, 45};  int O[N_SERVOS] = {
   0, 0, 0, 0, 0};  double phase_diff[N_SERVOS] = {
   DEG2RAD(90), DEG2RAD(90), DEG2RAD(90), DEG2RAD(90), DEG2RAD(135) };  for (int i = 0; i < steps; i++) oscillate(A, O, T, phase_diff);}

参考文献

【1】

【2】视频演示：https://www.youtube.com/watch?v=y8X9X10Tn1k

https://steemit.com/utopian-io/@drencolha/adafruit-pca9685-pwm-servo-driver-setup-arduino-library-use-shown-with-an-example-project-tutorial

【3】连接图：https://steemit.com/utopian-io/@drencolha/adafruit-pca9685-pwm-servo-driver-setup-arduino-library-use-shown-with-an-example-project-tutorial

转载地址：https://blog.csdn.net/happyjoey217/article/details/112605466 如侵犯您的版权，请留言回复原文章的地址，我们会给您删除此文章，给您带来不便请您谅解！

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PCA9685版OTTO开源跳舞机器人

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