Schlagwort-Archive: arduino

Die Wohnung im 4 Stock

hier im 4 Stock wie auf dem Bild zu sehen sitzt einer der Handlanger von Hubert Kern und Konrad Kramer bzw auch ab und zu einer der Scherer wenn die Drogen verteilt werden. ich habe dann meistens einen Termin wo sie mich solange wie möglich aufhalten damit ich sie nicht mitbekomme wie heute  da bin ich aber einfach gegangen.
Beispiel GKK ich werde dann gar nicht in die Reihung eingetragen bzw es werden ständig andere vor mir angenommen.  

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ROBOT-ARM-5DOF

ROBOT-ARM-5DOF


http://github.com/bugsysunday/arm-robot-5dof

gui for robot-arm5dof only control window to see

 

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My ptz nano

#include <SoftwareSerial.h>
#define Pin13LED         8    //green
#include <printf.h>
#include <Servo.h>
SoftwareSerial portOne(1, 0); // RX, TX
Servo servo1;
Servo servo2;
int tx_led = 7;   //yellow
int sensorValue1 =0;
int sensorValue2 =0;
int sensorPin1=0;
int sensorPin2=1;
int maxPotValue = 1023;
int currentpos=1500;
int buttonPin =2;
byte byteReceived;
int byteNumber = 0;
int byteSend;
int minPulse1     =   600;   // minimum servo position
int maxPulse1     =   2400; // maximum servo position
int turnRate1  ;  // servo turn rate increment (larger value, faster rate)
int minPulse2     =   600;  // minimum servo position
int maxPulse2     =   2400; // maximum servo position
int turnRate2 ;  // servo turn rate increment (larger value, faster rate)
/** The Arduino will calculate these values for you **/
int centerServo1;
int newposX, oldposX;
int centerServo2;
int newposY, oldposY;
int pulseWidth1,currentposX;          // servo pulse width
int pulseWidth2,currentposY;          // servo pulse width
bool updatedebug= false;
const byte tiltDown = 0x10;
const byte tiltUp = 0x08;
const byte panLeft = 0x04;
const byte panRight = 0x02;

void setup(void)
  {
  pinMode(tx_led,OUTPUT);  
  Serial.begin(57600);
  printf_begin();
  //Xee= EEPROM.read(0);
  //mycam1.attach(mycam1_p);  // attaches the servo on pin 9 to the servo object X
  //mycam1.write(Xee);        //rafu runter X
  //Yee = EEPROM.read(1);      // lese x y von eeprom  
  servo1.attach(5);
  servo2.attach(6);
  centerServo1 = maxPulse1 - ((maxPulse1 - minPulse1) / 2);
  centerServo2 = maxPulse2 - ((maxPulse2 - minPulse2) / 2);
  pulseWidth1 =  centerServo1;
  pulseWidth2 =  centerServo2;
  turnRate1 = (maxPulse1- minPulse1)/720 ;
  turnRate2 = (maxPulse2- minPulse2)/720 ;  
  Serial.println("Arduino Serial Servo Control with Pelco D");
  Serial.println();
  }

void loop(void)
      {
      sensorValue1 = analogRead(sensorPin1);
      sensorValue2 = analogRead(sensorPin2);
      Serial.print("sensor1:");
      Serial.println(sensorValue1);
      Serial.print("sensor2:");
      Serial.println(sensorValue2);
      if(sensorValue1 >= 536 && sensorValue2 <= 488){
        rightup();}
      if(sensorValue1 >=536 && sensorValue2 >=536){
        rightdown();}
      if(sensorValue1 <=488 && sensorValue2 <=488){
        leftup();}
      if(sensorValue1 <=488 && sensorValue2 >=536){
        leftdown();}
      if(sensorValue1 >=536){
      panright();}
      if(sensorValue1 <= 488){
      panleft();}
      if(sensorValue2 >= 536){
      tiltup();}
      if(sensorValue2 <= 488){
        tiltdown();}
    }

      
void leftup(){
      oldposX=pulseWidth1;
      oldposY=pulseWidth2;
      newposX=pulseWidth1+turnRate1;
      newposY=pulseWidth2+turnRate2;
      if (newposX > maxPulse1){newposX = maxPulse1;}
      if (newposY < minPulse2){newposY = minPulse2;}
      while (pulseWidth1<newposX || pulseWidth2>newposY){
        if(pulseWidth1<newposX){pulseWidth1++;servo1.writeMicroseconds(pulseWidth1);}    
        if(pulseWidth2>newposY){pulseWidth2--;servo2.writeMicroseconds(pulseWidth2);}
    updatedebug = true;
    }
      delay(10);
    }
        
void rightup(){
    oldposX=pulseWidth1;
    newposX=pulseWidth1-turnRate1;
    oldposY=pulseWidth2;
    newposY=pulseWidth2-turnRate2;
    if (newposX < minPulse1){newposX = minPulse1;}
    if (newposY < minPulse2){newposY = minPulse2;}
    while(pulseWidth1>newposX ||pulseWidth2>newposY ){
      if(pulseWidth1>newposX){pulseWidth1--;servo1.writeMicroseconds(pulseWidth1);}
      if(pulseWidth2>newposY){pulseWidth2--;servo2.writeMicroseconds(pulseWidth2);}
    updatedebug = true;
    }
    delay(10);
  }
  
void leftdown(){
      oldposX=pulseWidth1;
      oldposY=pulseWidth2;
      newposX=pulseWidth1+turnRate1;
      newposY=pulseWidth2+turnRate2;
      if (newposX > maxPulse1){newposX = maxPulse1;}
      if (newposY < minPulse2){newposY = minPulse2;}
      while(pulseWidth1<newposX ||pulseWidth2<newposY){
        if(pulseWidth1<newposX){pulseWidth1++;servo1.writeMicroseconds(pulseWidth1);}
        if(pulseWidth2<newposY){pulseWidth2++;servo2.writeMicroseconds(pulseWidth2);}
      updatedebug =true;}
      delay(10);
    }
void rightdown(){
      oldposX=pulseWidth1;
      oldposY=pulseWidth2;
      newposX=pulseWidth1-turnRate1;
      newposY=pulseWidth2+turnRate2;
      if (newposX < minPulse1){newposX = minPulse1;}
      if (newposY < minPulse2){newposY = minPulse2;}
      while( pulseWidth1>newposX|| pulseWidth2<newposY){
        if(pulseWidth1>newposX){pulseWidth1--;servo1.writeMicroseconds(pulseWidth1);}
        if(pulseWidth2<newposY){pulseWidth2++;servo2.writeMicroseconds(pulseWidth2);}
        updatedebug = true;
      }
    delay(10);
  }


void panleft(){
    oldposX=pulseWidth1;
    newposX=pulseWidth1+turnRate1;
    if(newposX > maxPulse1){newposX = maxPulse1;}
      while(pulseWidth1<newposX){pulseWidth1++;servo1.writeMicroseconds(pulseWidth1);
      updatedebug = true;}
    delay(10);
  }
  
void panright(){
    oldposX=pulseWidth1;
    newposX=pulseWidth1-turnRate1;
    if (newposX < minPulse1) 
      {      
        newposX = minPulse1;
      }
    while(pulseWidth1>newposX)
      {
        pulseWidth1--;
        servo1.writeMicroseconds(pulseWidth1);
        updatedebug = true;
      }
    delay(10);
}
void tiltup(){
    oldposY=pulseWidth2;
    newposY=pulseWidth2-turnRate2;
    if (newposY < minPulse2) 
      {      
        newposY = minPulse2;
      }
    while(pulseWidth2>newposY)
      {
        pulseWidth2--;
        servo2.writeMicroseconds(pulseWidth2);
        updatedebug = true;
       }
    delay(10);
}
void tiltdown(){
    oldposY=pulseWidth2;
    newposY=pulseWidth2+turnRate2;
    if (newposY < minPulse2) 
      {      
        newposY = minPulse2;
      }
    while(pulseWidth2<newposY)
      {
        pulseWidth2++;
        servo2.writeMicroseconds(pulseWidth2);
        updatedebug = true;
      }
    delay(10);
}

void halt() {
  //sync  cam#  Command1  Command2  Data1  Data2 CheckSum
  byte  rec[7] = {0xFF, 0x01, 0x00, 0x00, 0x00, 0x00, 0x01};  //This is the most basic instruction. Camera 1, four zeros and a check sum of one
  for (int i = 0; i < 7; i++) {
    Serial.print(rec[i], DEC);
  }
}


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Zumo 32U4 robot

my zumo in action

code available at  https://github.com/bugsysunday/zumo4sun

but it isnt really finish it still need some modification 

i just modifed the example from zumo library heading  to  an oppunent .

zumo 4 free space  alias zumo4sun

from https://www.pololu.com

 

 

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