Otto Biped with Arduino MKR1010 and MKR RGB Shield

We will use the Arduino MKR1010 together with MKR RGB Shield with Otto showing his expression with his eyes.

Nov 21, 2020

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Components and supplies

Battery Holder, 18650 x 2

Toggle Switch, (On)-Off-(On)

Regulator Step Down LM2596

SG90 Micro-servo motor

Arduino MKR WiFi 1010

MKR RGB Shield

Tools and machines

Multitool, Screwdriver

Plier, Long Nose

3D Printer (generic)

Project description

Code

Code Otto

arduino

1#include <ArduinoGraphics.h> // Arduino_MKRRGB depends on ArduinoGraphics
2#include  <Arduino_MKRRGB.h>
3#include <Servo.h>
4
5Servo bracoE, pernaE, peE, bracoD,  pernaD, peD;
6
7byte y = 0;
8
9void setup() {
10  // initialize the display
11  MATRIX.begin();
12
13  // set the brightness, supported values are 0 - 255
14  MATRIX.brightness(10);
15
16  bracoE.attach(A1); //Brao esquerdo 170 alto, 80  baixo
17  pernaE.attach(A2); //Perna esquerda 170 frente, 80 meio, 0 tras
18  peE.attach(A3);  //P esquerdo 170 cima, 80 plano, 10 ponta de p
19  bracoD.attach(A4); //Brao direito  170 baixo, 80 alto
20  pernaD.attach(A5); //Perna direita 170 tras, 80 meio, 10  frente
21  peD.attach(A6); ////P direito 0 cima, 80 plano, 160 ponta de p
22
23  posInicial();
24  delay(2000);
25
26}
27void loop() {
28  
29  for (byte  x = 0; x < 5; x++) {
30    // set one pixel GREEN, using the stroke and point methods
31    MATRIX.beginDraw();
32    MATRIX.clear();
33    MATRIX.stroke(0, 0, 255);
34    //=======OLHO ABERTO======================
35    //Olho esquerdo
36    MATRIX.point(2,  1);
37    MATRIX.point(1, 2);
38    MATRIX.point(2, 2);
39    MATRIX.point(3,  2);
40    MATRIX.point(0, 3);
41    MATRIX.point(1, 3);
42    MATRIX.point(2,  3);
43    MATRIX.point(3, 3);
44    MATRIX.point(1, 4);
45    MATRIX.point(2,  4);
46    MATRIX.point(3, 4);
47    MATRIX.point(2, 5);
48    //Olho direito
49    MATRIX.point(8, 1);
50    MATRIX.point(7, 2);
51    MATRIX.point(8, 2);
52    MATRIX.point(9, 2);
53    MATRIX.point(7, 3);
54    MATRIX.point(8, 3);
55    MATRIX.point(9, 3);
56    MATRIX.point(10, 3);
57    MATRIX.point(7, 4);
58    MATRIX.point(8, 4);
59    MATRIX.point(9, 4);
60    MATRIX.point(8, 5);
61    MATRIX.endDraw();
62
63    delay(2000);
64
65    MATRIX.clear();
66
67    //=======OLHO NORMAL======================
68    //Olho esquerdo
69    MATRIX.point(1,  2);
70    MATRIX.point(2, 2);
71    MATRIX.point(3, 2);
72    MATRIX.point(0,  3);
73    MATRIX.point(1, 3);
74    MATRIX.point(2, 3);
75    MATRIX.point(3,  3);
76    MATRIX.point(1, 4);
77    MATRIX.point(2, 4);
78    MATRIX.point(3,  4);
79    //Olho direito
80    MATRIX.point(7, 2);
81    MATRIX.point(8, 2);
82    MATRIX.point(9, 2);
83    MATRIX.point(7, 3);
84    MATRIX.point(8, 3);
85    MATRIX.point(9, 3);
86    MATRIX.point(10, 3);
87    MATRIX.point(7, 4);
88    MATRIX.point(8, 4);
89    MATRIX.point(9, 4);
90    MATRIX.endDraw();
91
92    delay(30);
93
94    MATRIX.clear();
95
96    //=======OLHO FECHANDO======================
97    //Olho esquerdo
98    MATRIX.point(0, 3);
99    MATRIX.point(1, 3);
100    MATRIX.point(2,  3);
101    MATRIX.point(3, 3);
102    MATRIX.point(1, 4);
103    MATRIX.point(2,  4);
104    MATRIX.point(3, 4);
105    //Olho direito
106    MATRIX.point(7, 3);
107    MATRIX.point(8, 3);
108    MATRIX.point(9, 3);
109    MATRIX.point(10, 3);
110    MATRIX.point(7, 4);
111    MATRIX.point(8, 4);
112    MATRIX.point(9, 4);
113    MATRIX.endDraw();
114
115    delay(30);
116
117    MATRIX.clear();
118
119    //=======OLHO  FECHADO======================
120    //Olho esquerdo
121    MATRIX.point(1, 3);
122    MATRIX.point(2, 3);
123    MATRIX.point(3, 3);
124    MATRIX.point(2, 4);
125    //Olho direito
126    MATRIX.point(7, 3);
127    MATRIX.point(8, 3);
128    MATRIX.point(9,  3);
129    MATRIX.point(8, 4);
130    MATRIX.endDraw();
131
132    delay(30);
133
134    MATRIX.clear();
135
136    //=======OLHO ESPREMIDO======================
137    //Olho esquerdo
138    MATRIX.point(1, 3);
139    MATRIX.point(2, 3);
140    MATRIX.point(3,  3);
141    //Olho direito
142    MATRIX.point(7, 3);
143    MATRIX.point(8, 3);
144    MATRIX.point(9, 3);
145    MATRIX.endDraw();
146
147    delay(130);
148    //  clear the display
149    MATRIX.beginDraw();
150    MATRIX.noFill();
151    MATRIX.noStroke();
152    MATRIX.clear();
153    MATRIX.endDraw();
154  }
155  y=1;
156  while (y > 0)  {
157    passoEsquerdo(60, 60, 50, 1000);
158    passoDireito(110, 120, 100, 1000);
159    if (y == 4) {
160      y = 0;
161      posInicial();
162      delay(2000);
163      //=======OLHO RAIVA======================
164      MATRIX.beginDraw();
165      MATRIX.clear();
166      MATRIX.stroke(255, 0, 0);
167      //Olho esquerdo
168      MATRIX.point(0, 2);
169      MATRIX.point(1, 2);
170      MATRIX.point(2,  2);
171      MATRIX.point(3, 2);
172      MATRIX.point(0, 3);
173      MATRIX.point(1,  3);
174      MATRIX.point(2, 3);
175      MATRIX.point(0, 4);
176      MATRIX.point(1,  4);
177      //Olho direito
178      MATRIX.point(7, 2);
179      MATRIX.point(8,  2);
180      MATRIX.point(9, 2);
181      MATRIX.point(10, 2);
182      MATRIX.point(8,  3);
183      MATRIX.point(9, 3);
184      MATRIX.point(10, 3);
185      MATRIX.point(9,  4);
186      MATRIX.point(10, 4);
187      MATRIX.endDraw();
188      malhando();
189    }
190  }
191}
192
193void posInicial() {
194  bracoE.write(80);
195  pernaE.write(72);
196  peE.write(80);
197  bracoD.write(170);
198  pernaD.write(80);
199  peD.write(80);
200}
201
202int  passoEsquerdo(int levantarCorpo, int enpurrarPeOposto, int girarCorpo, int tempo)  {
203  peD.write(levantarCorpo);
204  peE.write(enpurrarPeOposto);
205  delay(tempo);
206  pernaD.write(girarCorpo);
207  delay(tempo);
208  posInicial();
209  delay(tempo);
210}
211
212int  passoDireito(int levantarCorpo, int enpurrarPeOposto, int girarCorpo, int tempo)  {
213  peD.write(levantarCorpo);
214  peE.write(enpurrarPeOposto);
215  delay(tempo);
216  pernaD.write(girarCorpo);
217  delay(tempo);
218  posInicial();
219  delay(tempo);
220  y++;
221}
222
223void malhando() {
224  bracoE.write(170);
225  bracoD.write(80);
226  delay(1000);
227  bracoE.write(80);
228  bracoD.write(170);
229  delay(1000);
230  bracoE.write(170);
231  bracoD.write(80);
232  peE.write(20);
233  peD.write(150);
234  delay(2000);
235  bracoE.write(170);
236  bracoD.write(80);
237  peE.write(80);
238  peD.write(80);
239  delay(2000);
240  bracoE.write(80);
241  bracoD.write(170);
242  peE.write(20);
243  peD.write(150);
244  delay(2000);
245  bracoE.write(170);
246  bracoD.write(80);
247  peE.write(80);
248  peD.write(80);
249  delay(2000);
250  bracoE.write(80);
251  bracoD.write(170);
252  peE.write(20);
253  peD.write(150);
254  delay(2000);
255  bracoE.write(170);
256  bracoD.write(80);
257  peE.write(80);
258  peD.write(80);
259  delay(2000);
260  bracoE.write(80);
261  bracoD.write(170);
262  peE.write(20);
263  peD.write(150);
264  delay(2000);
265  bracoE.write(170);
266  bracoD.write(80);
267  peE.write(80);
268  peD.write(80);
269  delay(2000);
270  bracoE.write(80);
271  bracoD.write(170);
272  peE.write(20);
273  peD.write(150);
274  delay(2000);
275  bracoE.write(170);
276  bracoD.write(80);
277  peE.write(80);
278  peD.write(80);
279  delay(2000);
280  posInicial();
281  MATRIX.clear();
282  delay(2000);
283  
284}
285

#include <ArduinoGraphics.h> // Arduino_MKRRGB depends on ArduinoGraphics
#include  <Arduino_MKRRGB.h>
#include <Servo.h>

Servo bracoE, pernaE, peE, bracoD,  pernaD, peD;

byte y = 0;

void setup() {
  // initialize the display
  MATRIX.begin();

  // set the brightness, supported values are 0 - 255
  MATRIX.brightness(10);

  bracoE.attach(A1); //Brao esquerdo 170 alto, 80  baixo
  pernaE.attach(A2); //Perna esquerda 170 frente, 80 meio, 0 tras
  peE.attach(A3);  //P esquerdo 170 cima, 80 plano, 10 ponta de p
  bracoD.attach(A4); //Brao direito  170 baixo, 80 alto
  pernaD.attach(A5); //Perna direita 170 tras, 80 meio, 10  frente
  peD.attach(A6); ////P direito 0 cima, 80 plano, 160 ponta de p

  posInicial();
  delay(2000);

}
void loop() {
  
  for (byte  x = 0; x < 5; x++) {
    // set one pixel GREEN, using the stroke and point methods
    MATRIX.beginDraw();
    MATRIX.clear();
    MATRIX.stroke(0, 0, 255);
    //=======OLHO ABERTO======================
    //Olho esquerdo
    MATRIX.point(2,  1);
    MATRIX.point(1, 2);
    MATRIX.point(2, 2);
    MATRIX.point(3,  2);
    MATRIX.point(0, 3);
    MATRIX.point(1, 3);
    MATRIX.point(2,  3);
    MATRIX.point(3, 3);
    MATRIX.point(1, 4);
    MATRIX.point(2,  4);
    MATRIX.point(3, 4);
    MATRIX.point(2, 5);
    //Olho direito
    MATRIX.point(8, 1);
    MATRIX.point(7, 2);
    MATRIX.point(8, 2);
    MATRIX.point(9, 2);
    MATRIX.point(7, 3);
    MATRIX.point(8, 3);
    MATRIX.point(9, 3);
    MATRIX.point(10, 3);
    MATRIX.point(7, 4);
    MATRIX.point(8, 4);
    MATRIX.point(9, 4);
    MATRIX.point(8, 5);
    MATRIX.endDraw();

    delay(2000);

    MATRIX.clear();

    //=======OLHO NORMAL======================
    //Olho esquerdo
    MATRIX.point(1,  2);
    MATRIX.point(2, 2);
    MATRIX.point(3, 2);
    MATRIX.point(0,  3);
    MATRIX.point(1, 3);
    MATRIX.point(2, 3);
    MATRIX.point(3,  3);
    MATRIX.point(1, 4);
    MATRIX.point(2, 4);
    MATRIX.point(3,  4);
    //Olho direito
    MATRIX.point(7, 2);
    MATRIX.point(8, 2);
    MATRIX.point(9, 2);
    MATRIX.point(7, 3);
    MATRIX.point(8, 3);
    MATRIX.point(9, 3);
    MATRIX.point(10, 3);
    MATRIX.point(7, 4);
    MATRIX.point(8, 4);
    MATRIX.point(9, 4);
    MATRIX.endDraw();

    delay(30);

    MATRIX.clear();

    //=======OLHO FECHANDO======================
    //Olho esquerdo
    MATRIX.point(0, 3);
    MATRIX.point(1, 3);
    MATRIX.point(2,  3);
    MATRIX.point(3, 3);
    MATRIX.point(1, 4);
    MATRIX.point(2,  4);
    MATRIX.point(3, 4);
    //Olho direito
    MATRIX.point(7, 3);
    MATRIX.point(8, 3);
    MATRIX.point(9, 3);
    MATRIX.point(10, 3);
    MATRIX.point(7, 4);
    MATRIX.point(8, 4);
    MATRIX.point(9, 4);
    MATRIX.endDraw();

    delay(30);

    MATRIX.clear();

    //=======OLHO  FECHADO======================
    //Olho esquerdo
    MATRIX.point(1, 3);
    MATRIX.point(2, 3);
    MATRIX.point(3, 3);
    MATRIX.point(2, 4);
    //Olho direito
    MATRIX.point(7, 3);
    MATRIX.point(8, 3);
    MATRIX.point(9,  3);
    MATRIX.point(8, 4);
    MATRIX.endDraw();

    delay(30);

    MATRIX.clear();

    //=======OLHO ESPREMIDO======================
    //Olho esquerdo
    MATRIX.point(1, 3);
    MATRIX.point(2, 3);
    MATRIX.point(3,  3);
    //Olho direito
    MATRIX.point(7, 3);
    MATRIX.point(8, 3);
    MATRIX.point(9, 3);
    MATRIX.endDraw();

    delay(130);
    //  clear the display
    MATRIX.beginDraw();
    MATRIX.noFill();
    MATRIX.noStroke();
    MATRIX.clear();
    MATRIX.endDraw();
  }
  y=1;
  while (y > 0)  {
    passoEsquerdo(60, 60, 50, 1000);
    passoDireito(110, 120, 100, 1000);
    if (y == 4) {
      y = 0;
      posInicial();
      delay(2000);
      //=======OLHO RAIVA======================
      MATRIX.beginDraw();
      MATRIX.clear();
      MATRIX.stroke(255, 0, 0);
      //Olho esquerdo
      MATRIX.point(0, 2);
      MATRIX.point(1, 2);
      MATRIX.point(2,  2);
      MATRIX.point(3, 2);
      MATRIX.point(0, 3);
      MATRIX.point(1,  3);
      MATRIX.point(2, 3);
      MATRIX.point(0, 4);
      MATRIX.point(1,  4);
      //Olho direito
      MATRIX.point(7, 2);
      MATRIX.point(8,  2);
      MATRIX.point(9, 2);
      MATRIX.point(10, 2);
      MATRIX.point(8,  3);
      MATRIX.point(9, 3);
      MATRIX.point(10, 3);
      MATRIX.point(9,  4);
      MATRIX.point(10, 4);
      MATRIX.endDraw();
      malhando();
    }
  }
}

void posInicial() {
  bracoE.write(80);
  pernaE.write(72);
  peE.write(80);
  bracoD.write(170);
  pernaD.write(80);
  peD.write(80);
}

int  passoEsquerdo(int levantarCorpo, int enpurrarPeOposto, int girarCorpo, int tempo)  {
  peD.write(levantarCorpo);
  peE.write(enpurrarPeOposto);
  delay(tempo);
  pernaD.write(girarCorpo);
  delay(tempo);
  posInicial();
  delay(tempo);
}

int  passoDireito(int levantarCorpo, int enpurrarPeOposto, int girarCorpo, int tempo)  {
  peD.write(levantarCorpo);
  peE.write(enpurrarPeOposto);
  delay(tempo);
  pernaD.write(girarCorpo);
  delay(tempo);
  posInicial();
  delay(tempo);
  y++;
}

void malhando() {
  bracoE.write(170);
  bracoD.write(80);
  delay(1000);
  bracoE.write(80);
  bracoD.write(170);
  delay(1000);
  bracoE.write(170);
  bracoD.write(80);
  peE.write(20);
  peD.write(150);
  delay(2000);
  bracoE.write(170);
  bracoD.write(80);
  peE.write(80);
  peD.write(80);
  delay(2000);
  bracoE.write(80);
  bracoD.write(170);
  peE.write(20);
  peD.write(150);
  delay(2000);
  bracoE.write(170);
  bracoD.write(80);
  peE.write(80);
  peD.write(80);
  delay(2000);
  bracoE.write(80);
  bracoD.write(170);
  peE.write(20);
  peD.write(150);
  delay(2000);
  bracoE.write(170);
  bracoD.write(80);
  peE.write(80);
  peD.write(80);
  delay(2000);
  bracoE.write(80);
  bracoD.write(170);
  peE.write(20);
  peD.write(150);
  delay(2000);
  bracoE.write(170);
  bracoD.write(80);
  peE.write(80);
  peD.write(80);
  delay(2000);
  bracoE.write(80);
  bracoD.write(170);
  peE.write(20);
  peD.write(150);
  delay(2000);
  bracoE.write(170);
  bracoD.write(80);
  peE.write(80);
  peD.write(80);
  delay(2000);
  posInicial();
  MATRIX.clear();
  delay(2000);
  
}

Downloadable files

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