Face Tracking and Smile Detecting Halloween Robots

Ghosty and Skully can follow your face and they know when you are smiling to laugh with you!

Oct 25, 2019

•

13860 views

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12 respects

halloween

face tracking

robot

Devices & Components

Arduino Uno Rev3

LED (generic)

Breadboard (generic)

Pan/Tilt kit with servos

HM-10 Bluetooth module

Software & Tools

iRobbie-A

Project description

Code

Arduino Code

arduino

1#include <Servo.h>
2
3Servo servox;
4Servo servoy;
5Servo servoz;
6int
7  angle = 0;
8boolean forward1 = false ;
9String bluetoothRead, Str_x, Str_y,
10  Str_p, Str_s;
11int x ;
12int y ;
13int x1 ;
14int y1 ;
15int points;
16int
17  length;
18const int buzzer = 10; 
19int s;
20int led1 = 3;           // the pin
21  that the LED1 is attached to
22int led2 = 2;           // the pin that the LED2
23  is attached to
24int brightness = 0;    // how bright the LED is
25int fadeAmount
26  = 1;    // how many points to fade the LED by
27const long interval = 1000;  //
28  interval at which to blink (milliseconds
29const long interval_short = 100;
30int
31  ledState = LOW;             // ledState used to set the LED
32unsigned long previousMillis
33  = 0;        // will store last time LED was updated
34
35
36
37#define ENA 11
38#define
39  ENB 6
40#define IN1 5
41#define IN2 7
42#define IN3 8
43#define IN4 9
44#define
45  DELAY 20
46
47
48void setup() { 
49  Serial.begin(9600);
50  Serial.flush();
51
52  pinMode(IN1,OUTPUT);
53  pinMode(IN2,OUTPUT);
54  pinMode(IN3,OUTPUT);
55  pinMode(IN4,OUTPUT);
56
57  pinMode(ENA,OUTPUT);
58  pinMode(ENB,OUTPUT);
59  pinMode(buzzer, OUTPUT);
60
61  pinMode(led1, OUTPUT);
62  pinMode(led2, OUTPUT);
63
64 servox.attach(13);
65
66  servoy.attach(12);
67 servoz.attach(8);
68 servox.write(90);
69 servoy.write(90);
70
71  servoz.write(90);
72
73}
74
75void loop() {
76 int i=0;
77  char commandbuffer[200];
78
79
80  
81  if(Serial.available()){
82    
83     delay(15);
84
85     while( Serial.available()
86  && i< 199) {
87        commandbuffer[i++] = Serial.read();
88  
89      
90
91     }
92     commandbuffer[i++]='\\0';
93     bluetoothRead = (char*)commandbuffer;
94
95     length = bluetoothRead.length();
96   Serial.println(bluetoothRead);
97  
98
99     
100     if(bluetoothRead.substring(0, 1).equals("x")){
101       
102       int
103  i=1;
104       while(bluetoothRead.substring(i, i+1) != ("y")){
105       i++;
106
107       }
108       
109       Str_x = bluetoothRead.substring(1, i);
110       x
111  = Str_x.toInt();
112       
113 
114     
115       Str_y = bluetoothRead.substring(i+1,
116  length - 2);
117       y = Str_y.toInt();
118
119       
120        Str_p = bluetoothRead.substring(length
121  - 2, length - 1);
122        points = Str_p.toInt();
123
124
125               Str_s
126  = bluetoothRead.substring(length - 1, length);
127        s = Str_s.toInt(); 
128
129
130       i = 1;
131 
132  Serial.println(x);
133  Serial.println(y);
134  Serial.println(points);
135
136  Serial.println(s);
137  Serial.println(length );        
138      
139
140
141}
142}
143
144    servomove(); 
145     if (x1 != 0 && y1 != 0) {
146    ledblink();
147       if
148  (s == 1) {
149    ledlaugh();
150    servomouth();
151    Serial.println("Smile!");
152
153     }
154     }
155     else{
156      ledState = LOW;
157      Serial.println("NotSmile");
158
159      digitalWrite(led1, ledState);
160      digitalWrite(led2, ledState);
161     }
162
163    
164}
165
166
167void servomove(){
168
169    x1 = x/3;
170    y1 = y/4;
171
172  if (points == 4) {
173                                
174    servox.write(90-x1);
175  
176       servoy.write(90-y1); 
177              
178    delay(10);                   
179
180  } 
181 if (points == 3)  
182  {                                
183    servox.write(90+x1);
184  
185     servoy.write(90-y1); 
186     delay(10); 
187  }
188
189if (points == 7)
190  
191  {                                
192    servox.write(90+x1); 
193     servoy.write(y1+90);
194  
195     delay(10); 
196  }
197
198  if (points == 8)  
199  {                                
200
201    servox.write(90-x1); 
202     servoy.write(y1+90); 
203     delay(10); 
204
205  }
206  
207  if (x1 == 0 && y1 == 0)  
208  {                                
209
210    servox.write(90); 
211        servoy.write(90); 
212     delay(10); 
213  }
214
215  
216}
217void ledblink(){
218  unsigned long currentMillis = millis();
219  if
220  (currentMillis - previousMillis >= interval) {
221    // save the last time you
222  blinked the LED
223    previousMillis = currentMillis;
224
225    // if the LED
226  is off turn it on and vice-versa:
227    if (ledState == LOW) {
228      ledState
229  = HIGH;
230    } else {
231      ledState = LOW;
232    }
233     // set the LED
234  with the ledState of the variable:
235    digitalWrite(led1, ledState);
236    digitalWrite(led2,
237  ledState);
238  }
239}
240
241void ledlaugh(){
242  unsigned long currentMillis
243  = millis();
244  if (currentMillis - previousMillis >= interval_short) {
245    //
246  save the last time you blinked the LED
247    previousMillis = currentMillis;
248
249
250    // if the LED is off turn it on and vice-versa:
251    if (ledState == LOW)
252  {
253      ledState = HIGH;
254    } else {
255      ledState = LOW;
256    }
257
258     // set the LED with the ledState of the variable:
259    digitalWrite(led1,
260  ledState);
261    digitalWrite(led2, ledState);
262  }
263}
264
265void servomouth(){
266
267    unsigned long currentMillis = millis();
268
269    if (millis() - previousMillis
270  >= DELAY)
271      {previousMillis += DELAY;
272      if (forward1)
273      {
274
275       servoz.write(-- angle);
276        if(angle == 100)
277        forward1 =
278  false;
279      }
280      else
281      {
282       servoz.write(++ angle);
283
284        if (angle == 140)
285        forward1 = true;
286      }
287      }
288}
289

#include <Servo.h>

Servo servox;
Servo servoy;
Servo servoz;
int
  angle = 0;
boolean forward1 = false ;
String bluetoothRead, Str_x, Str_y,
  Str_p, Str_s;
int x ;
int y ;
int x1 ;
int y1 ;
int points;
int
  length;
const int buzzer = 10; 
int s;
int led1 = 3;           // the pin
  that the LED1 is attached to
int led2 = 2;           // the pin that the LED2
  is attached to
int brightness = 0;    // how bright the LED is
int fadeAmount
  = 1;    // how many points to fade the LED by
const long interval = 1000;  //
  interval at which to blink (milliseconds
const long interval_short = 100;
int
  ledState = LOW;             // ledState used to set the LED
unsigned long previousMillis
  = 0;        // will store last time LED was updated



#define ENA 11
#define
  ENB 6
#define IN1 5
#define IN2 7
#define IN3 8
#define IN4 9
#define
  DELAY 20


void setup() { 
  Serial.begin(9600);
  Serial.flush();

  pinMode(IN1,OUTPUT);
  pinMode(IN2,OUTPUT);
  pinMode(IN3,OUTPUT);
  pinMode(IN4,OUTPUT);

  pinMode(ENA,OUTPUT);
  pinMode(ENB,OUTPUT);
  pinMode(buzzer, OUTPUT);

  pinMode(led1, OUTPUT);
  pinMode(led2, OUTPUT);

 servox.attach(13);

  servoy.attach(12);
 servoz.attach(8);
 servox.write(90);
 servoy.write(90);

  servoz.write(90);

}

void loop() {
 int i=0;
  char commandbuffer[200];


  
  if(Serial.available()){
    
     delay(15);

     while( Serial.available()
  && i< 199) {
        commandbuffer[i++] = Serial.read();
  
      

     }
     commandbuffer[i++]='\\0';
     bluetoothRead = (char*)commandbuffer;

     length = bluetoothRead.length();
   Serial.println(bluetoothRead);
  

     
     if(bluetoothRead.substring(0, 1).equals("x")){
       
       int
  i=1;
       while(bluetoothRead.substring(i, i+1) != ("y")){
       i++;

       }
       
       Str_x = bluetoothRead.substring(1, i);
       x
  = Str_x.toInt();
       
 
     
       Str_y = bluetoothRead.substring(i+1,
  length - 2);
       y = Str_y.toInt();

       
        Str_p = bluetoothRead.substring(length
  - 2, length - 1);
        points = Str_p.toInt();


               Str_s
  = bluetoothRead.substring(length - 1, length);
        s = Str_s.toInt(); 


       i = 1;
 
  Serial.println(x);
  Serial.println(y);
  Serial.println(points);

  Serial.println(s);
  Serial.println(length );        
      


}
}

    servomove(); 
     if (x1 != 0 && y1 != 0) {
    ledblink();
       if
  (s == 1) {
    ledlaugh();
    servomouth();
    Serial.println("Smile!");

     }
     }
     else{
      ledState = LOW;
      Serial.println("NotSmile");

      digitalWrite(led1, ledState);
      digitalWrite(led2, ledState);
     }

    
}


void servomove(){

    x1 = x/3;
    y1 = y/4;

  if (points == 4) {
                                
    servox.write(90-x1);
  
       servoy.write(90-y1); 
              
    delay(10);                   

  } 
 if (points == 3)  
  {                                
    servox.write(90+x1);
  
     servoy.write(90-y1); 
     delay(10); 
  }

if (points == 7)
  
  {                                
    servox.write(90+x1); 
     servoy.write(y1+90);
  
     delay(10); 
  }

  if (points == 8)  
  {                                

    servox.write(90-x1); 
     servoy.write(y1+90); 
     delay(10); 

  }
  
  if (x1 == 0 && y1 == 0)  
  {                                

    servox.write(90); 
        servoy.write(90); 
     delay(10); 
  }

  
}
void ledblink(){
  unsigned long currentMillis = millis();
  if
  (currentMillis - previousMillis >= interval) {
    // save the last time you
  blinked the LED
    previousMillis = currentMillis;

    // if the LED
  is off turn it on and vice-versa:
    if (ledState == LOW) {
      ledState
  = HIGH;
    } else {
      ledState = LOW;
    }
     // set the LED
  with the ledState of the variable:
    digitalWrite(led1, ledState);
    digitalWrite(led2,
  ledState);
  }
}

void ledlaugh(){
  unsigned long currentMillis
  = millis();
  if (currentMillis - previousMillis >= interval_short) {
    //
  save the last time you blinked the LED
    previousMillis = currentMillis;


    // if the LED is off turn it on and vice-versa:
    if (ledState == LOW)
  {
      ledState = HIGH;
    } else {
      ledState = LOW;
    }

     // set the LED with the ledState of the variable:
    digitalWrite(led1,
  ledState);
    digitalWrite(led2, ledState);
  }
}

void servomouth(){

    unsigned long currentMillis = millis();

    if (millis() - previousMillis
  >= DELAY)
      {previousMillis += DELAY;
      if (forward1)
      {

       servoz.write(-- angle);
        if(angle == 100)
        forward1 =
  false;
      }
      else
      {
       servoz.write(++ angle);

        if (angle == 140)
        forward1 = true;
      }
      }
}

Arduino Code

arduino

1#include <Servo.h>
2
3Servo servox;
4Servo servoy;
5Servo servoz;
6int  angle = 0;
7boolean forward1 = false ;
8String bluetoothRead, Str_x, Str_y,  Str_p, Str_s;
9int x ;
10int y ;
11int x1 ;
12int y1 ;
13int points;
14int  length;
15const int buzzer = 10; 
16int s;
17int led1 = 3;           // the pin  that the LED1 is attached to
18int led2 = 2;           // the pin that the LED2  is attached to
19int brightness = 0;    // how bright the LED is
20int fadeAmount  = 1;    // how many points to fade the LED by
21const long interval = 1000;  //  interval at which to blink (milliseconds
22const long interval_short = 100;
23int  ledState = LOW;             // ledState used to set the LED
24unsigned long previousMillis  = 0;        // will store last time LED was updated
25
26
27
28#define ENA 11
29#define  ENB 6
30#define IN1 5
31#define IN2 7
32#define IN3 8
33#define IN4 9
34#define  DELAY 20
35
36
37void setup() { 
38  Serial.begin(9600);
39  Serial.flush();
40  pinMode(IN1,OUTPUT);
41  pinMode(IN2,OUTPUT);
42  pinMode(IN3,OUTPUT);
43  pinMode(IN4,OUTPUT);
44  pinMode(ENA,OUTPUT);
45  pinMode(ENB,OUTPUT);
46  pinMode(buzzer, OUTPUT);
47  pinMode(led1, OUTPUT);
48  pinMode(led2, OUTPUT);
49
50 servox.attach(13);
51  servoy.attach(12);
52 servoz.attach(8);
53 servox.write(90);
54 servoy.write(90);
55  servoz.write(90);
56
57}
58
59void loop() {
60 int i=0;
61  char commandbuffer[200];
62
63  
64  if(Serial.available()){
65    
66     delay(15);
67
68     while( Serial.available()  && i< 199) {
69        commandbuffer[i++] = Serial.read();
70  
71      
72     }
73     commandbuffer[i++]='\\0';
74     bluetoothRead = (char*)commandbuffer;
75     length = bluetoothRead.length();
76   Serial.println(bluetoothRead);
77  
78     
79     if(bluetoothRead.substring(0, 1).equals("x")){
80       
81       int  i=1;
82       while(bluetoothRead.substring(i, i+1) != ("y")){
83       i++;
84       }
85       
86       Str_x = bluetoothRead.substring(1, i);
87       x  = Str_x.toInt();
88       
89 
90     
91       Str_y = bluetoothRead.substring(i+1,  length - 2);
92       y = Str_y.toInt();
93
94       
95        Str_p = bluetoothRead.substring(length  - 2, length - 1);
96        points = Str_p.toInt();
97
98
99               Str_s  = bluetoothRead.substring(length - 1, length);
100        s = Str_s.toInt(); 
101
102       i = 1;
103 
104  Serial.println(x);
105  Serial.println(y);
106  Serial.println(points);
107  Serial.println(s);
108  Serial.println(length );        
109      
110
111
112}
113}
114    servomove(); 
115     if (x1 != 0 && y1 != 0) {
116    ledblink();
117       if  (s == 1) {
118    ledlaugh();
119    servomouth();
120    Serial.println("Smile!");
121     }
122     }
123     else{
124      ledState = LOW;
125      Serial.println("NotSmile");
126      digitalWrite(led1, ledState);
127      digitalWrite(led2, ledState);
128     }
129    
130}
131
132
133void servomove(){
134
135    x1 = x/3;
136    y1 = y/4;
137  if (points == 4) {
138                                
139    servox.write(90-x1);  
140       servoy.write(90-y1); 
141              
142    delay(10);                   
143  } 
144 if (points == 3)  
145  {                                
146    servox.write(90+x1);  
147     servoy.write(90-y1); 
148     delay(10); 
149  }
150
151if (points == 7)  
152  {                                
153    servox.write(90+x1); 
154     servoy.write(y1+90);  
155     delay(10); 
156  }
157
158  if (points == 8)  
159  {                                
160    servox.write(90-x1); 
161     servoy.write(y1+90); 
162     delay(10); 
163  }
164  
165  if (x1 == 0 && y1 == 0)  
166  {                                
167    servox.write(90); 
168        servoy.write(90); 
169     delay(10); 
170  }
171  
172}
173void ledblink(){
174  unsigned long currentMillis = millis();
175  if  (currentMillis - previousMillis >= interval) {
176    // save the last time you  blinked the LED
177    previousMillis = currentMillis;
178
179    // if the LED  is off turn it on and vice-versa:
180    if (ledState == LOW) {
181      ledState  = HIGH;
182    } else {
183      ledState = LOW;
184    }
185     // set the LED  with the ledState of the variable:
186    digitalWrite(led1, ledState);
187    digitalWrite(led2,  ledState);
188  }
189}
190
191void ledlaugh(){
192  unsigned long currentMillis  = millis();
193  if (currentMillis - previousMillis >= interval_short) {
194    //  save the last time you blinked the LED
195    previousMillis = currentMillis;
196
197    // if the LED is off turn it on and vice-versa:
198    if (ledState == LOW)  {
199      ledState = HIGH;
200    } else {
201      ledState = LOW;
202    }
203     // set the LED with the ledState of the variable:
204    digitalWrite(led1,  ledState);
205    digitalWrite(led2, ledState);
206  }
207}
208
209void servomouth(){
210    unsigned long currentMillis = millis();
211
212    if (millis() - previousMillis  >= DELAY)
213      {previousMillis += DELAY;
214      if (forward1)
215      {
216       servoz.write(-- angle);
217        if(angle == 100)
218        forward1 =  false;
219      }
220      else
221      {
222       servoz.write(++ angle);
223        if (angle == 140)
224        forward1 = true;
225      }
226      }
227}
228

#include <Servo.h>

Servo servox;
Servo servoy;
Servo servoz;
int  angle = 0;
boolean forward1 = false ;
String bluetoothRead, Str_x, Str_y,  Str_p, Str_s;
int x ;
int y ;
int x1 ;
int y1 ;
int points;
int  length;
const int buzzer = 10; 
int s;
int led1 = 3;           // the pin  that the LED1 is attached to
int led2 = 2;           // the pin that the LED2  is attached to
int brightness = 0;    // how bright the LED is
int fadeAmount  = 1;    // how many points to fade the LED by
const long interval = 1000;  //  interval at which to blink (milliseconds
const long interval_short = 100;
int  ledState = LOW;             // ledState used to set the LED
unsigned long previousMillis  = 0;        // will store last time LED was updated



#define ENA 11
#define  ENB 6
#define IN1 5
#define IN2 7
#define IN3 8
#define IN4 9
#define  DELAY 20


void setup() { 
  Serial.begin(9600);
  Serial.flush();
  pinMode(IN1,OUTPUT);
  pinMode(IN2,OUTPUT);
  pinMode(IN3,OUTPUT);
  pinMode(IN4,OUTPUT);
  pinMode(ENA,OUTPUT);
  pinMode(ENB,OUTPUT);
  pinMode(buzzer, OUTPUT);
  pinMode(led1, OUTPUT);
  pinMode(led2, OUTPUT);

 servox.attach(13);
  servoy.attach(12);
 servoz.attach(8);
 servox.write(90);
 servoy.write(90);
  servoz.write(90);

}

void loop() {
 int i=0;
  char commandbuffer[200];

  
  if(Serial.available()){
    
     delay(15);

     while( Serial.available()  && i< 199) {
        commandbuffer[i++] = Serial.read();
  
      
     }
     commandbuffer[i++]='\\0';
     bluetoothRead = (char*)commandbuffer;
     length = bluetoothRead.length();
   Serial.println(bluetoothRead);
  
     
     if(bluetoothRead.substring(0, 1).equals("x")){
       
       int  i=1;
       while(bluetoothRead.substring(i, i+1) != ("y")){
       i++;
       }
       
       Str_x = bluetoothRead.substring(1, i);
       x  = Str_x.toInt();
       
 
     
       Str_y = bluetoothRead.substring(i+1,  length - 2);
       y = Str_y.toInt();

       
        Str_p = bluetoothRead.substring(length  - 2, length - 1);
        points = Str_p.toInt();


               Str_s  = bluetoothRead.substring(length - 1, length);
        s = Str_s.toInt(); 

       i = 1;
 
  Serial.println(x);
  Serial.println(y);
  Serial.println(points);
  Serial.println(s);
  Serial.println(length );        
      


}
}
    servomove(); 
     if (x1 != 0 && y1 != 0) {
    ledblink();
       if  (s == 1) {
    ledlaugh();
    servomouth();
    Serial.println("Smile!");
     }
     }
     else{
      ledState = LOW;
      Serial.println("NotSmile");
      digitalWrite(led1, ledState);
      digitalWrite(led2, ledState);
     }
    
}


void servomove(){

    x1 = x/3;
    y1 = y/4;
  if (points == 4) {
                                
    servox.write(90-x1);  
       servoy.write(90-y1); 
              
    delay(10);                   
  } 
 if (points == 3)  
  {                                
    servox.write(90+x1);  
     servoy.write(90-y1); 
     delay(10); 
  }

if (points == 7)  
  {                                
    servox.write(90+x1); 
     servoy.write(y1+90);  
     delay(10); 
  }

  if (points == 8)  
  {                                
    servox.write(90-x1); 
     servoy.write(y1+90); 
     delay(10); 
  }
  
  if (x1 == 0 && y1 == 0)  
  {                                
    servox.write(90); 
        servoy.write(90); 
     delay(10); 
  }
  
}
void ledblink(){
  unsigned long currentMillis = millis();
  if  (currentMillis - previousMillis >= interval) {
    // save the last time you  blinked the LED
    previousMillis = currentMillis;

    // if the LED  is off turn it on and vice-versa:
    if (ledState == LOW) {
      ledState  = HIGH;
    } else {
      ledState = LOW;
    }
     // set the LED  with the ledState of the variable:
    digitalWrite(led1, ledState);
    digitalWrite(led2,  ledState);
  }
}

void ledlaugh(){
  unsigned long currentMillis  = millis();
  if (currentMillis - previousMillis >= interval_short) {
    //  save the last time you blinked the LED
    previousMillis = currentMillis;

    // if the LED is off turn it on and vice-versa:
    if (ledState == LOW)  {
      ledState = HIGH;
    } else {
      ledState = LOW;
    }
     // set the LED with the ledState of the variable:
    digitalWrite(led1,  ledState);
    digitalWrite(led2, ledState);
  }
}

void servomouth(){
    unsigned long currentMillis = millis();

    if (millis() - previousMillis  >= DELAY)
      {previousMillis += DELAY;
      if (forward1)
      {
       servoz.write(-- angle);
        if(angle == 100)
        forward1 =  false;
      }
      else
      {
       servoz.write(++ angle);
        if (angle == 140)
        forward1 = true;
      }
      }
}

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