Otto Diy with Ir remote

1#include<IRremote.h>
2
3
4IRsend emitter; //this is the name of  the IR LED
5
6//the following variables are necessary for the remote to understand  the position of the joystick
7int x = 0;
8int y = 0;
9int xPos = 0; //right  side of the X axis
10int xNeg = 0; //left side of the X axis
11int yPos = 0; //right  side of the Y axis
12int yNeg = 0; //left side of the Y axis
13
14void setup()
15{
16  Serial.begin(9600);
17}
18
19void loop()
20{
21
22  //read the joystick's  X axis & Y axis values
23  x = analogRead(A0);
24  y = analogRead(A1);
25
26
27  //these are the operations to calculate Xpos & Xneg
28  if (x > 524) {
29    xPos  = (x - 512) / 2;
30    xNeg = 0;
31  }
32  else if (x < 500) {
33    xPos =  0;
34    xNeg = (511 - x) / 2 ;
35  }
36  else {
37    xPos = 0;
38    xNeg  = 0;
39  }
40
41  //these are the operations to calculate Ypos & Yneg
42  if  (y > 524) {
43    yPos = (y - 512) / 2;
44    yNeg = 0;
45  }
46  else if (y  < 500) {
47    yPos = 0;
48    yNeg = (511 - y) / 2;
49  }
50  else {
51    yPos  = 0;
52    yNeg = 0;
53  }
54
55
56  //tell otto to turn right
57  if ((xPos  - xNeg - yPos - yNeg) > 0) {
58    emitter.sendSony(0x8, 32);
59    Serial.println("right");
60    delay(40);
61    //tell otto to turn left
62  }
63  if ((xNeg - yPos - yNeg  - xPos) > 0) {
64    emitter.sendSony(0x10, 32);
65    Serial.println("left");
66    delay(40);
67  }
68  //tell otto to walk forward
69  if ((yPos - yNeg - xPos  - xNeg) > 0) {
70    emitter.sendSony(0x18, 32);
71    Serial.println("forward");
72    delay(40);
73    //tell otto to walk backwards
74  }
75  if ((yNeg - xPos  - xNeg - yPos) > 0) {
76    emitter.sendSony(0x20, 32);
77    Serial.println("backwards");
78    delay(40);
79  }
80
81}
82

1#include <IRremote.h>
2#include <Otto9.h>
3
4
5Otto9 Otto; //this  is the name of our robot :)
6
7IRrecv ir(12); //name and pin of the IR sensor
8decode_results  results; //this variable will assume the values of the recieved signals
9
10#define  PIN_LLEG 3 //YL - left leg pin
11#define PIN_RLEG 4 //YR - right leg pin
12#define  PIN_LFOOT 2 //RL - left foot pin
13#define PIN_RFOOT 5 //RR - right foot pin
14
15#define  PIN_Trigger  8 //US send pin
16#define PIN_Echo     10 //US return pin
17#define  PIN_Buzzer  13 //buzzer pin
18
19void setup() {
20
21  //initialisation of the  robot by defining: YL, YR, RL, RR, load calibration (true or false), Noise sensor,  Buzzer, Trigger, Echo
22  Otto.init(PIN_LLEG, PIN_RLEG, PIN_LFOOT, PIN_RFOOT, false,  A6, PIN_Buzzer, PIN_Trigger, PIN_Echo);
23  Otto.home(); //set all the servos to  90
24
25  delay(500);
26  Serial.begin(9600);
27  ir.enableIRIn(); //start to  read the IR sensor values
28}
29
30void loop() {
31
32  if (ir.decode(&results))  { 
33
34    if (results.value == 24) { //if the code sent by the remote is 24:
35      Otto.walk(8, 600, 1); //walk: 8=steps, 600=period (time per step), 1=direction  (forward)
36      Serial.println("forward");
37    }
38    
39    if (results.value  == 32) { //if the code sent by the remote is 32:
40      Otto.walk(8, 600, -1);  //walk: 8=steps, 600=period (time per step), -1=direction (backwards)
41      Serial.println("backwards");
42    }
43    if (results.value == 8) { //if the code sent by the remote is 8:
44      Otto.turn(8, 800, 1); //turn: 8=steps, 600=period (time per step), -1=direction  (right)
45      Serial.println("right");
46    }
47    if (results.value ==  16) { //if the code sent by the remote is 16:
48      Otto.turn(8, 800, -1); //turn:  8=steps, 600=period (time per step), -1=direction (left)
49      Serial.println("left");
50    }
51    ir.resume(); //start reading the sensor values again
52  }
53  else  { //if the robot doesn't recieve any signal
54    Otto.home();
55  }
56  results.value  = 0;
57}
58

1#include <IRremote.h>
2#include <Otto9.h>
3
4
5Otto9 Otto; //this
6  is the name of our robot :)
7
8IRrecv ir(12); //name and pin of the IR sensor
9decode_results
10  results; //this variable will assume the values of the recieved signals
11
12#define
13  PIN_LLEG 3 //YL - left leg pin
14#define PIN_RLEG 4 //YR - right leg pin
15#define
16  PIN_LFOOT 2 //RL - left foot pin
17#define PIN_RFOOT 5 //RR - right foot pin
18
19#define
20  PIN_Trigger  8 //US send pin
21#define PIN_Echo     10 //US return pin
22#define
23  PIN_Buzzer  13 //buzzer pin
24
25void setup() {
26
27  //initialisation of the
28  robot by defining: YL, YR, RL, RR, load calibration (true or false), Noise sensor,
29  Buzzer, Trigger, Echo
30  Otto.init(PIN_LLEG, PIN_RLEG, PIN_LFOOT, PIN_RFOOT, false,
31  A6, PIN_Buzzer, PIN_Trigger, PIN_Echo);
32  Otto.home(); //set all the servos to
33  90
34
35  delay(500);
36  Serial.begin(9600);
37  ir.enableIRIn(); //start to
38  read the IR sensor values
39}
40
41void loop() {
42
43  if (ir.decode(&results))
44  { 
45
46    if (results.value == 24) { //if the code sent by the remote is 24:
47
48      Otto.walk(8, 600, 1); //walk: 8=steps, 600=period (time per step), 1=direction
49  (forward)
50      Serial.println("forward");
51    }
52    
53    if (results.value
54  == 32) { //if the code sent by the remote is 32:
55      Otto.walk(8, 600, -1);
56  //walk: 8=steps, 600=period (time per step), -1=direction (backwards)
57      Serial.println("backwards");
58
59    }
60    if (results.value == 8) { //if the code sent by the remote is 8:
61
62      Otto.turn(8, 800, 1); //turn: 8=steps, 600=period (time per step), -1=direction
63  (right)
64      Serial.println("right");
65    }
66    if (results.value ==
67  16) { //if the code sent by the remote is 16:
68      Otto.turn(8, 800, -1); //turn:
69  8=steps, 600=period (time per step), -1=direction (left)
70      Serial.println("left");
71
72    }
73    ir.resume(); //start reading the sensor values again
74  }
75  else
76  { //if the robot doesn't recieve any signal
77    Otto.home();
78  }
79  results.value
80  = 0;
81}
82

1#include<IRremote.h>
2
3
4IRsend emitter; //this is the name of
5  the IR LED
6
7//the following variables are necessary for the remote to understand
8  the position of the joystick
9int x = 0;
10int y = 0;
11int xPos = 0; //right
12  side of the X axis
13int xNeg = 0; //left side of the X axis
14int yPos = 0; //right
15  side of the Y axis
16int yNeg = 0; //left side of the Y axis
17
18void setup()
19{
20
21  Serial.begin(9600);
22}
23
24void loop()
25{
26
27  //read the joystick's
28  X axis & Y axis values
29  x = analogRead(A0);
30  y = analogRead(A1);
31
32
33
34  //these are the operations to calculate Xpos & Xneg
35  if (x > 524) {
36    xPos
37  = (x - 512) / 2;
38    xNeg = 0;
39  }
40  else if (x < 500) {
41    xPos =
42  0;
43    xNeg = (511 - x) / 2 ;
44  }
45  else {
46    xPos = 0;
47    xNeg
48  = 0;
49  }
50
51  //these are the operations to calculate Ypos & Yneg
52  if
53  (y > 524) {
54    yPos = (y - 512) / 2;
55    yNeg = 0;
56  }
57  else if (y
58  < 500) {
59    yPos = 0;
60    yNeg = (511 - y) / 2;
61  }
62  else {
63    yPos
64  = 0;
65    yNeg = 0;
66  }
67
68
69  //tell otto to turn right
70  if ((xPos
71  - xNeg - yPos - yNeg) > 0) {
72    emitter.sendSony(0x8, 32);
73    Serial.println("right");
74
75    delay(40);
76    //tell otto to turn left
77  }
78  if ((xNeg - yPos - yNeg
79  - xPos) > 0) {
80    emitter.sendSony(0x10, 32);
81    Serial.println("left");
82
83    delay(40);
84  }
85  //tell otto to walk forward
86  if ((yPos - yNeg - xPos
87  - xNeg) > 0) {
88    emitter.sendSony(0x18, 32);
89    Serial.println("forward");
90
91    delay(40);
92    //tell otto to walk backwards
93  }
94  if ((yNeg - xPos
95  - xNeg - yPos) > 0) {
96    emitter.sendSony(0x20, 32);
97    Serial.println("backwards");
98
99    delay(40);
100  }
101
102}
103