OTTO robot

1//----------------------------------------------------------------
2//--  Otto All moves setup
3//-- You can add functions, gestures or sounds in loop
4//--  CC BY SA (http://ottodiy.com)
5//-- 25 October 2018
6//-----------------------------------------------------------------
7#include  <Servo.h> 
8#include <Oscillator.h>
9#include <US.h>
10#include <Otto.h>
11Otto  Otto;  //This is Otto!
12//---------------------------------------------------------
13//--  First step: Make sure the pins for servos are in the right position
14/*
15         ---------------  
16        |     O   O     |
17        |---------------|
18YR 3==> |               |  <== YL 2
19         --------------- 
20            ||     ||
21RR 5==>   -----   ------  <== RL 4
22         |-----   ------|
23*/
24  #define PIN_YL 2 //servo[2]
25  #define PIN_YR 3 //servo[3]
26  #define PIN_RL 4 //servo[4]
27  #define PIN_RR  5 //servo[5]
28/*SOUNDS******************
29 * S_connection  S_disconnection  S_buttonPushed  S_mode1 S_mode2 S_mode3 S_surprise S_OhOoh  S_OhOoh2  S_cuddly 
30 * S_sleeping  S_happy S_superHappy S_happy_short S_sad S_confused S_fart1 S_fart2  S_fart3 
31  */
32/*MOVEMENTS LIST**************
33 * dir=1---> FORWARD/LEFT
34 * dir=-1--->  BACKWARD/RIGTH
35 * T : amount of movement. HIGHER VALUE SLOWER MOVEMENT usually  1000 (from 600 to 1400)
36 * h: height of mov. around 20
37     jump(steps=1,  int T = 2000);
38     walk(steps, T, dir);
39     turn(steps, T, dir);
40     bend  (steps, T, dir); //usually steps =1, T=2000
41     shakeLeg (steps, T, dir);
42     updown(steps, T, HEIGHT);
43     swing(steps, T, HEIGHT);
44     tiptoeSwing(steps,  T, HEIGHT);
45     jitter(steps, T, HEIGHT); (small T)
46     ascendingTurn(steps,  T, HEIGHT);
47     moonwalker(steps, T, HEIGHT,dir);
48     crusaito(steps, T,  HEIGHT,dir);
49     flapping(steps, T, HEIGHT,dir);
50/*GESTURES LIST***************
51OttoHappy  OttoSuperHappy  OttoSad   OttoSleeping  OttoFart  OttoConfused OttoLove  OttoAngry   
52OttoFretful OttoMagic  OttoWave  OttoVictory  OttoFail*/
53///////////////////////////////////////////////////////////////////
54//--  Global Variables -------------------------------------------//
55///////////////////////////////////////////////////////////////////
56bool  obstacleDetected = false;
57int distance = 0;
58///////////////////////////////////////////////////////////////////
59//--  Setup ------------------------------------------------------//
60///////////////////////////////////////////////////////////////////
61void  setup(){
62  //Set the servo pins
63  Otto.init(PIN_YL,PIN_YR,PIN_RL,PIN_RR,true);
64  Otto.sing(S_connection); //Otto wake up!
65  Otto.home();
66  delay(50);
67}
68///////////////////////////////////////////////////////////////////
69//--  Principal Loop ---------------------------------------------//
70//--Uncomment  lines or add you own-------------------------------//
71///////////////////////////////////////////////////////////////////
72void  loop() {
73          //OBSTACLE MODE ON!!!! 
74          obstacleMode();
75          Otto.sing(S_surprise);
76          Otto.walk(2,1000,1); //2 steps FORWARD
77          Otto.sing(S_OhOoh);
78          Otto.walk(2,1000,-1); //2 steps BACKSWARD
79          Otto.sing(S_OhOoh2);
80          Otto.playGesture(OttoFretful);
81          Otto.sing(S_cuddly);
82          Otto.home();
83          Otto.playGesture(OttoSleeping);
84          Otto.sing(S_sleeping);
85          delay(1000);
86          Otto.sing(S_happy);
87          Otto.playGesture(OttoHappy);
88          Otto.turn(2,1000,1);//2 steps turning RIGHT  
89          Otto.sing(S_happy_short);              
90          delay(50);
91          Otto.playGesture(OttoSuperHappy);
92          Otto.sing(S_superHappy);
93          Otto.turn(2,1000,-1);//2 steps turning  RIGHT 
94          Otto.playGesture(OttoSad);
95          Otto.sing(S_sad);               
96          delay(50);
97          Otto.moonwalker(3, 1000, 25, 1);
98          Otto.playGesture(OttoConfused);
99          Otto.sing(S_confused);
100          Otto.home();
101          Otto.bend  (1, 2000, 1);
102          Otto.playGesture(OttoFart);
103          Otto.sing(S_fart1);
104          Otto.sing(S_fart2);
105          Otto.sing(S_fart3);
106          Otto.home();
107          Otto.ascendingTurn(1, 2000, 22);
108          Otto.playGesture(OttoVictory);
109          Otto.home();
110          Otto.updown(1, 2000, 22);
111          Otto.playGesture(OttoMagic);
112          Otto.home();
113          Otto.playGesture(OttoFail);
114          Otto.sing(S_disconnection);
115}
116///////////////////////////////////////////////////////////////////
117//--  Function to avoid obstacles
118void obstacleMode(){
119      distance = Otto.getDistance();
120      if(distance<15){
121          Otto.sing(S_surprise); 
122               Otto.walk(2,1300,-1);  
123               Otto.turn(3,1000,-1);                
124             delay(50);  
125        }
126        else{
127          Otto.walk(2,1000,1); 
128        }
129}
130