BotBoarduino humanoid sample code/sketch?

Lynxmotion Legged Robots
1

Hi there! New to the board, relatively new to robots. I’m interested in this board to replace a faulty board on my Robophilo, but have only limited experience with arduino programming. If there already a sample sketch to get started with a humanoid? I have previously looked unsuccessfully for arduino humanoid code, and looked again when I came across this forum post: robotshop.com/lynxmotion-bot … ler-3.html

So the jist of why I am replacing the board on a Robophilo is that I’ve had my robot since May of 2011 and it hasn’t worked since day 1. Robophilo is not willing to send me a new board, so I am exploring options. This board batches the DoF, the PS2 remote control availability, and is almost half the price! On top of that, any custom development won’t be in C/C++, but arduino, which I think is easier and I think I can get more help with.

Oh and Google is not yet familiar with the BotBoarduino, so it’s not searching correctly. It’s doing that thing where it’s second guessing me without the option to override (Did you really mean …?).

If you want to read up on my back and forth with Robophilo, it’s all over the net. Just google “allanonmage robophilo” or click this link: encrypted.google.com/search?q=a … =firefox-a

2

a quick search on google i have found a few Arduino - biped projects. these may help in finding code. sorry i havent got time to pick out parts for you but i wish you luck.

My initial thoughts are that these wont use the bBoarduino but its a start i hope.

lars.roland.bz/biped-arduino-robot/

projectbiped.com/prototypes/ … rogramming

HUMMM…
Found something…
*Licensed under Attribution + Noncommercial + ShareAlike (by-nc-sa) Creative Common License.

Author: Lars Kristian Roland.*

[code]#include

Servo RHip1; Servo RHip2;
Servo RThigh;
Servo RKnee;
Servo RAnkle1;
Servo RAnkle2;

Servo LHip1; Servo LHip2;
Servo LThigh;
Servo LKnee;
Servo LAnkle1;
Servo LAnkle2;

// Lean back
//LThigh.write(LThigh.read()-5);
// RThigh.write(RThigh.read()+5);

int RHip1Center = 90; int RHip2Center = 90;
int RThighCenter = 75;
int RKneeCenter = 110;
int RAnkle1Center = 100;
int RAnkle2Center = 60;

int LHip1Center = 100; int LHip2Center = 40;
int LThighCenter = 50;
int LKneeCenter = 70;
int LAnkle1Center = 90;
int LAnkle2Center = 70;

int walking = 0;

int d = 100;

void setup()
{

Serial.begin(9600);
RHip1.attach(13); RHip2.attach(12); RThigh.attach(11);
RKnee.attach(10); RAnkle1.attach(9); RAnkle2.attach(8);
LHip1.attach(2); LHip2.attach(3); LThigh.attach(4);
LKnee.attach(5); LAnkle1.attach(6); LAnkle2.attach(7);
}

void loop()
{

//stand();
//crouch();
//delay(15000); // if (walking == 0) {
//StandRightForward();
//delay(15000); //StandLeftForward();
//delay(15000); //stand();
// delay(5000); // }

//swayright();
//swayleft();
StandRightForward();
//delay(5000); stepleft();
//delay(5000); // walk();
}

void stepleft()
{
StandRightForward();
LeanBack();
LeanRight();
LiftRightHip();
SpreadLegs();
// Low batt, spread legs more
SpreadLegs();
LeanRight();
LeanRight();
LeanRight();

LiftLeftFoot();
LiftLeftHip();
LiftLeftHip();
SpreadLegs();

LiftLeftFoot();
//LeanBack();
//LeanBack();

LeftLegForward();
LeftLegForward();
LeftLegForward();

// Does this cause more speed and cause the inbalance?
StretchRightKnee();
DownLeftFoot();
LeanBack();
LeftToeUp();
DownLeftFoot();

LeftToeUp();
LeftToeUp();
RightToeUp();

LeanLeft();
LeftToeUp();
RightToeUp();
LeanLeft();
LiftRightHip();
LiftRightHip();
DownLeftFoot();
LeanBack();

StandLeftForward();
//LeanBack();
//LeanBack();

LeanLeft();
LiftLeftHip();
//Low battery, turn on this:
//SpreadLegs();
SpreadLegs();
LeanLeft();
LeanLeft();

LiftRightFoot();
LiftRightHip();
LiftRightHip();
SpreadLegs();

LiftRightFoot();
LeanBack();
LeanBack();

RightLegForward();
RightLegForward();
RightLegForward();
RightLegForward();

StretchLeftKnee();

DownRightFoot();
LeanBack();

RightToeUp();
DownRightFoot();

RightToeUp();
RightToeUp();
LeftToeUp();
LeanRight();
LeftToeUp();
RightToeUp();
LeanRight();
LiftLeftHip();
LiftLeftHip();
DownRightFoot();
LeanBack();
StandRightForward();

}

/*
void swayright()
{

LeanRight();
LiftRightHip();
SpreadLegs();
LeanRight();
//LeanRight();
LeanRight();
LeanRight();

delay(5000);
LeanLeft();
LeanLeft();
LiftLeftHip();

}

void swayleft()
{

LeanLeft();
LiftLeftHip();
SpreadLegs();
LeanLeft();
//LeanLeft();
LeanLeft();
LeanLeft();

delay(5000);
LeanRight();
LeanRight();
LiftRightHip(); stand();

}
*/

void stand()
{
Serial.println(“STAND”);
RHip1.write(RHip1Center); RHip2.write(RHip2Center); RThigh.write(RThighCenter);
RKnee.write(RKneeCenter); RAnkle1.write(RAnkle1Center); RAnkle2.write(RAnkle2Center);
LHip1.write(LHip1Center); LHip2.write(LHip2Center); LThigh.write(LThighCenter);
LKnee.write(LKneeCenter); LAnkle1.write(LAnkle1Center); LAnkle2.write(LAnkle2Center);
delay(d); }

void crouch()
{

Serial.println(“crouch”);
RThigh.write(RThigh.read()-10);
RKnee.write(RKnee.read()-20); RAnkle1.write(RAnkle1.read()-10);
LThigh.write(LThigh.read()+10);
LKnee.write(LKnee.read()+20); LAnkle1.write(LAnkle1.read()+10);
delay(d);
}

void StandRightForward()
{
Serial.println(“StandRightForward”);
RHip1.write(RHip1Center); RHip2.write(RHip2Center); RThigh.write(RThighCenter);
RKnee.write(RKneeCenter); RAnkle1.write(RAnkle1Center); RAnkle2.write(RAnkle2Center);
LHip1.write(LHip1Center); LHip2.write(LHip2Center); LThigh.write(LThighCenter-20);
LKnee.write(LKneeCenter); LAnkle1.write(LAnkle1Center+20); LAnkle2.write(LAnkle2Center);
delay(d); }

void StandLeftForward()
{
Serial.println(“StandLeftForward”);
RHip1.write(RHip1Center); RHip2.write(RHip2Center); RThigh.write(RThighCenter+20);
RKnee.write(RKneeCenter); RAnkle1.write(RAnkle1Center-20); RAnkle2.write(RAnkle2Center);
LHip1.write(LHip1Center); LHip2.write(LHip2Center); LThigh.write(LThighCenter);
LKnee.write(LKneeCenter); LAnkle1.write(LAnkle1Center); LAnkle2.write(LAnkle2Center);
delay(d); }

void ResetHip()
{
Serial.println(“ResetHip”);
LHip2.write(LHip2.read()+5); RHip2.write(RHip2.read()+5); delay(d); }

void LiftLeftHip()
{
Serial.println(“LiftLeftHip”);
LHip2.write(RHip1Center); LHip2.write(RHip2Center); LHip2.write(LHip1Center); LHip2.write(LHip2Center); delay(d); }

void LiftRightHip()
{
Serial.println(“LiftRightHip”);
LHip2.write(LHip2.read()-5); RHip2.write(RHip2.read()-5); delay(d); }

void SpreadLegs()
{
Serial.println(“SpreadLegs”);
LHip2.write(LHip2.read()-5); RHip2.write(RHip2.read()+5); delay(d); }

void CollectLegs()
{
Serial.println(“CollectLegs”);
LHip2.write(LHip2.read()+5); RHip2.write(RHip2.read()-5); delay(d); }

void LeanLeft() {
Serial.println(“LeanLeft”);
RAnkle2.write(RAnkle2.read()-5);
LAnkle2.write(LAnkle2.read()-5);
delay(d); }

void LeanRight() {
Serial.println(“LeanRight”);
RAnkle2.write(RAnkle2.read()+5);
LAnkle2.write(LAnkle2.read()+5);
delay(d); }

void LeftLegForward() {
Serial.println(“LeftFootForward”);
LThigh.write(LThigh.read()+10);
LKnee.write(LKnee.read()-10); LAnkle1.write(LAnkle1.read()-10);
delay(d); }

void LeftFootForward() {
Serial.println(“LeftFootForward”);
//LThigh.write(LThigh.read()+10);
LKnee.write(LKnee.read()-10); LAnkle1.write(LAnkle1.read()-5);
delay(d); }

void LeanBack()
{
Serial.println(“LeanBack”);
LThigh.write(LThigh.read()-5);
RThigh.write(RThigh.read()+5);
delay(d); }

void LeanForward()
{
Serial.println(“LeanBack”);
LThigh.write(LThigh.read()+10);
RThigh.write(RThigh.read()-10);
delay(d); }

void LeftThighBackward() {
Serial.println(“LeftFootBack”);
LThigh.write(LThigh.read()-10);
delay(d); }

void LeftThighForward() {
Serial.println(“LeftThighForward”);
LThigh.write(LThigh.read()+10);
delay(d); }

void StretchLeftKnee() {
Serial.println(“StretchLeftKnee”);
LKnee.write(LKnee.read()-5); delay(d); }

void LiftLeftFoot() {
Serial.println(“LiftLeftFoot”);
LThigh.write(LThigh.read()+10);
LKnee.write(LKnee.read()+10); LAnkle1.write(LAnkle1.read()-10);
delay(d); }

void DownLeftFoot() {
Serial.println(“DownLeftFoot”);
LThigh.write(LThigh.read()-10);
LKnee.write(LKnee.read()-5); LAnkle1.write(LAnkle1.read()-5);
delay(d); }

void RightLegForward() {
Serial.println(“RightLegForward”);
RThigh.write(RThigh.read()-10);
RKnee.write(RKnee.read()+10); RAnkle1.write(RAnkle1.read()+10);
delay(d); }

void RightFootForward() {
Serial.println(“RightFootForward”);
//RThigh.write(RThigh.read()-10);
RKnee.write(RKnee.read()+10); RAnkle1.write(RAnkle1.read()+5);
delay(d); }

void RightThighBackward()
{
Serial.println(“RightFootForward”);
RThigh.write(RThigh.read()+10); delay(d); }

void RightThighForward()
{
Serial.println(“RightFootForward”);
RThigh.write(RThigh.read()-10); delay(d); }

void RightToeUp()
{
Serial.println(“RightAnkleForward”);
RAnkle1.write(RAnkle1.read()-5);
delay(d); }

void RightToeDown()
{
Serial.println(“RightAnkleBackward”);
RAnkle1.write(RAnkle1.read()+5);
delay(d); }

void ResetLeftAnkle()
{
Serial.println(“ResetLeftAnkle”);
LAnkle1.write(RAnkle1Center);
LAnkle1.write(RAnkle2Center);
delay(d); }

void ResetRightAnkle()
{
Serial.println(“ResetLeftAnkle”);
LAnkle1.write(RAnkle1Center);
LAnkle1.write(RAnkle2Center);
delay(d); }

void LeftToeUp()
{
Serial.println(“LeftAnkleForward”);
LAnkle1.write(LAnkle1.read()+5);
delay(d); }

void LeftToeDown()
{
Serial.println(“LeftAnkleBackward”);
LAnkle1.write(LAnkle1.read()-5);
delay(d); }

void StretchRightKnee() {
Serial.println(“StretchRightKnee”);
RKnee.write(RKnee.read()+5); delay(d); }

void LiftRightFoot() {
Serial.println(“LiftRightFoot”);
RThigh.write(RThigh.read()-10);
RKnee.write(RKnee.read()-10); RAnkle1.write(RAnkle1.read()+10);
delay(d); }

void DownRightFoot() {
Serial.println(“DownRightFoot”);
RThigh.write(RThigh.read()+10);
RKnee.write(RKnee.read()+5); RAnkle1.write(RAnkle1.read()+5);
delay(d); }[/code]