Tag Archives: arduino

Making a USB Powered LED Bird Lamp

Posted on January 6, 2016

Drawings: Download svg file here Download code here Extra Info: LED strip used is ws2812b. Adafruit neopixel library ‘buttoncycler’ program lightly modified to work with a potentiometer. The peacock image was found via google images. link to the pinterest page … Continue reading →

Posted in Arduino, how to, Ideas, Inkscape, laser cutter, Projects | Tagged arduino, laser cutter, video | 2 Comments

PlantBot – The Plant Watering Robot

Posted on November 30, 2015

PlantBot – because watering plants is boring. Laser Cutter Plans: Here is a preview of what the plans look like: For laser cutting, click here to download an SVG file of the plans Code:

#include <math.h>
#include <Servo.h>

Servo arm;
Servo shoulder;
Servo pull;


//servo angle limits (abs degrees)
#define S_MIN -60
#define S_MAX 60

#define A_MAX 170
#define A_MIN 0

#define P_OPEN -40
#define P_CLOSED 67

//xy_points of robot arm when over a plant box section
int xy_points[16][2] = { {1,3}, {5,1}, {0,-12}, {0,-16},
                         {0,-3},{1,-5},{3,-10}, {3,-14},
                         {2,-3}, {3,-5}, {5,-9}, {6,-13} }; 

void setup()
{
  Serial.begin(9600);
  arm.attach(9); 
  shoulder.attach(5);
  pull.attach(2);
}

float calc_shoulder_angle(int x, int y){  //forward kinematics for shoulder
  static int neg_flag = 0;
  
  if(y < 0) {
    neg_flag = 1;
    y = abs(y);
  }
  
  static float shoulder_angle, yx_div, q_ang;
  yx_div = (float)y/x;
  
  q_ang = acos( (x*x + y*y +49.91) / (24*sqrt(x*x + y*y)) );
 
  shoulder_angle = atan(yx_div) -q_ang ;
  
  if(neg_flag == 0) {
    shoulder_angle = ( shoulder_angle + q_ang ) + abs(q_ang); 
  }
  
  shoulder_angle = shoulder_angle*(57296/1000);

  if(neg_flag){
    shoulder_angle = shoulder_angle - 90;
    shoulder_angle = shoulder_angle + (2*q_ang*(57296/1000));
    neg_flag = 0;
  }
  
  return shoulder_angle;
  
}

float calc_arm_angle(int x, int y){  //forward kinematics for arm
  static float arm_angle;

  arm_angle = acos( (x*x + y*y -238.09) / (232.8) );
  arm_angle = arm_angle*(57296/1000);
  
  return arm_angle;
}

void set_angles(int x, int y){     //set angles of shoulder and arm servos

  static int a_ang,s_ang;
  
   s_ang = (int)calc_shoulder_angle(x,y);
  a_ang = (int)calc_arm_angle(x,y);
 

  arm.write(180 - a_ang);  //invert arm angle to robot arm bends the other way

  shoulder.write( abs_to_servo(s_ang) );
  
  
}

int abs_to_servo (int abs_ang){ // converts from absolute angles (unit circle) to servo angles
  static int servo_ang;
  servo_ang = 90 + abs_ang;
  return servo_ang;
}

void pull_lever(void){          //pull the spray bottle lever
  pull.write( abs_to_servo(-40) );
  delay(1000);
  pull.write( abs_to_servo(67));
}

void loop() 
{ 

  //goes to each planter box aquare and pulls lever
  
  for(int i=0; i<12; i++){
      set_angles(xy_points[i][0], xy_points[i][1]);
      pull_lever();
      delay(1500);
    }

  

  
}

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#include <math.h>

#include <Servo.h>

Servo arm;

Servo shoulder;

Servo pull;

//servo angle limits (abs degrees)

#define S_MIN -60

#define S_MAX 60

#define A_MAX 170

#define A_MIN 0

#define P_OPEN -40

#define P_CLOSED 67

//xy_points of robot arm when over a plant box section

int xy_points[16][2] = { {1,3}, {5,1}, {0,-12}, {0,-16},

{0,-3},{1,-5},{3,-10}, {3,-14},

{2,-3}, {3,-5}, {5,-9}, {6,-13} };

void setup()

{

Serial.begin(9600);

arm.attach(9);

shoulder.attach(5);

pull.attach(2);

}

float calc_shoulder_angle(int x, int y){ //forward kinematics for shoulder

static int neg_flag = 0;

if(y < 0) {

neg_flag = 1;

y = abs(y);

}

static float shoulder_angle, yx_div, q_ang;

yx_div = (float)y/x;

q_ang = acos( (x*x + y*y +49.91) / (24*sqrt(x*x + y*y)) );

shoulder_angle = atan(yx_div) -q_ang ;

if(neg_flag == 0) {

shoulder_angle = ( shoulder_angle + q_ang ) + abs(q_ang);

}

shoulder_angle = shoulder_angle*(57296/1000);

if(neg_flag){

shoulder_angle = shoulder_angle - 90;

shoulder_angle = shoulder_angle + (2*q_ang*(57296/1000));

neg_flag = 0;

}

return shoulder_angle;

}

float calc_arm_angle(int x, int y){ //forward kinematics for arm

static float arm_angle;

arm_angle = acos( (x*x + y*y -238.09) / (232.8) );

arm_angle = arm_angle*(57296/1000);

return arm_angle;

}

void set_angles(int x, int y){ //set angles of shoulder and arm servos

static int a_ang,s_ang;

s_ang = (int)calc_shoulder_angle(x,y);

a_ang = (int)calc_arm_angle(x,y);

arm.write(180 - a_ang); //invert arm angle to robot arm bends the other way

shoulder.write( abs_to_servo(s_ang) );

}

int abs_to_servo (int abs_ang){ // converts from absolute angles (unit circle) to servo angles

static int servo_ang;

servo_ang = 90 + abs_ang;

return servo_ang;

}

void pull_lever(void){ //pull the spray bottle lever

pull.write( abs_to_servo(-40) );

delay(1000);

pull.write( abs_to_servo(67));

}

void loop()

{

//goes to each planter box aquare and pulls lever

for(int i=0; i<12; i++){

set_angles(xy_points[i][0], xy_points[i][1]);

pull_lever();

delay(1500);

}

The calc_shoulder_angle function is dodgy … Continue reading →

Posted in Arduino, Hacks, Hardware, how to, Ideas, Projects | Tagged arduino, botany, plantbot, servo | 2 Comments

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Making a USB Powered LED Bird Lamp

PlantBot – The Plant Watering Robot

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