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Mini Hash Humonoid Code

The document is a C++ code for controlling a humanoid robot named MiniHashHumanoid, utilizing various libraries for servo control and display management. It includes functions for initializing the robot, setting servo positions, displaying different facial expressions, and performing actions like waving and talking. The code also integrates audio playback for voice responses associated with the robot's actions.

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Power Archy

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0% found this document useful (0 votes)

3 views

Mini Hash Humonoid Code

Uploaded by

Power Archy

Available Formats

Download as DOCX, PDF, TXT or read online on Scribd

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#include "MiniHashHumanoid.

#include <Wire.h>

#include <Adafruit_PWMServoDriver.h>

Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver(0x40);

#include <Adafruit_GFX.h>

#include <Adafruit_SSD1306.h>

#include "XT_DAC_Audio.h"

#define SCREEN_WIDTH 128

#define SCREEN_HEIGHT 64

Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, -1);

XT_DAC_Audio_Class DacAudio(25, 0);

#include "ExpressionBitmap.h"

#include "VoiceHexData.h"

#define min_pulse_width 100

#define max_pulse_width 550

#define frequency 50

/* Initializing servo drive and OLED display */

void MiniHashHumanoid::init_hash() {

pwm.begin();

pwm.setPWMFreq(frequency);
if (!display.begin(SSD1306_SWITCHCAPVCC, 0x3C)) {

Serial.println(F("SSD1306 allocation failed"));

for (;;);

initial_face();

/* Servo angle setting */

void MiniHashHumanoid::set_servo(int servo, int servo_pwm) {

pwm.setPWM(servo, 0, servo_pwm);

/* Initial position */

void MiniHashHumanoid::initial_position() {

int pwm_array[16] = {100, 100, 325, 325, 550, 550, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325}; /*
RH1,RH2,RL1,RL2,LH1,LH2,LL1,LL2,HEAD,DMY1,DMY2,DMY3,DMY4,DMY5,DMY6 */

for (int i = 0; i < 16; i++) {

servo_position[i] = pwm_array[i];

move_servo(1000, pwm_array);

/* Moving each servo at given time interval */

void MiniHashHumanoid::move_servo(int time, int servo_target[]) {

if (time > 10) {

for (int i = 0; i < 16; i++) {

increment[i] = ((servo_target[i]) - servo_position[i]) / (time / 10.0);

final_time = millis() + time;

for (int iteration = 1; millis() < final_time; iteration++) {

partial_time = millis() + 10;

for (int i = 0; i < 16; i++) {

set_servo(i, (int)(servo_position[i] + (iteration * increment[i])));

while (millis() < partial_time);

DacAudio.FillBuffer();

//Serial.println("hehe");

else {

for (int i = 0; i < 16; i++) {

set_servo(i, (int)servo_target[i]);

for (int i = 0; i < 16; i++) {

servo_position[i] = servo_target[i];
}

/
*************************************************************************************
*****************/

void MiniHashHumanoid::initial_face() {

display.clearDisplay();

display.drawBitmap(0, 0, initialface, 128, 64, 1);

display.display();

void MiniHashHumanoid::bink_eye(int bink_count) {

for (int i = 1 ; i <= bink_count; i++) {

display.clearDisplay();

display.drawBitmap(0, 0, blinkeye, 128, 64, 1);

display.display();

delay(500);

initial_face();

delay(1000);

void MiniHashHumanoid::talking_face() {

display.clearDisplay();

display.drawBitmap(0, 0, talkface, 128, 64, 1);

display.display();
}

void MiniHashHumanoid::happy_face() {

display.clearDisplay();

display.drawBitmap(0, 0, happyface, 128, 64, 1);

display.display();

void MiniHashHumanoid::angry_face() {

display.clearDisplay();

display.drawBitmap(0, 0, angryface, 128, 64, 1);

display.display();

void MiniHashHumanoid::sad_face() {

display.clearDisplay();

display.drawBitmap(0, 0, sadface, 128, 64, 1);

display.display();

void MiniHashHumanoid::crying_face() {

display.clearDisplay();

display.drawBitmap(0, 0, cryingface, 128, 64, 1);

display.display();

/
*************************************************************************************
*****************/
void MiniHashHumanoid::say_hi(int count) {

XT_Wav_Class PlayVoice(hellohumanoids);

PlayVoice.RepeatForever = false;

DacAudio.Play(&PlayVoice);

talking_face();

int pwm_array1[16] = {500, 250, 325, 325, 550, 550, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

move_servo(1500, pwm_array1);

for (int i = 1; i <= count; i++) {

int pwm_array2[16] = {500, 175, 325, 325, 550, 550, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

int pwm_array3[16] = {500, 250, 325, 325, 550, 550, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

move_servo(1000, pwm_array2);

move_servo(1000, pwm_array3);

int pwm_array4[16] = {100, 100, 325, 325, 550, 550, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

move_servo(1500, pwm_array4);

initial_face();

/
*************************************************************************************
*****************/

void MiniHashHumanoid::my_name_hash_jr() {

XT_Wav_Class PlayVoice(mynamehashjr);
PlayVoice.RepeatForever = false;

DacAudio.Play(&PlayVoice);

talking_face();

int pwm_array1[16] = {300, 175, 325, 325, 550, 550, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

int pwm_array2[16] = {300, 100, 325, 325, 550, 550, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

int pwm_array3[16] = {300, 175, 325, 325, 550, 550, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

int pwm_array4[16] = {100, 100, 325, 325, 550, 550, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

move_servo(1500, pwm_array1);

move_servo(1000, pwm_array2);

move_servo(1000, pwm_array3);

move_servo(1500, pwm_array4);

initial_face();

/
*************************************************************************************
*****************/

void MiniHashHumanoid::i_am_mini_robot() {

XT_Wav_Class PlayVoice(iamaminirobot);

PlayVoice.RepeatForever = false;

DacAudio.Play(&PlayVoice);

talking_face();

int pwm_array1[16] = {300, 175, 325, 325, 450, 550, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};
int pwm_array2[16] = {300, 100, 325, 325, 450, 550, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

int pwm_array3[16] = {300, 175, 325, 325, 500, 550, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

int pwm_array4[16] = {100, 100, 325, 325, 550, 550, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

move_servo(1500, pwm_array1);

move_servo(1000, pwm_array2);

move_servo(1000, pwm_array3);

move_servo(1500, pwm_array4);

initial_face();

/
*************************************************************************************
*****************/

void MiniHashHumanoid::say_yes() {

XT_Wav_Class PlayVoice(sayyes);

PlayVoice.RepeatForever = false;

DacAudio.Play(&PlayVoice);

talking_face();

int pwm_array1[16] = {225, 100, 325, 325, 550, 550, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

int pwm_array2[16] = {100, 100, 325, 325, 550, 550, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

move_servo(1000, pwm_array1);

move_servo(1500, pwm_array2);

initial_face();

}
/
*************************************************************************************
*****************/

void MiniHashHumanoid::say_no() {

XT_Wav_Class PlayVoice(sayno);

PlayVoice.RepeatForever = false;

DacAudio.Play(&PlayVoice);

talking_face();

int pwm_array1[16] = {100, 100, 325, 325, 550, 550, 325, 325, 275, 325, 325, 325, 325, 325, 325, 325};

int pwm_array2[16] = {100, 100, 325, 325, 550, 550, 325, 325, 375, 325, 325, 325, 325, 325, 325, 325};

int pwm_array3[16] = {100, 100, 325, 325, 550, 550, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

move_servo(500, pwm_array1);

move_servo(1000, pwm_array2);

move_servo(500, pwm_array3);

initial_face();

/
*************************************************************************************
*****************/

void MiniHashHumanoid::say_thank_you() {

XT_Wav_Class PlayVoice(saythankyou);

PlayVoice.RepeatForever = false;

DacAudio.Play(&PlayVoice);

talking_face();
int pwm_array1[16] = {200, 150, 325, 325, 450, 500, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

int pwm_array2[16] = {100, 100, 325, 325, 550, 550, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

move_servo(1500, pwm_array1);

move_servo(1500, pwm_array2);

initial_face();

/
*************************************************************************************
*****************/

void MiniHashHumanoid::do_happy_face() {

happy_face();

XT_Wav_Class PlayVoice(happyfacevoice);

PlayVoice.RepeatForever = false;

DacAudio.Play(&PlayVoice);

int pwm_array1[16] = {200, 100, 325, 325, 550, 550, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

int pwm_array2[16] = {100, 100, 325, 325, 550, 550, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

move_servo(1000, pwm_array1);

move_servo(1000, pwm_array2);

initial_face();

/
*************************************************************************************
*****************/

void MiniHashHumanoid::do_angry_face() {
angry_face();

XT_Wav_Class PlayVoice(angryfacevoice);

PlayVoice.RepeatForever = false;

DacAudio.Play(&PlayVoice);

int pwm_array1[16] = {200, 100, 325, 325, 550, 550, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

int pwm_array2[16] = {100, 100, 325, 325, 550, 550, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

move_servo(1000, pwm_array1);

move_servo(1000, pwm_array2);

initial_face();

/
*************************************************************************************
*****************/

void MiniHashHumanoid::do_sad_face() {

sad_face();

XT_Wav_Class PlayVoice(sadfacevoice);

PlayVoice.RepeatForever = false;

DacAudio.Play(&PlayVoice);

int pwm_array1[16] = {200, 100, 325, 325, 550, 550, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

int pwm_array2[16] = {100, 100, 325, 325, 550, 550, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

move_servo(1500, pwm_array1);

move_servo(2000, pwm_array2);

initial_face();
}

/
*************************************************************************************
*****************/

void MiniHashHumanoid::do_crying_face() {

crying_face();

XT_Wav_Class PlayVoice(cryingfacevoice);

PlayVoice.RepeatForever = false;

DacAudio.Play(&PlayVoice);

int pwm_array1[16] = {200, 100, 325, 325, 550, 550, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

int pwm_array2[16] = {100, 100, 325, 325, 550, 550, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

move_servo(1500, pwm_array1);

move_servo(1500, pwm_array2);

initial_face();

/
*************************************************************************************
*****************/

void MiniHashHumanoid::hands_up() {

int pwm_array1[16] = {525, 100, 325, 325, 125, 550, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

move_servo(3000, pwm_array1);

}
/
*************************************************************************************
*****************/

void MiniHashHumanoid::hands_down() {

int pwm_array1[16] = {100, 100, 325, 325, 550, 550, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

move_servo(3000, pwm_array1);

/
*************************************************************************************
*****************/

void MiniHashHumanoid::hand_wave(int count) {

int pwm_array1[16] = {100, 400, 325, 325, 550, 400, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

move_servo(1500, pwm_array1);

for (int i = 1; i <= count; i++) {

int pwm_array2[16] = {100, 250, 325, 325, 550, 250, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

int pwm_array3[16] = {100, 400, 325, 325, 550, 400, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

move_servo(1000, pwm_array2);

move_servo(1000, pwm_array3);

int pwm_array4[16] = {100, 100, 325, 325, 550, 550, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

move_servo(1500, pwm_array4);

}
/
*************************************************************************************
*****************/

void MiniHashHumanoid::right_leg_wave(int count) {

int pwm_array1[16] = {100, 100, 325, 375, 550, 550, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

int pwm_array2[16] = {100, 100, 325, 375, 550, 550, 325, 375, 325, 325, 325, 325, 325, 325, 325, 325};

move_servo(1000, pwm_array1);

move_servo(1000, pwm_array2);

for (int i = 1; i <= count; i++) {

int pwm_array3[16] = {100, 100, 325, 250, 550, 550, 325, 375, 325, 325, 325, 325, 325, 325, 325, 325};

int pwm_array4[16] = {100, 100, 325, 400, 550, 550, 325, 375, 325, 325, 325, 325, 325, 325, 325, 325};

move_servo(1000, pwm_array3);

move_servo(1000, pwm_array4);

int pwm_array5[16] = {100, 100, 325, 375, 550, 550, 325, 375, 325, 325, 325, 325, 325, 325, 325, 325};

int pwm_array6[16] = {100, 100, 325, 325, 550, 550, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

move_servo(1000, pwm_array5);

move_servo(1000, pwm_array6);

/
*************************************************************************************
*****************/

void MiniHashHumanoid::left_leg_wave(int count) {

int pwm_array1[16] = {100, 100, 325, 325, 550, 550, 325, 275, 325, 325, 325, 325, 325, 325, 325, 325};
int pwm_array2[16] = {100, 100, 325, 275, 550, 550, 325, 275, 325, 325, 325, 325, 325, 325, 325, 325};

move_servo(1000, pwm_array1);

move_servo(1000, pwm_array2);

for (int i = 1; i <= count; i++) {

int pwm_array3[16] = {100, 100, 325, 275, 550, 550, 325, 400, 325, 325, 325, 325, 325, 325, 325, 325};

int pwm_array4[16] = {100, 100, 325, 275, 550, 550, 325, 250, 325, 325, 325, 325, 325, 325, 325, 325};

move_servo(1000, pwm_array3);

move_servo(1000, pwm_array4);

int pwm_array5[16] = {100, 100, 325, 275, 550, 550, 325, 275, 325, 325, 325, 325, 325, 325, 325, 325};

int pwm_array6[16] = {100, 100, 325, 325, 550, 550, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

move_servo(1000, pwm_array5);

move_servo(1000, pwm_array6);

/
*************************************************************************************
*****************/

void MiniHashHumanoid::leg_hand_shake(int count) {

int pwm_array1[16] = {100, 400, 325, 400, 550, 400, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

move_servo(1000, pwm_array1);

for (int i = 1; i <= count; i++) {

int pwm_array2[16] = {100, 250, 325, 325, 550, 250, 325, 250, 325, 325, 325, 325, 325, 325, 325, 325};

int pwm_array3[16] = {100, 400, 325, 400, 550, 400, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

move_servo(1000, pwm_array2);
move_servo(1000, pwm_array3);

int pwm_array4[16] = {100, 100, 325, 325, 550, 550, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

move_servo(1000, pwm_array4);

/
*************************************************************************************
*****************/

void MiniHashHumanoid::right_slide_wave(int count) {

int pwm_array1[16] = {100, 100, 325, 325, 550, 550, 325, 250, 325, 325, 325, 325, 325, 325, 325, 325};

int pwm_array2[16] = {100, 325, 325, 250, 550, 325, 325, 250, 325, 325, 325, 325, 325, 325, 325, 325};

move_servo(2000, pwm_array1);

move_servo(2000, pwm_array2);

for (int i = 1; i <= count; i++) {

int pwm_array3[16] = {100, 400, 325, 250, 550, 250, 325, 250, 400, 325, 325, 325, 325, 325, 325, 325};

int pwm_array4[16] = {100, 250, 325, 250, 550, 400, 325, 250, 250, 325, 325, 325, 325, 325, 325, 325};

move_servo(1000, pwm_array3);

move_servo(1000, pwm_array4);

int pwm_array5[16] = {100, 100, 325, 325, 550, 550, 325, 250, 325, 325, 325, 325, 325, 325, 325, 325};

int pwm_array6[16] = {100, 100, 325, 325, 550, 550, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

move_servo(2000, pwm_array5);

move_servo(2000, pwm_array6);

}
/
*************************************************************************************
*****************/

void MiniHashHumanoid::left_slide_wave(int count) {

int pwm_array1[16] = {100, 100, 325, 400, 550, 550, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

int pwm_array2[16] = {100, 325, 325, 400, 550, 325, 325, 400, 325, 325, 325, 325, 325, 325, 325, 325};

move_servo(2000, pwm_array1);

move_servo(2000, pwm_array2);

for (int i = 1; i <= count; i++) {

int pwm_array3[16] = {100, 400, 325, 400, 550, 250, 325, 400, 250, 325, 325, 325, 325, 325, 325, 325};

int pwm_array4[16] = {100, 250, 325, 400, 550, 400, 325, 400, 400, 325, 325, 325, 325, 325, 325, 325};

move_servo(1000, pwm_array3);

move_servo(1000, pwm_array4);

int pwm_array5[16] = {100, 100, 325, 400, 550, 550, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

int pwm_array6[16] = {100, 100, 325, 325, 550, 550, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

move_servo(2000, pwm_array5);

move_servo(2000, pwm_array6);

/
*************************************************************************************
*****************/

void MiniHashHumanoid::move_forward(int steps, int speed) {

for (int i = 1; i <= steps; i++) {

int pwm_array1[16] = {100, 100, 375, 350, 500, 550, 375, 350, 325, 325, 325, 325, 325, 325, 325, 325};

int pwm_array2[16] = {100, 100, 375, 325, 550, 550, 375, 325, 325, 325, 325, 325, 325, 325, 325, 325};

int pwm_array3[16] = {150, 100, 275, 300, 550, 550, 275, 300, 325, 325, 325, 325, 325, 325, 325, 325};

int pwm_array4[16] = {100, 100, 275, 325, 550, 550, 275, 325, 325, 325, 325, 325, 325, 325, 325, 325};

move_servo(speed, pwm_array1);

move_servo(speed, pwm_array2);

move_servo(speed, pwm_array3);

move_servo(speed, pwm_array4);

int pwm_array5[16] = {100, 100, 325, 325, 550, 550, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

move_servo(speed, pwm_array5);

/
*************************************************************************************
*****************/

void MiniHashHumanoid::move_backward(int steps, int speed) {

for (int i = 1; i <= steps; i++) {

int pwm_array1[16] = {100, 100, 375, 300, 550, 550, 375, 300, 325, 325, 325, 325, 325, 325, 325, 325};

int pwm_array2[16] = {100, 100, 375, 325, 550, 550, 375, 325, 325, 325, 325, 325, 325, 325, 325, 325};

int pwm_array3[16] = {100, 100, 275, 350, 550, 550, 275, 350, 325, 325, 325, 325, 325, 325, 325, 325};

int pwm_array4[16] = {100, 100, 275, 325, 550, 550, 275, 325, 325, 325, 325, 325, 325, 325, 325, 325};

move_servo(speed, pwm_array1);

move_servo(speed, pwm_array2);

move_servo(speed, pwm_array3);
move_servo(speed, pwm_array4);

int pwm_array5[16] = {100, 100, 325, 325, 550, 550, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

move_servo(speed, pwm_array5);

/
*************************************************************************************
*****************/

void MiniHashHumanoid::turn_left(int steps, int speed) {

for (int i = 1; i <= steps; i++) {

int pwm_array1[16] = {100, 100, 325, 325, 550, 550, 325, 300, 325, 325, 325, 325, 325, 325, 325, 325};

int pwm_array2[16] = {100, 100, 325, 288, 550, 550, 325, 288, 325, 325, 325, 325, 325, 325, 325, 325};

int pwm_array3[16] = {100, 100, 375, 288, 550, 550, 325, 288, 325, 325, 325, 325, 325, 325, 325, 325};

int pwm_array4[16] = {100, 100, 375, 325, 550, 550, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

int pwm_array5[16] = {100, 100, 375, 350, 550, 550, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

int pwm_array6[16] = {100, 100, 375, 362, 550, 550, 325, 362, 325, 325, 325, 325, 325, 325, 325, 325};

int pwm_array7[16] = {100, 100, 325, 362, 550, 550, 325, 362, 325, 325, 325, 325, 325, 325, 325, 325};

int pwm_array8[16] = {100, 100, 325, 325, 550, 550, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

move_servo(500, pwm_array1);

move_servo(500, pwm_array2);

move_servo(500, pwm_array3);

move_servo(500, pwm_array4);

move_servo(500, pwm_array5);

move_servo(500, pwm_array6);
move_servo(500, pwm_array7);

move_servo(500, pwm_array8);

int pwm_array9[16] = {100, 100, 325, 325, 550, 550, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

move_servo(speed, pwm_array9);

/
*************************************************************************************
*****************/

void MiniHashHumanoid::turn_right(int steps, int speed) {

for (int i = 1; i <= steps; i++) {

int pwm_array1[16] = {100, 100, 325, 350, 550, 550, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

int pwm_array2[16] = {100, 100, 325, 362, 550, 550, 325, 362, 325, 325, 325, 325, 325, 325, 325, 325};

int pwm_array3[16] = {100, 100, 325, 362, 550, 550, 275, 362, 325, 325, 325, 325, 325, 325, 325, 325};

int pwm_array4[16] = {100, 100, 325, 325, 550, 550, 275, 325, 325, 325, 325, 325, 325, 325, 325, 325};

int pwm_array5[16] = {100, 100, 325, 325, 550, 550, 275, 300, 325, 325, 325, 325, 325, 325, 325, 325};

int pwm_array6[16] = {100, 100, 325, 288, 550, 550, 275, 288, 325, 325, 325, 325, 325, 325, 325, 325};

int pwm_array7[16] = {100, 100, 325, 288, 550, 550, 325, 288, 325, 325, 325, 325, 325, 325, 325, 325};

int pwm_array8[16] = {100, 100, 325, 325, 550, 550, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

move_servo(500, pwm_array1);

move_servo(500, pwm_array2);

move_servo(500, pwm_array3);

move_servo(500, pwm_array4);

move_servo(500, pwm_array5);
move_servo(500, pwm_array6);

move_servo(500, pwm_array7);

move_servo(500, pwm_array8);

int pwm_array9[16] = {100, 100, 325, 325, 550, 550, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

move_servo(speed, pwm_array9);

/
*************************************************************************************
*****************/

void MiniHashHumanoid::side_move_right(int steps) {

for (int i = 1; i <= steps; i++) {

int pwm_array1[16] = {100, 100, 325, 325, 550, 550, 325, 400, 325, 325, 325, 325, 325, 325, 325, 325};

int pwm_array2[16] = {100, 100, 325, 325, 550, 550, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

move_servo(400, pwm_array1);

move_servo(400, pwm_array2);

/
*************************************************************************************
*****************/

void MiniHashHumanoid::side_move_left(int steps) {

for (int i = 1; i <= steps; i++) {

int pwm_array1[16] = {100, 100, 325, 250, 550, 550, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

int pwm_array2[16] = {100, 100, 325, 325, 550, 550, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

move_servo(400, pwm_array1);

move_servo(400, pwm_array2);

/
*************************************************************************************
*****************/

void MiniHashHumanoid::flying_hand_wave(int count) {

int pwm_array1[16] = {100, 475, 325, 325, 550, 175, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

move_servo(2000, pwm_array1);

for (int i = 1; i <= count; i++) {

int pwm_array2[16] = {100, 175, 325, 325, 550, 475, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

int pwm_array3[16] = {100, 475, 325, 325, 550, 175, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

move_servo(1000, pwm_array2);

move_servo(1000, pwm_array3);

int pwm_array4[16] = {100, 100, 325, 325, 550, 550, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

move_servo(2000, pwm_array4);

}
/
*************************************************************************************
*****************/

void MiniHashHumanoid::jump(int count, int height) {

if (height > 30) {

height = 30;

for (int i = 1; i <= count; i++) {

int pwm_array1[16] = {100, 100, 325, 400, 550, 550, 325, 250, 325, 325, 325, 325, 325, 325, 325, 325};

int pwm_array2[16] = {100, 100, 325, 325, 550, 550, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

move_servo(1000, pwm_array1);

move_servo(1000, pwm_array2);

/
*************************************************************************************
*****************/

void MiniHashHumanoid::leg_head_shake(int count) {

for (int i = 1; i <= count; i++) {

int pwm_array1[16] = {100, 100, 375, 325, 550, 550, 375, 325, 375, 325, 325, 325, 325, 325, 325, 325};

int pwm_array2[16] = {100, 100, 275, 325, 550, 550, 275, 325, 275, 325, 325, 325, 325, 325, 325, 325};

move_servo(1000, pwm_array1);

move_servo(1000, pwm_array2);
}

int pwm_array3[16] = {100, 100, 325, 325, 550, 550, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

move_servo(1000, pwm_array3);

/
*************************************************************************************
*****************/

void MiniHashHumanoid::flying(int count) {

int pwm_array1[16] = {100, 400, 325, 325, 550, 250, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

move_servo(2000, pwm_array1);

for (int i = 1; i <= count; i++) {

int pwm_array2[16] = {100, 250, 325, 400, 550, 400, 325, 250, 325, 325, 325, 325, 325, 325, 325, 325};

int pwm_array3[16] = {100, 400, 325, 325, 550, 250, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

move_servo(1000, pwm_array2);

move_servo(1000, pwm_array3);

int pwm_array4[16] = {100, 100, 325, 325, 550, 550, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

move_servo(1000, pwm_array4);

/
*************************************************************************************
*****************/

void MiniHashHumanoid::leg_shake(int count) {

for (int i = 1; i <= count; i++) {

int pwm_array1[16] = {100, 100, 325, 288, 550, 550, 325, 288, 325, 325, 325, 325, 325, 325, 325, 325};

int pwm_array2[16] = {100, 100, 325, 362, 550, 550, 325, 362, 325, 325, 325, 325, 325, 325, 325, 325};

move_servo(1000, pwm_array1);

move_servo(1000, pwm_array2);

int pwm_array3[16] = {100, 100, 325, 325, 550, 550, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

move_servo(1000, pwm_array3);

/
*************************************************************************************
*****************/

void MiniHashHumanoid::hand_straight_shake(int count) {

int pwm_array1[16] = {500, 100, 325, 325, 325, 550, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

move_servo(2000, pwm_array1);

for (int i = 1; i <= count; i++) {

int pwm_array2[16] = {325, 100, 325, 325, 150, 550, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

int pwm_array3[16] = {500, 100, 325, 325, 325, 550, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

move_servo(1000, pwm_array2);

move_servo(1000, pwm_array3);

}
int pwm_array4[16] = {100, 100, 325, 325, 550, 550, 325, 325, 325, 325, 325, 325, 325, 325, 325, 325};

move_servo(1000, pwm_array4);

/
*************************************************************************************
*****************/

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Mini Hash Humonoid Code

Uploaded by

Mini Hash Humonoid Code

Uploaded by

#include "MiniHashHumanoid.

Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver(0x40);

#define SCREEN_WIDTH 128

Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, -1);

XT_DAC_Audio_Class DacAudio(25, 0);

#define min_pulse_width 100

#define max_pulse_width 550

/* Initializing servo drive and OLED display */

Serial.println(F("SSD1306 allocation failed"));

/* Servo angle setting */

void MiniHashHumanoid::set_servo(int servo, int servo_pwm) {

for (int i = 0; i < 16; i++) {

/* Moving each servo at given time interval */

void MiniHashHumanoid::move_servo(int time, int servo_target[]) {

if (time > 10) {

increment[i] = ((servo_target[i]) - servo_position[i]) / (time / 10.0);

final_time = millis() + time;

for (int iteration = 1; millis() < final_time; iteration++) {

partial_time = millis() + 10;

for (int i = 0; i < 16; i++) {

set_servo(i, (int)(servo_position[i] + (iteration * increment[i])));

while (millis() < partial_time);

for (int i = 0; i < 16; i++) {

for (int i = 0; i < 16; i++) {

display.drawBitmap(0, 0, initialface, 128, 64, 1);

void MiniHashHumanoid::bink_eye(int bink_count) {

for (int i = 1 ; i <= bink_count; i++) {

display.drawBitmap(0, 0, blinkeye, 128, 64, 1);

display.drawBitmap(0, 0, talkface, 128, 64, 1);

display.drawBitmap(0, 0, happyface, 128, 64, 1);

display.drawBitmap(0, 0, angryface, 128, 64, 1);

display.drawBitmap(0, 0, sadface, 128, 64, 1);

display.drawBitmap(0, 0, cryingface, 128, 64, 1);

for (int i = 1; i <= count; i++) {

void MiniHashHumanoid::hand_wave(int count) {

for (int i = 1; i <= count; i++) {

void MiniHashHumanoid::right_leg_wave(int count) {

for (int i = 1; i <= count; i++) {

void MiniHashHumanoid::left_leg_wave(int count) {

for (int i = 1; i <= count; i++) {

void MiniHashHumanoid::leg_hand_shake(int count) {

for (int i = 1; i <= count; i++) {

void MiniHashHumanoid::right_slide_wave(int count) {

for (int i = 1; i <= count; i++) {

void MiniHashHumanoid::left_slide_wave(int count) {

for (int i = 1; i <= count; i++) {

void MiniHashHumanoid::move_forward(int steps, int speed) {

for (int i = 1; i <= steps; i++) {

void MiniHashHumanoid::move_backward(int steps, int speed) {

for (int i = 1; i <= steps; i++) {

void MiniHashHumanoid::turn_left(int steps, int speed) {

for (int i = 1; i <= steps; i++) {

void MiniHashHumanoid::turn_right(int steps, int speed) {

for (int i = 1; i <= steps; i++) {

void MiniHashHumanoid::side_move_right(int steps) {

for (int i = 1; i <= steps; i++) {

void MiniHashHumanoid::side_move_left(int steps) {

for (int i = 1; i <= steps; i++) {

void MiniHashHumanoid::flying_hand_wave(int count) {

for (int i = 1; i <= count; i++) {

void MiniHashHumanoid::jump(int count, int height) {

if (height > 30) {

for (int i = 1; i <= count; i++) {

void MiniHashHumanoid::leg_head_shake(int count) {

for (int i = 1; i <= count; i++) {

void MiniHashHumanoid::flying(int count) {

for (int i = 1; i <= count; i++) {

void MiniHashHumanoid::leg_shake(int count) {

void MiniHashHumanoid::hand_straight_shake(int count) {

for (int i = 1; i <= count; i++) {

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