Modo Bancada · Plugada
Robô Otto Dançarino
Robô Otto Dançarino
📶 Intermediario · ⏱ 3 a 5 aulas
🎯 O desafio
Montar e programar um robô humanoide que dança: encadear movimentos dos servos (andar, virar, moonwalk, gingado, chutes) numa coreografia — trabalhando sequência, repetição, calibração e autoria.
🧰 O que vamos usar
1x Arduino Nano (placa controladora) 1x Shield de expansão (Sparkfun Nano Shield) 4x Micro servo SG90 (ou compatível) 1x Sensor ultrassônico HC-SR04 (os olhos) 1x Buzzer (zumbador) 1x Interruptor ON/OFF 1x Bateria recarregável Li-ion 16340 (3,7V) 1x Cabo USB (para programação) 1x Peças impressas em 3D (corpo, cabeça, 2 pernas, 2 pés) 1x Parafusos, chave de fenda e cabos Dupont (opcional)
💻 O código
/*
* Robô Otto Dançarino — dança 'Smooth Criminal'
* Código original da biblioteca OttoDIY (humanoide com 4 servos: pernas D2/D3, pés D4/D5).
* Mantido como na pasta do kit. Os comentários internos seguem do original.
*/
//----------------------------------------------------------------
//-- Otto Dance smooth criminal
//-- This code will make Otto dance play the by Michael Jackson song at the same time and see it in action
//-- https://www.ottodiy.com/
//-----------------------------------------------------------------
#include <Servo.h>
#include <Oscillator.h>
#include <EEPROM.h>
#define N_SERVOS 4
//-- Make sure the servos are in the right pin
/* --------
| O O |
|--------|
RIGHT LEG (YR) 3 | | LEFT LEG 2 (YL)
--------
|| ||
RIGHT FOOT (RR) 5 |--- ---| LEFT FOOT 4 (RL)
*/
#define EEPROM_TRIM false
// Activate to take callibration data from internal memory
#define TRIM_RR 7
#define TRIM_RL 4
#define TRIM_YR 4
#define TRIM_YL -7
//OTTO.setTrims(-7,-4,-4,7);
#define PIN_RR 5
#define PIN_RL 4
#define PIN_YR 3
#define PIN_YL 2
#define INTERVALTIME 10.0
Oscillator servo[N_SERVOS];
void goingUp(int tempo);
void drunk (int tempo);
void noGravity(int tempo);
void kickLeft(int tempo);
void kickRight(int tempo);
void run(int steps, int T=500);
void walk(int steps, int T=1000);
void backyard(int steps, int T=3000);
void backyardSlow(int steps, int T=5000);
void turnLeft(int steps, int T=3000);
void turnRight(int steps, int T=3000);
void moonWalkLeft(int steps, int T=1000);
void moonWalkRight(int steps, int T=1000);
void crusaito(int steps, int T=1000);
void swing(int steps, int T=1000);
void upDown(int steps, int T=1000);
void flapping(int steps, int T=1000);
void setup()
{
Serial.begin(19200);
servo[0].attach(PIN_RR);
servo[1].attach(PIN_RL);
servo[2].attach(PIN_YR);
servo[3].attach(PIN_YL);
//EEPROM.write(0,TRIM_RR);
//EEPROM.write(1,TRIM_RL);
//EEPROM.write(2,TRIM_YR);
//EEPROM.write(3,TRIM_YL);
int trim;
if(EEPROM_TRIM){
for(int x=0;x<4;x++){
trim=EEPROM.read(x);
if(trim>128)trim=trim-256;
Serial.print("TRIM ");
Serial.print(x);
Serial.print(" en ");
Serial.println(trim);
servo[x].SetTrim(trim);
}
}
else{
servo[0].SetTrim(TRIM_RR);
servo[1].SetTrim(TRIM_RL);
servo[2].SetTrim(TRIM_YR);
servo[3].SetTrim(TRIM_YL);
}
for(int i=0;i<4;i++) servo[i].SetPosition(90);
}
// TEMPO: 121 BPM
int t=495;
double pause=0;
void loop()
{
// if(Serial.available()){
// char init = Serial.read();
// if (init=='X'){
// delay(4000); //3000 - 4500
dance();
//for(int i=0;i<4;i++) servo[i].SetPosition(90);
for(int i=0;i<4;i++) servo[i].SetPosition(90);
// }
// }
}
void dance(){
primera_parte(); segunda_parte();
moonWalkLeft(4,t*2); moonWalkRight(4,t*2); moonWalkLeft(4,t*2); moonWalkRight(4,t*2);
primera_parte();
crusaito(1,t*8); crusaito(1,t*7);
for (int i=0; i<16; i++){ flapping(1,t/4); delay(3*t/4); }
moonWalkRight(4,t*2); moonWalkLeft(4,t*2); moonWalkRight(4,t*2); moonWalkLeft(4,t*2);
drunk(t*4);drunk(t*4); drunk(t*4); drunk(t*4);
kickLeft(t); kickRight(t);
drunk(t*8); drunk(t*4);drunk(t/2);
delay(t*4);
drunk(t/2);
delay(t*4);
walk(2,t*2);
backyard(2,t*2);
goingUp(t*2); goingUp(t*1);
noGravity(t*2);
crusaito(1,t*2); crusaito(1,t*8); crusaito(1,t*2); crusaito(1,t*8); crusaito(1,t*2); crusaito(1,t*3);
delay(t);
primera_parte();
for (int i=0; i<32; i++){ flapping(1,t/2); delay(t/2); }
for(int i=0;i<4;i++) servo[i].SetPosition(90);}
//////////////////////////////////CONTROL FUNCTIONS//////////////////////////////////
void oscillate(int A[N_SERVOS], int O[N_SERVOS], int T, double phase_diff[N_SERVOS]){
for (int i=0; i<4; i++) {
servo[i].SetO(O[i]);
servo[i].SetA(A[i]);
servo[i].SetT(T);
servo[i].SetPh(phase_diff[i]);
}
double ref=millis();
for (double x=ref; x<T+ref; x=millis()){
for (int i=0; i<4; i++){
servo[i].refresh();
}
}
}
unsigned long final_time;
unsigned long interval_time;
int oneTime;
int iteration;
float increment[N_SERVOS];
int oldPosition[]={90,90,90,90};
void moveNServos(int time, int newPosition[]){
for(int i=0;i<N_SERVOS;i++) increment[i] = ((newPosition[i])-oldPosition[i])/(time/INTERVALTIME);
final_time = millis() + time;
iteration = 1;
while(millis() < final_time){ //Javi del futuro cambia esto
interval_time = millis()+INTERVALTIME;
oneTime=0;
while(millis()<interval_time){
if(oneTime<1){
for(int i=0;i<N_SERVOS;i++){
servo[i].SetPosition(oldPosition[i] + (iteration * increment[i]));
}
iteration++;
oneTime++;
}
}
}
for(int i=0;i<N_SERVOS;i++){
oldPosition[i] = newPosition[i];
}
}
////////////////////////////////Dance Steps////////////////////////////////
void goingUp(int tempo){
pause=millis();
for(int i=0;i<4;i++) servo[i].SetPosition(90);
delay(tempo);
servo[0].SetPosition(80);
servo[1].SetPosition(100);
delay(tempo);
servo[0].SetPosition(70);
servo[1].SetPosition(110);
delay(tempo);
servo[0].SetPosition(60);
servo[1].SetPosition(120);
delay(tempo);
servo[0].SetPosition(50);
servo[1].SetPosition(130);
delay(tempo);
servo[0].SetPosition(40);
servo[1].SetPosition(140);
delay(tempo);
servo[0].SetPosition(30);
servo[1].SetPosition(150);
delay(tempo);
servo[0].SetPosition(20);
servo[1].SetPosition(160);
delay(tempo);
while(millis()<pause+8*t);
}
void primera_parte(){
int move1[4] = {60,120,90,90};
int move2[4] = {90,90,90,90};
int move3[4] = {40,140,90,90};
for(int x=0; x<3; x++){
for(int i=0; i<3; i++){
lateral_fuerte(1,t/2);
lateral_fuerte(0,t/4);
lateral_fuerte(1,t/4);
delay(t);
}
pause=millis();
for(int i=0;i<4;i++) servo[i].SetPosition(90);
moveNServos(t*0.4,move1);
moveNServos(t*0.4,move2);
while(millis()<(pause+t*2));
}
for(int i=0; i<2; i++){
lateral_fuerte(1,t/2);
lateral_fuerte(0,t/4);
lateral_fuerte(1,t/4);
delay(t);
}
pause=millis();
for(int i=0;i<4;i++) servo[i].SetPosition(90);
crusaito(1,t*1.4);
moveNServos(t*1,move3);
for(int i=0;i<4;i++) servo[i].SetPosition(90);
while(millis()<(pause+t*4));
}
void segunda_parte(){
int move1[4] = {90,90,80,100};
int move2[4] = {90,90,100,80};
int move3[4] = {90,90,80,100};
int move4[4] = {90,90,100,80};
int move5[4] = {40,140,80,100};
int move6[4] = {40,140,100,80};
int move7[4] = {90,90,80,100};
int move8[4] = {90,90,100,80};
int move9[4] = {40,140,80,100};
int move10[4] = {40,140,100,80};
int move11[4] = {90,90,80,100};
int move12[4] = {90,90,100,80};
for(int x=0; x<7; x++){
for(int i=0; i<3; i++){
pause=millis();
moveNServos(t*0.15,move1);
moveNServos(t*0.15,move2);
moveNServos(t*0.15,move3);
moveNServos(t*0.15,move4);
while(millis()<(pause+t));
}
pause=millis();
moveNServos(t*0.15,move5);
moveNServos(t*0.15,move6);
moveNServos(t*0.15,move7);
moveNServos(t*0.15,move8);
while(millis()<(pause+t));
}
for(int i=0; i<3; i++){
pause=millis();
moveNServos(t*0.15,move9);
moveNServos(t*0.15,move10);
moveNServos(t*0.15,move11);
moveNServos(t*0.15,move12);
while(millis()<(pause+t));
}
}
void lateral_fuerte(boolean side, int tempo){
for(int i=0;i<4;i++) servo[i].SetPosition(90);
if (side) servo[0].SetPosition(40);
else servo[1].SetPosition(140);
delay(tempo/2);
servo[0].SetPosition(90);
servo[1].SetPosition(90);
delay(tempo/2);
}
void drunk (int tempo){
pause=millis();
int move1[] = {60,70,90,90};
int move2[] = {110,120,90,90};
int move3[] = {60,70,90,90};
int move4[] = {110,120,90,90};
moveNServos(tempo*0.235,move1);
moveNServos(tempo*0.235,move2);
moveNServos(tempo*0.235,move3);
moveNServos(tempo*0.235,move4);
while(millis()<(pause+tempo));
}
void noGravity(int tempo){
int move1[4] = {120,140,90,90};
int move2[4] = {140,140,90,90};
int move3[4] = {120,140,90,90};
int move4[4] = {90,90,90,90};
for(int i=0;i<4;i++) servo[i].SetPosition(90);
for(int i=0;i<N_SERVOS;i++) oldPosition[i]=90;
moveNServos(tempo*2,move1);
moveNServos(tempo*2,move2);
delay(tempo*2);
moveNServos(tempo*2,move3);
moveNServos(tempo*2,move4);
}
void kickLeft(int tempo){
for(int i=0;i<4;i++) servo[i].SetPosition(90);
delay(tempo);
servo[0].SetPosition(50); //pie derecho
servo[1].SetPosition(70); //pie izquiero
delay(tempo);
servo[0].SetPosition(80); //pie derecho
servo[1].SetPosition(70); //pie izquiero
delay(tempo/4);
servo[0].SetPosition(30); //pie derecho
servo[1].SetPosition(70); //pie izquiero
delay(tempo/4);
servo[0].SetPosition(80); //pie derecho
servo[1].SetPosition(70); //pie izquiero
delay(tempo/4);
servo[0].SetPosition(30); //pie derecho
servo[1].SetPosition(70); //pie izquiero
delay(tempo/4);
servo[0].SetPosition(80); //pie derecho
servo[1].SetPosition(70); //pie izquiero
delay(tempo);
}
void kickRight(int tempo){
for(int i=0;i<4;i++) servo[i].SetPosition(90);
delay(tempo);
servo[0].SetPosition(110); //pie derecho
servo[1].SetPosition(130); //pie izquiero
delay(tempo);
servo[0].SetPosition(110); //pie derecho
servo[1].SetPosition(100); //pie izquiero
delay(tempo/4);
servo[0].SetPosition(110); //pie derecho
servo[1].SetPosition(150); //pie izquiero
delay(tempo/4);
servo[0].SetPosition(110); //pie derecho
servo[1].SetPosition(80); //pie izquiero
delay(tempo/4);
servo[0].SetPosition(110); //pie derecho
servo[1].SetPosition(150); //pie izquiero
delay(tempo/4);
servo[0].SetPosition(110); //pie derecho
servo[1].SetPosition(100); //pie izquiero
delay(tempo);
}
void walk(int steps, int T){
int A[4]= {15, 15, 30, 30};
int O[4] = {0, 0, 0, 0};
double phase_diff[4] = {DEG2RAD(0), DEG2RAD(0), DEG2RAD(90), DEG2RAD(90)};
for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}
void run(int steps, int T){
int A[4]= {10, 10, 10, 10};
int O[4] = {0, 0, 0, 0};
double phase_diff[4] = {DEG2RAD(0), DEG2RAD(0), DEG2RAD(90), DEG2RAD(90)};
for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}
void backyard(int steps, int T){
int A[4]= {15, 15, 30, 30};
int O[4] = {0, 0, 0, 0};
double phase_diff[4] = {DEG2RAD(0), DEG2RAD(0), DEG2RAD(-90), DEG2RAD(-90)};
for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}
void backyardSlow(int steps, int T){
int A[4]= {15, 15, 30, 30};
int O[4] = {0, 0, 0, 0};
double phase_diff[4] = {DEG2RAD(0), DEG2RAD(0), DEG2RAD(-90), DEG2RAD(-90)};
for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}
void turnLeft(int steps, int T){
int A[4]= {20, 20, 10, 30};
int O[4] = {0, 0, 0, 0};
double phase_diff[4] = {DEG2RAD(0), DEG2RAD(0), DEG2RAD(90), DEG2RAD(90)};
for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}
void turnRight(int steps, int T){
int A[4]= {20, 20, 30, 10};
int O[4] = {0, 0, 0, 0};
double phase_diff[4] = {DEG2RAD(0), DEG2RAD(0), DEG2RAD(90), DEG2RAD(90)};
for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}
void moonWalkRight(int steps, int T){
int A[4]= {25, 25, 0, 0};
int O[4] = {-15 ,15, 0, 0};
double phase_diff[4] = {DEG2RAD(0), DEG2RAD(180 + 120), DEG2RAD(90), DEG2RAD(90)};
for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}
void moonWalkLeft(int steps, int T){
int A[4]= {25, 25, 0, 0};
int O[4] = {-15, 15, 0, 0};
double phase_diff[4] = {DEG2RAD(0), DEG2RAD(180 - 120), DEG2RAD(90), DEG2RAD(90)};
for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}
void crusaito(int steps, int T){
int A[4]= {25, 25, 30, 30};
int O[4] = {- 15, 15, 0, 0};
double phase_diff[4] = {DEG2RAD(0), DEG2RAD(180 + 120), DEG2RAD(90), DEG2RAD(90)};
for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}
void swing(int steps, int T){
int A[4]= {25, 25, 0, 0};
int O[4] = {-15, 15, 0, 0};
double phase_diff[4] = {DEG2RAD(0), DEG2RAD(0), DEG2RAD(90), DEG2RAD(90)};
for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}
void upDown(int steps, int T){
int A[4]= {25, 25, 0, 0};
int O[4] = {-15, 15, 0, 0};
double phase_diff[4] = {DEG2RAD(180), DEG2RAD(0), DEG2RAD(270), DEG2RAD(270)};
for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}
void flapping(int steps, int T){
int A[4]= {15, 15, 8, 8};
int O[4] = {-A[0], A[1], 0, 0};
double phase_diff[4] = {DEG2RAD(0), DEG2RAD(180), DEG2RAD(90), DEG2RAD(-90)};
for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}
void test(int steps, int T){
int A[4]= {15, 15, 8, 8};
int O[4] = {-A[0] + 10, A[1] - 10, 0, 0};
double phase_diff[4] = {DEG2RAD(0), DEG2RAD(180), DEG2RAD(90), DEG2RAD(-90)};
for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}
🖨️ Peças 3D
Toque para ver em 3D · gire com o dedo.
⏳
Corpo
⏳
Cabeça (com shield do Nano)
⏳
Perna
⏳
Pé esquerdo
⏳
Pé direito
Pra fechar
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