Meccano Créations

Fabriqué à partir de deux grands mécanoïdes et entraîné par esp32.

As tu le programme correspondant ? Certains d'entre nous (dont je suis) seraient intéressés par le télécharger)

Nota. J'ai ajouté la référence Meccanoïd dans ton sujet pour le retrouver plus facilement.

// As requested

#include <MeccaBrain.h>

// Borrowed heavily from tatyanavolkova Update demo_meccanoids.ino https://github.com/robotscity/meccanoid ... anoids.ino
// Pins to connect Meccanoids' servos, where chain 1 is left arm, chain 2 is left leg and chain 3 is right arm chain 4 is right leg

const int chainPin1 = 32;
const int chainPin2 = 33;
const int chainPin3 = 25;
const int chainPin4 = 26;

MeccaBrain chain1 (chainPin1);
MeccaBrain chain2 (chainPin2);
MeccaBrain chain3 (chainPin3);
MeccaBrain chain4 (chainPin4);

// Joints mapping:
// Chain 1 - Left Arm. 1.0 is Shoulder, 1.1 is Arm, 1.2 is Elbow
// Chain 2 - Right Arm. 2.0 is Shoulder, 2.1 is Arm, 2.2 is Elbow
// Chain 3 - Right Leg. 3.0 is Shoulder, 3.1 is Arm 3.2 is Elbow
// Chain 4 - Left Leg. 4.0 is Shoulder, 4.1 is Arm 4.2 is Elbow

// Servo colors
const byte JOINT_BLACK = 0xF0;
const byte JOINT_RED = 0xF1;
const byte JOINT_GREEN = 0xF2;
const byte JOINT_BROWN = 0xF3;
const byte JOINT_BLUE = 0xF4;
const byte JOINT_VIOLET = 0xF5;
const byte JOINT_SEA = 0xF6;
const byte JOINT_WHITE = 0xF7;



void setup () {

pinMode (chainPin1, OUTPUT);
pinMode (chainPin2, OUTPUT);
pinMode (chainPin3, OUTPUT);
pinMode (chainPin4, OUTPUT);
Serial.begin (9600);

// Awake all servos

for (int i = 0; i <50; i ++)
{
chain1.communicate ();
chain2.communicate ();
chain3.communicate ();
   chain4.communicate ();
}
delay (200);

// set all servos to center
chain1.setServoPosition (0, 112);
chain1.setServoPosition (1, 112);
chain1.setServoPosition (2, 112);
chain1.communicate ();
chain2.setServoPosition (0, 112);
chain2.setServoPosition (1, 112);
chain2.setServoPosition (2, 112);
chain2.communicate ();
chain3.setServoPosition (0, 112);
chain3.setServoPosition (1, 112);
chain3.setServoPosition (2, 112);
chain3.communicate ();
chain4.setServoPosition (0, 112);
chain4.setServoPosition (1, 112);
chain4.setServoPosition (2, 112);
chain4.communicate ();
delay (1000);

// set the servos to identify each leg

chain1.setServoColor (0, JOINT_RED);
chain1.setServoColor (1, JOINT_RED);
chain1.setServoColor (2, JOINT_RED);
chain1.communicate ();
chain2.setServoColor (0, JOINT_SEA);
chain2.setServoColor (1, JOINT_SEA);
chain2.setServoColor (2, JOINT_SEA);
chain2.communicate ();
chain3.setServoColor (0, JOINT_VIOLET);
chain3.setServoColor (1, JOINT_VIOLET);
chain3.setServoColor (2, JOINT_VIOLET);
chain3.communicate ();
chain4.setServoColor (0, JOINT_WHITE);
chain4.setServoColor (1, JOINT_WHITE);
chain4.setServoColor (2, JOINT_WHITE);
chain4.communicate ();

}

void loop () {

// frame one

chain1.setServoPosition (1, 107);
chain1.setServoPosition (2, 200);
chain1.communicate ();
delay (500);

chain2.setServoPosition (1, 160);
chain2.setServoPosition (2, 90);
chain2.communicate ();
delay (500);

chain3.setServoPosition (1, 90);
chain3.setServoPosition (2, 122);
chain3.communicate ();
delay (500);

chain4.setServoPosition (1, 90);
chain4.setServoPosition (2, 122);
chain4.communicate ();
delay (2500);

// frame 2

chain1.setServoPosition (1, 132);
chain1.setServoPosition (2, 190);
chain1.communicate ();
delay (500);

chain2.setServoPosition (1, 170);
chain2.setServoPosition (2, 122);
chain2.communicate ();
delay (500);

chain3.setServoPosition (2, 102);
chain3.setServoPosition (1, 110);
chain3.setServoPosition (2, 142);
chain3.communicate ();
delay (500);

chain4.setServoPosition (1, 90);
chain4.setServoPosition (2, 140);
chain4.communicate ();
delay (2500);

// Frame 3

chain1.setServoPosition (1, 160);
chain1.setServoPosition (2, 122);
chain1.communicate ();
delay (500);

chain2.setServoPosition (1, 170);
chain2.setServoPosition (2, 122);
chain2.communicate ();
delay (500);

chain3.setServoPosition (1, 150);
chain3.setServoPosition (2, 122);
chain3.communicate ();
delay (500);

chain4.setServoPosition (1, 122);
chain4.setServoPosition (2, 122);
chain4.communicate ();
delay (500);

/ * still working on the final 5 frames
chain1.setServoPosition (1, 167);
chain1.setServoPosition (2, 250-180);
chain1.communicate ();
delay (500);

chain2.setServoPosition (1, 167);
chain2.setServoPosition (2, 250-180);
chain2.communicate ();
delay (500);

chain3.setServoPosition (1, 167);
chain3.setServoPosition (2, 250-180);
chain3.communicate ();
delay (500);

chain4.setServoPosition (1, 167);
chain4.setServoPosition (2, 250-180);
chain4.communicate ();
delay (500);

* /

}

it is very important to make the wire harness as described on this link.

https://meccontrol.com/help/software/de ... servomotor

Meccabrain.h mis à jour pour corriger les variables de tableau

Code : Tout sélectionner

/*

UPDATED NOV 2019  MOVED ARRAY VARIABLES TO BOTTOM OF PRIVATE DECLARATION




       LEGAL NOTICE:
      Meccano™, MeccaBrain™, MeccanoTech™ and Meccanoid™ are trademarks of Meccano.  All rights reserved.     
      The information contained in this document is Proprietary to Spin Master Ltd.   
      This information should not be used in the creation and sale of any commercial product.”
*/
#ifndef MeccaBrain_h
#define MeccaBrain_h

#include "Arduino.h"

class MeccaBrain{


    public:
        MeccaBrain(int pin);
        
        byte outputByteInfo(int num);
        byte inputByteInfo();
        byte checkSumByteInfo();
        
        char moduleTypeInfo(int num);
        byte moduleNumInfo();
        byte getLEDorder();
        byte getLEDbyte1();
        byte getLEDbyte2();    

        void setLEDColor(byte red, byte green, byte blue, byte fadetime);
        
        void communicate();        
        void sendByte(byte servoData);
        byte receiveByte();
        byte calculateCheckSum(byte Data1, byte Data2, byte Data3, byte Data4);
        
        byte inputBytesInfo(int servoNum);
        void setServoColor(int servoNum, byte color);
        ;
        void setServotoLIM(int servoNum);
        byte getServoPosition(int servoNum);
        
        byte servoPositionsInfo(int servoNum);
        void setServoPosition(int servoNum, byte pos);

    private:
        int _pmwPin;
        int servoNumber;
        int inputCounter = 0;
        int moduleNum = 0;
        int printModNum = 0;
        int ledOrder = 0;
        int bitDelay = 417;
        int receiveArray[8];
        
        
        byte inputByte;
        
        byte checkSum;
        byte servoPos;
        byte LEDoutputByte1 = 0x00;
        byte LEDoutputByte2 = 0x47;
        byte header = 0xFF;
        byte outputByte[4];
        byte printOutputByte[4];
        
        char moduleType[4];
        byte inputBytes[];
               int servo1Positions[];
        int servo2Positions[];
        int servo3Positions[];
        int servo4Positions[];
    
        
};

#endif

Merci.
Je vais essayer, dès que j'en ai la possibilité.

Thanks. I will try when possible.

J'espère refaire avec cette nouvelle bibliothèque arduino.

https://github.com/alexfrederiksen/Mecc ... ino#readme

Je vous remercie JeanGar

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