Stock workshop Robotics and Modular Machines:

Robotics and Modular Machines

Hello Arduino!!!

Hello Mr.Stock!!!!

code

1. programming logic:

2. the code.

 a.without musical scale

int myInts[8]; const int myPins[] = {A0,A1,A2,A3,A4,A5,A6,A7}; int mySensVals[8]; int myMaxValues[8]; int myMinValues[8];

const int speakerPin = 9;

void setup() {

Serial.begin(115200);
// using those pins as output

pinMode(speakerPin, OUTPUT);

for (int n = 0; n < 8; n++)
{
  pinMode(myPins[n], INPUT);
  digitalWrite(myPins[n], HIGH);
  myMinValues[n] = 1023;
  myMaxValues[n] = 0;
}

}

void readSensor(int n) {

int val = analogRead(myPins[n]);
if (val > myMaxValues[n])
{
  myMaxValues[n] = val;
}
if (val < myMinValues[n])
{
  myMinValues[n] = val;
}

mySensVals[n] = map(val, myMinValues[n], myMaxValues[n], 0, 255);

}

void readSensors(void) {

for (int n = 0; n < 8; n++)
{
  readSensor(n);
}  

}

void printSensors(void) {

for (int n = 0; n < 8; n++)
{
  Serial.print(n, DEC);
  Serial.print(": ");
  Serial.print(mySensVals[n], DEC);
  Serial.print(", ");
}
Serial.println();

}

void loop() {

 readSensors();
 
 printSensors();

}

void makeTone(int freq){

  digitalWrite(speakerPin, HIGH);
  delayMicroseconds(freq);
  digitalWrite(speakerPin, LOW);
  delayMicroseconds(freq);  

}

with musical scale

1. include <stdint.h>
2. include <avr/io.h>
3. include <avr/interrupt.h>

static uint8_t pin_bv[2]; volatile uint8_t * port[2]; volatile uint8_t * ddr[2];

static volatile uint16_t interval[2];

void setup_tone_pins(uint8_t pin_a, uint8_t pin_b) { // setup output pins if (pin_a < 8) { pin_bv[0] = _BV(pin_a); port[0] = &PORTD; ddr[0] = &DDRD; } else if (pin_a < 14) { pin_bv[0] = _BV(pin_a - 8); port[0] = &PORTB; ddr[0] = &DDRB; }

if (pin_b < 8) { pin_bv[1] = _BV(pin_b); port[1] = &PORTD; ddr[1] = &DDRD; } else if (pin_b < 14) { pin_bv[1] = _BV(pin_b - 8); port[1] = &PORTB; ddr[1] = &DDRB; }

* port[0] &= (uint8_t)~pin_bv[0]; * port[1] &= (uint8_t)~pin_bv[1]; * ddr[0] |= pin_bv[0]; * ddr[1] |= pin_bv[1]; interval[0] = 0; interval[1] = 0;

// setup Timer 1 TCCR1A = 0; TCCR1B = _BV(CS11); // prescaler at F_CPU / 8 = 2MHz TIMSK1 = _BV(OCIE1B) | _BV(OCIE1A); // enable both OCR interrupts }

// Interrupt Service Routines ISR(TIMER1_COMPA_vect) { if (interval[0]) { * port[0] ^= pin_bv[0]; // toggle output pin polarity OCR1A = TCNT1 + interval[0]; // schedule next interrupt } else { * port[0] &= (uint8_t)~pin_bv[0]; // set output pin low } }

ISR(TIMER1_COMPB_vect) { if (interval[1]) { * port[1] ^= pin_bv[1]; // toggle output pin polarity OCR1B = TCNT1 + interval[1]; // schedule next interrupt } else { * port[1] &= (uint8_t)~pin_bv[1]; // set output pin low } }

void tone_a(uint16_t freq) { // calculate interval from given freq if ((freq > 15) && (freq < 62500)) { interval[0] = 1000000L / freq; OCR1A = TCNT1 + interval[0]; } else { interval[0] = 0; } }

void tone_b(uint16_t freq) { // calculate interval from given freq if ((freq > 15) && (freq < 62500)) { interval[1] = 1000000L / freq; OCR1B = TCNT1 + interval[0]; } else { interval[1] = 0; } }

int myInts[8]; const int myPins[] = {A0,A1,A2,A3,A4,A5,A6,A7}; int mySensVals[8]; int myMaxValues[8]; int myMinValues[8];

const int speakerPin = 9;

const int tones[] = {33, 37, 41, 46, 49, 55, 61};

void setup() {

setup_tone_pins(9, 10);

// configure Timer2 for HIGH FREQUENCY PWM (62.5kHz) on pins 3 and 11
  pinMode(3, OUTPUT);
  pinMode(11, OUTPUT);
 
 TCCR2B &= (uint8_t)~(_BV(CS20) | _BV(CS21) | _BV(CS22));
 TCCR2B |= _BV(CS20);  // run Timer2 at 16MHz
 
Serial.begin(115200);
// using those pins as output

// pinMode(speakerPin, OUTPUT);

for (int n = 0; n < 8; n++)
{
  pinMode(myPins[n], INPUT);
  digitalWrite(myPins[n], HIGH);
  myMinValues[n] = 1023;
  myMaxValues[n] = 0;
}

}

void readSensor(int n) {

int val = analogRead(myPins[n]);
if (val > myMaxValues[n])
{
  myMaxValues[n] = val;
}
if (val < myMinValues[n])
{
  myMinValues[n] = val;
}
mySensVals[n] = map(val, myMinValues[n], myMaxValues[n], 0, 255);

}

void readSensors(void) {

for (int n = 0; n < 8; n++)
{
  readSensor(n);
}  

}

void printSensors(void) {

for (int n = 0; n < 8; n++)
{
  Serial.print(n, DEC);
  Serial.print(": ");
  Serial.print(mySensVals[n], DEC);
  Serial.print(", ");
}

Serial.println();

}

int calc_freq(int first_sens, int num_sens) {

 int n, val, tone_nr, freq;
 //int oct = 0;
 int avg = 0;
 int count = 0;
 
 for (int i = 0; i < num_sens; i++)
 {
   n = first_sens + i;
   val = mySensVals[n];
   if (val > 16)
   {

// oct += 1 << i;

     avg += val;
     count++;
   }
 }
 
 if (count > 0)
 {
   avg = avg / count;
   tone_nr = map(avg, 0, 255, 0, 5);
   

// freq = tones[tone_nr] * (1 << oct);

   freq = tones[tone_nr] * (1 << count);
   
   return freq;
 } else {
   return 0;
 }

}

void loop() {

 readSensors();
 
 printSensors();
 
 // set frequency on pin 9ß
 uint16_t freq = calc_freq(0, 3);
 tone_a(freq);
 
 // set volume on pin 3
 if (freq > 15)
 {
   analogWrite(3,255-mySensVals[3]);
 } else {
   analogWrite(3, 255);
 }
 
 // set frequency on pin 10
 freq = calc_freq(4, 3);
 tone_b(freq);
 
 // set volume on pin 11
 if (freq > 15)
 {
   analogWrite(11,255-mySensVals[7]);
 } else {
   analogWrite(11, 255);
 }
 
 delay(133);

}

//void makeTone(int freq){

 // digitalWrite(speakerPin, HIGH);
  //delayMicroseconds(freq);
 // digitalWrite(speakerPin, LOW);
 // delayMicroseconds(freq);  

//}

3. c

hardware

1. Arduino nano ( volume control. analog inputs,)

2. sensors

learning process

1. AC DC

2. H-bridge

document photos...

for optical instrument

code:

//no moter //sensor pin const int ldrPin = A1;

//light pin const int ledPin = 13; //speaker pin const int speakerPin = 9;

void setup(){

Serial.begin(115200);
// using those pins as output

pinMode(ledPin, OUTPUT);
pinMode(speakerPin, OUTPUT);

}

void loop() {

 int ldrVal = analogRead(ldrPin);
 //map the value of the light sensor
 ldrVal = map(ldrVal, 170, 600, 0, 1023);
 //constrain the vaule from 0 to 1023
 ldrVal = constrain(ldrVal, 0, 1023);

// turning on the led

 digitalWrite(ledPin, HIGH);

 Serial.println(ldrVal);

 makeTone(ldrVal);

}

void makeTone(int freq){

   digitalWrite(speakerPin, HIGH);
   delayMicroseconds(freq);
   digitalWrite(speakerPin, LOW);
   delayMicroseconds(freq);

}

Hardware:

white board :

1. 2. 3. 4.

5. 6. 7.

First test of monolog machine! with Michaela's hacked TV