User:Tolga Ozuygur/Xylomatron

Xylomatron (:D) is a xylophone playing robot. The starting point was trying to find a way to play the clapping music. Actually I could talk about; <source lang="actionscript3"> How clapping music is being played by clapping and instead of using a piezo by using a real physical way to produce sound would fit amazingly to the context. <source> But I will not. In fact, I built this just because I thought it would be fun.

My first idea was just to play the beat of the clapping music on the same notes. Here is the result video with a fancy thumbnail (Michael did it!): File:Http://pzwart3.wdka.hro.nl/wiki/File:TolgaClappingMusic.ogv

But then, I mean the robot was not robot enough. It was just using 2 servos in order to make a repetitive movement. To make it feel more like a robot, I knew I should have use some double axis setup. That way it would look much more like a couple of terminator arms and hypnotize the spectator with all the complex-looking (yet simple) double axis rotations and twirls. It is definitely a great way to make your robot look complex with just a little bit of extra cost. And as a surprise I would be able to play any note I'd like to play on the xylophone. Excellent. Here is a video from the new version trying its speed level with a test algorithm:

VIDEO

After talking to Michael about adding some human interaction to the project, I have decided to turn this into a game. You will be able to play a Simon Says style game by using the xylophone.

Here is the current source (a little bit messy at the moment): <source lang='C'>

include <Servo.h>

int servos[] = {

 4,5,6,7};

Servo servo_0; Servo servo_1; Servo servo_2; Servo servo_3; Servo servo_instance[] = {

 servo_0, servo_1,servo_2, servo_3};

int servo_timer[] = {

 0,0,0,0};

int servo_start_angle[] = {

 130, 100, 70, 100};

int servo_hit_angle[]= {

 154, -1, 46, -1};

int servo_trim[] = {

 0,-5,3,-6};

int servo_amount = 4; int servo_max_timer = 12; int notes_servo_array[] = {

 1,1,1,1,3,3,3,3};

int notes_angle_array[] = {

 125,110,95,80,125,110,95,80};

//note value: 0-7

void setup() {

 servo_0.attach(servos[0]);
 servo_1.attach(servos[1]);
 servo_2.attach(servos[2]);
 servo_3.attach(servos[3]);
 for(int i=0; i<servo_amount; i++){
   reset_servo(i); 
 }
 Serial.begin(19200);

}

int a = 0; int count_note = 0; int temp_play_note_array[]= {0,4,1,5,2,6,3,7,0,4,1,5,2,6,3,7,0,4,1,5,2,6,3,7,0,7,1,6,2,5,3,4,0,7,1,6,2,5,3,4,0,7,1,6,2,5,3,4}; void loop() {

 if(a > 17){
   play_note(temp_play_note_array[count_note]);
   count_note = count_note + 1;
   if(count_note > 42){
     count_note = 0; 
   }
   a = 0;
 }
 else{
   a = a +1; 
 }
 handle_servo_timers();
 delay(10);

}

void play_note(int temp_which_note){

 int temp_which_servo = notes_servo_array[temp_which_note];
 if(servo_timer[temp_which_servo] == 0){
   servo_set_angle(temp_which_servo, notes_angle_array[temp_which_note]);
   servo_timer[temp_which_servo] = servo_max_timer;
 }

} void servo_hit(int temp_which_servo){

 servo_set_angle(temp_which_servo,servo_hit_angle[temp_which_servo]);
 servo_timer[temp_which_servo] = servo_max_timer;

}

void reset_servo(int temp_which_servo){

 servo_set_angle(temp_which_servo,servo_start_angle[temp_which_servo]);

}

void servo_set_angle(int temp_which_servo, int temp_angle){

 servo_instance[temp_which_servo].write(temp_angle+servo_trim[temp_which_servo]);

}

void handle_servo_timers(){

 for(int i=0; i<servo_amount; i++){
   if(servo_timer[i] > 0){
     servo_timer[i] = servo_timer[i] - 1;
     if(servo_timer[i] == 4){
       if((i == 0) || (i==2)){
         reset_servo(i); 
       }
     }
     if(servo_timer[i] == 0){        
       if(i == 0){
         reset_servo(1);  
       }
       if(i == 1){
         servo_hit(0); 
       }
       if(i == 2){
         reset_servo(3);  
       }
       if(i == 3){
         servo_hit(2); 
       }
     }
   }
 }

} <source>