Shared:Group 3
Contents
ACCORDION/ Hua Fan&Yixin Lv
Concept Development
Mechanism design
1. Changing continious servo to Linear Motor
3D print gears, groundplate, rack, topplate and assembled into a linear motor
[1]
2.
Video
electronics use and code sample
List of sensors
1 seeeduino
1 breadboard
3 continuous servo
3 PIR motion sensor
3 Neo pixel LED (5 in each)
code sample
+#include <Adafruit_NeoPixel.h>
- ifdef __AVR__
- include <avr/power.h>
- endif
- include <Servo.h>
int sen1 = 0; int sen2 = 0; int sen3 = 0;
Servo myservo01; Servo myservo02; Servo myservo03;//creates a servo object //a maximum of eight servo objects can be created
int pos01 = 0; int pos02 = 0; int pos03 = 0;//variable to store servo position
//amount of time we give the sensor to calibrate(10-60 secs according to the datasheet)
int calibrationTime = 2;
//the time when the sensor outputs a low impulse long unsigned int lowIn;
//the amount of milliseconds the sensor has to be low //before we assume all motion has stopped long unsigned int pause = 5000;
boolean lockLow = true; boolean takeLowTime;
int pirPin01 = 2; //digital pin connected to the PIR's output int pirPin02 = 5; //digital pin connected to the PIR's output int pirPin03 = 6;
Adafruit_NeoPixel strip(5, 4, NEO_GRB + NEO_KHZ800); Adafruit_NeoPixel strip02(5, 12, NEO_GRB + NEO_KHZ800); Adafruit_NeoPixel strip03(5, 13, NEO_GRB + NEO_KHZ800);
void setup() {
myservo01.attach(10);
myservo02.attach(9);
myservo03.attach(3); //attaches servo to pin 4
Serial.begin(9600); //begins serial communication
Serial.println("SETUP....");
pinMode(pirPin01, INPUT);
pinMode(pirPin02, INPUT);
pinMode(pirPin03, INPUT);
strip.begin(); //led1 strip.show(); strip02.begin(); //led2 strip.show(); strip03.begin(); //led3 strip.show();
//give the sensor time to calibrate
Serial.println("calibrating sensor ");
for (int i = 0; i < calibrationTime; i++) {
Serial.print(calibrationTime - i);
Serial.print("-");
delay(1000);
}
Serial.println();
Serial.println("done");
//while making this Instructable, I had some issues with the PIR's output
//going HIGH immediately after calibrating
//this waits until the PIR's output is low before ending setup
while (digitalRead(pirPin01) == HIGH) {
delay(500);
Serial.print(".");
}
Serial.print("SENSOR ACTIVE");
}
void loop() {
sensorRead();
if (sen1 == 1 && sen2 == 1 && sen3 == 1)
{ rainbowCycle(5);
rainbowCycle02(5);
rainbowCycle03(5);
delay(1000);
colorWipe (strip.Color (0, 0, 0), 0);
colorWipe02 (strip.Color (0, 0, 0), 0);
colorWipe03 (strip03.Color (0, 0, 0), 0);
delay(500);
myservo01.write(100);
myservo02.write(100);
myservo03.write(100);
delay(1000);
myservo01.write(90);
myservo02.write(90);
myservo03.write(90);
delay(800);
myservo01.write(80);
myservo02.write(80);
myservo03.write(80);
delay(1000);
myservo01.write(90);
myservo02.write(90);
myservo03.write(90);
delay(1000);
strip.show();
strip02.show();
strip03.show();
}
else if (sen1 == 1 && sen2 == 1 && sen3 == 0 || sen1 == 1 && sen2 == 0 && sen3 == 1 || sen1 == 0 && sen2 == 1 && sen3 == 1 ) {
if (sen1 == 1 && sen2 == 1 && sen3 == 0) {
colorWipe (strip.Color (255, 187, 218), 1000);
colorWipe02 (strip02.Color (255, 187, 218), 1000);
delay(2000);
colorWipe (strip.Color (0, 0, 0), 0);
colorWipe02 (strip02.Color (0, 0, 0), 0);
delay(800);
myservo01.write(100);
myservo02.write(100);
delay(1000);
myservo01.write(90);
myservo02.write(90);
delay(800);
myservo01.write(80);
myservo02.write(80);
delay(1000);
myservo01.write(90);
myservo02.write(90);
delay(1000);
}
if (sen1 == 1 && sen2 == 0 && sen3 == 1) {
colorWipe (strip.Color (255, 187, 218), 1000);
colorWipe03 (strip03.Color (255, 187, 218), 1000);
delay(2000);
colorWipe (strip.Color (0, 0, 0), 0);
colorWipe03 (strip03.Color (0, 0, 0), 0);
delay(800);
myservo01.write(100);
myservo03.write(100);
delay(1000);
myservo01.write(90);
myservo03.write(90);
delay(800);
myservo01.write(80);
myservo03.write(80);
delay(1000);
myservo01.write(90);
myservo03.write(90);
delay(1000);
}
if (sen1 == 0 && sen2 == 1 && sen3 == 1) {
colorWipe02 (strip02.Color (255, 187, 218), 1000);
colorWipe03 (strip03.Color (255, 187, 218), 1000);
delay(2000);
colorWipe02 (strip02.Color (0, 0, 0), 0);
colorWipe03 (strip03.Color (0, 0, 0), 0);
delay(800);
myservo03.write(100);
myservo02.write(100);
delay(1000);
myservo03.write(90);
myservo02.write(90);
delay(800);
myservo03.write(80);
myservo02.write(80);
delay(1000);
myservo03.write(90);
myservo02.write(90);
delay(1000);
}
strip.show(); strip02.show(); strip03.show(); }
else if (sen1 == 1 && sen2 == 0 && sen3 == 0 || sen1 == 0 && sen2 == 1 && sen3 == 0 || sen1 == 0 && sen2 == 0 && sen3 == 1) { // Testing both sensors at same time, if high, go to apropriate line.
if (sen1 == 1 && sen2 == 0 && sen3 == 0) {
if (sen1 == 1) {
colorWipe (strip.Color (30, 50, 255), 1000);
delay(2000);
colorWipe (strip.Color (0, 0, 0), 0); // This is needed for turn everything off, clear all pixels. More efficient with this here
moveServo(myservo01);
}
}
if (sen1 == 0 && sen2 == 1 && sen3 == 0) {
if (sen2 == 1) {
colorWipe02 (strip02.Color (30, 50, 255), 1000);
delay(2000);
colorWipe02 (strip02.Color (0, 0, 0), 0);
moveServo(myservo02);
}
}
if (sen1 == 0 && sen2 == 0 && sen3 == 1) {
if (sen3 == 1) {
colorWipe03 (strip03.Color (30, 50, 255), 1000);
delay(2000);
colorWipe03 (strip03.Color (0, 0, 0), 0);
moveServo(myservo03);
}
}
strip.show();
strip02.show();
strip03.show();
}
}
void moveServo(Servo s) {
s.write(100); delay(1000); s.write(90); delay(800); s.write(80); delay(1000); s.write(90); delay(1000); // both motors have instructions BEFORE the delay (!)
}
void sensorRead() {
sen1 = digitalRead(pirPin01);
sen2 = digitalRead(pirPin02);
sen3 = digitalRead(pirPin03);
Serial.print(sen1);
Serial.print(" / ");
Serial.println(sen2);
Serial.print(" / ");
Serial.println(sen3);
}
void colorWipe(uint32_t c, uint8_t wait) {
for (uint16_t i = 0; i < strip.numPixels(); i++) {
strip.setPixelColor(i, c);
strip.show();
}
}
void colorWipe02(uint32_t c, uint8_t wait) {
for (uint16_t i = 0; i < strip02.numPixels(); i++) {
strip02.setPixelColor(i, c);
strip02.show();
}
}
void colorWipe03(uint32_t c, uint8_t wait) {
for (uint16_t i = 0; i < strip03.numPixels(); i++) {
strip03.setPixelColor(i, c);
strip03.show();
}
}
// Slightly different, this makes the rainbow equally distributed throughout void rainbowCycle(uint8_t wait) {
uint16_t i, j;
for (j = 0; j < 256 * 5; j++) { // 5 cycles of all colors on wheel
for (i = 0; i < strip.numPixels(); i++) {
strip.setPixelColor(i, Wheel(((i * 256 / strip.numPixels()) + j) & 255));
}
strip.show();
}
} void rainbowCycle02(uint8_t wait) {
uint16_t i, j;
for (j = 0; j < 256 * 5; j++) { // 5 cycles of all colors on wheel
for (i = 0; i < strip02.numPixels(); i++) {
strip02.setPixelColor(i, Wheel(((i * 256 / strip02.numPixels()) + j) & 255));
}
strip02.show();
}
} void rainbowCycle03(uint8_t wait) {
uint16_t i, j;
for (j = 0; j < 256 * 5; j++) { // 5 cycles of all colors on wheel
for (i = 0; i < strip03.numPixels(); i++) {
strip03.setPixelColor(i, Wheel(((i * 256 / strip03.numPixels()) + j) & 255));
}
strip03.show();
}
}
uint32_t Wheel(byte WheelPos) {
WheelPos = 255 - WheelPos;
if (WheelPos < 85) {
return strip.Color(255 - WheelPos * 3, 0, WheelPos * 3);
}
if (WheelPos < 170) {
WheelPos -= 85;
return strip.Color(0, WheelPos * 3, 255 - WheelPos * 3);
}
WheelPos -= 170;
return strip.Color(WheelPos * 3, 255 - WheelPos * 3, 0);
} uint32_t Wheel02(byte WheelPos) {
WheelPos = 255 - WheelPos;
if (WheelPos < 85) {
return strip02.Color(255 - WheelPos * 3, 0, WheelPos * 3);
}
if (WheelPos < 170) {
WheelPos -= 85;
return strip02.Color(0, WheelPos * 3, 255 - WheelPos * 3);
}
WheelPos -= 170;
return strip02.Color(WheelPos * 3, 255 - WheelPos * 3, 0);
} uint32_t Wheel03(byte WheelPos) {
WheelPos = 255 - WheelPos;
if (WheelPos < 85) {
return strip03.Color(255 - WheelPos * 3, 0, WheelPos * 3);
}
if (WheelPos < 170) {
WheelPos -= 85;
return strip03.Color(0, WheelPos * 3, 255 - WheelPos * 3);
}
WheelPos -= 170;
return strip03.Color(WheelPos * 3, 255 - WheelPos * 3, 0);
}
Development Sketches
