白泽六足机器人Baize

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白泽六足机器人Baize

导航在这里：白泽六足机器人_ros_v1

趁着五一帮忙做了一个六足机器人的程序，可以实现前后左右和超声波避障。

图片如下，可以避障，感兴趣的可以去抖音看具体运行视频。

1.打印结构并组装

这个结构在网上也比较多了，非常好找资源进行打印。
组装的话也是按照3D模型进行组装。

2.接线并下载程序

3.程序和程序流程图

这里是程序流程图。

这里是代码。

代码如下：

#define speed_s 50#define TRIGGER A0
#define ECHO A1#define dis_min 20        //超声波避障距离
#define dis_max 180       //超声波检测最大值int dis_u=30;//蓝牙指令   A-前进  B-后退  C-左转  D-右转  E-停止
char now_cmd='E';//zuobiao[i][0]为z,zuobiao[i][1]为y，zuobiao[i][2]为x
float zuobiao[8][3]={-15.0,-72.83,119.21,
-7.5,-68.5,119.21,
0,-67.83,119.21,
7.5,-68.5,119.21,
15,-72.83,119.21,
7.5,-77.16,119.21,
0,-77.83,119.21,
-7.5,-77.16,119.21,
};float angle[8][3]={11.84,64.44,5.68,
6.1,80.25,15.56,
0,83.25,17.45,
-6.1,80.25,15.56,
-11.84,64.44,5.68,
-6.1,51.16,-2.23,
0,49.12,-3.39,
6.1,51.16,-2.23
};void tingzhi()
{String s="";for(int i=1;i<=32;i++){s+="#";s+=i;s+="P";int angle_s=1500;s+=angle_s;}s+="T200";Serial1.println(s);delay(speed_s);}void qianjin(){for(int j=0;j<=3;j++){String s="";int i=4;s+="#";s+=i;s+="P";int angle_s=map(90-angle[j][0],0,180,500,2500);s+=angle_s;i=5;s+="#";s+=i;s+="P";angle_s=map(angle[j][1]+90,0,180,500,2500);s+=angle_s;i=6;s+="#";s+=i;s+="P";angle_s=map(90-angle[j][2],0,180,500,2500);s+=angle_s;i=7;s+="#";s+=i;s+="P";angle_s=map(90-angle[j+4][0],0,180,500,2500);s+=angle_s;i=8;s+="#";s+=i;s+="P";angle_s=map(angle[j+4][1]+90,0,180,500,2500);s+=angle_s;i=9;s+="#";s+=i;s+="P";angle_s=map(90-angle[j+4][2],0,180,500,2500);s+=angle_s;i=10;s+="#";s+=i;s+="P";angle_s=map(90-angle[j][0],0,180,500,2500);s+=angle_s;i=11;s+="#";s+=i;s+="P";angle_s=map(angle[j][1]+90,0,180,500,2500);s+=angle_s;i=12;s+="#";s+=i;s+="P";angle_s=map(90-angle[j][2],0,180,500,2500);s+=angle_s;i=21;s+="#";s+=i;s+="P";angle_s=map(90-angle[7-j][0],0,180,500,2500);s+=angle_s;i=22;s+="#";s+=i;s+="P";angle_s=map(angle[7-j][1]+90,0,180,500,2500);s+=angle_s;i=23;s+="#";s+=i;s+="P";angle_s=map(90-angle[7-j][2],0,180,500,2500);s+=angle_s;i=24;s+="#";s+=i;s+="P";angle_s=map(90+angle[j][0],0,180,500,2500);s+=angle_s;i=25;s+="#";s+=i;s+="P";angle_s=map(angle[j][1]+90,0,180,500,2500);s+=angle_s;i=26;s+="#";s+=i;s+="P";angle_s=map(90-angle[j][2],0,180,500,2500);s+=angle_s;i=27;s+="#";s+=i;s+="P";angle_s=map(90-angle[7-j][0],0,180,500,2500);s+=angle_s;i=28;s+="#";s+=i;s+="P";angle_s=map(angle[7-j][1]+90,0,180,500,2500);s+=angle_s;i=29;s+="#";s+=i;s+="P";angle_s=map(90-angle[7-j][2],0,180,500,2500);s+=angle_s;s+="T200";Serial1.println(s);delay(speed_s);}for(int j=4;j<=7;j++){String s="";int i=4;s+="#";s+=i;s+="P";int angle_s=map(90-angle[j][0],0,180,500,2500);s+=angle_s;i=5;s+="#";s+=i;s+="P";angle_s=map(angle[j][1]+90,0,180,500,2500);s+=angle_s;i=6;s+="#";s+=i;s+="P";angle_s=map(90-angle[j][2],0,180,500,2500);s+=angle_s;i=7;s+="#";s+=i;s+="P";angle_s=map(90-angle[j-4][0],0,180,500,2500);s+=angle_s;i=8;s+="#";s+=i;s+="P";angle_s=map(angle[j-4][1]+90,0,180,500,2500);s+=angle_s;i=9;s+="#";s+=i;s+="P";angle_s=map(90-angle[j-4][2],0,180,500,2500);s+=angle_s;i=10;s+="#";s+=i;s+="P";angle_s=map(90-angle[j][0],0,180,500,2500);s+=angle_s;i=11;s+="#";s+=i;s+="P";angle_s=map(angle[j][1]+90,0,180,500,2500);s+=angle_s;i=12;s+="#";s+=i;s+="P";angle_s=map(90-angle[j][2],0,180,500,2500);s+=angle_s;i=21;s+="#";s+=i;s+="P";angle_s=map(90-angle[7-j][0],0,180,500,2500);s+=angle_s;i=22;s+="#";s+=i;s+="P";angle_s=map(angle[7-j][1]+90,0,180,500,2500);s+=angle_s;i=23;s+="#";s+=i;s+="P";angle_s=map(90-angle[7-j][2],0,180,500,2500);s+=angle_s;i=24;s+="#";s+=i;s+="P";angle_s=map(90+angle[j][0],0,180,500,2500);s+=angle_s;i=25;s+="#";s+=i;s+="P";angle_s=map(angle[j][1]+90,0,180,500,2500);s+=angle_s;i=26;s+="#";s+=i;s+="P";angle_s=map(90-angle[j][2],0,180,500,2500);s+=angle_s;i=27;s+="#";s+=i;s+="P";angle_s=map(90-angle[7-j][0],0,180,500,2500);s+=angle_s;i=28;s+="#";s+=i;s+="P";angle_s=map(angle[7-j][1]+90,0,180,500,2500);s+=angle_s;i=29;s+="#";s+=i;s+="P";angle_s=map(90-angle[7-j][2],0,180,500,2500);s+=angle_s;s+="T200";Serial1.println(s);delay(speed_s);}}void houtui()
{for(int j=0;j<=3;j++){String s="";int i=4;s+="#";s+=i;s+="P";int angle_s=map(90-angle[7-j][0],0,180,500,2500);s+=angle_s;i=5;s+="#";s+=i;s+="P";angle_s=map(angle[7-j][1]+90,0,180,500,2500);s+=angle_s;i=6;s+="#";s+=i;s+="P";angle_s=map(90-angle[7-j][2],0,180,500,2500);s+=angle_s;i=7;s+="#";s+=i;s+="P";angle_s=map(90+angle[j][0],0,180,500,2500);s+=angle_s;i=8;s+="#";s+=i;s+="P";angle_s=map(angle[j][1]+90,0,180,500,2500);s+=angle_s;i=9;s+="#";s+=i;s+="P";angle_s=map(90-angle[j][2],0,180,500,2500);s+=angle_s;i=10;s+="#";s+=i;s+="P";angle_s=map(90-angle[7-j][0],0,180,500,2500);s+=angle_s;i=11;s+="#";s+=i;s+="P";angle_s=map(angle[7-j][1]+90,0,180,500,2500);s+=angle_s;i=12;s+="#";s+=i;s+="P";angle_s=map(90-angle[7-j][2],0,180,500,2500);s+=angle_s;i=21;s+="#";s+=i;s+="P";angle_s=map(90-angle[j][0],0,180,500,2500);s+=angle_s;i=22;s+="#";s+=i;s+="P";angle_s=map(angle[j][1]+90,0,180,500,2500);s+=angle_s;i=23;s+="#";s+=i;s+="P";angle_s=map(90-angle[j][2],0,180,500,2500);s+=angle_s;i=24;s+="#";s+=i;s+="P";angle_s=map(90-angle[j+4][0],0,180,500,2500);s+=angle_s;i=25;s+="#";s+=i;s+="P";angle_s=map(angle[j+4][1]+90,0,180,500,2500);s+=angle_s;i=26;s+="#";s+=i;s+="P";angle_s=map(90-angle[j+4][2],0,180,500,2500);s+=angle_s;i=27;s+="#";s+=i;s+="P";angle_s=map(90-angle[j][0],0,180,500,2500);s+=angle_s;i=28;s+="#";s+=i;s+="P";angle_s=map(angle[j][1]+90,0,180,500,2500);s+=angle_s;i=29;s+="#";s+=i;s+="P";angle_s=map(90-angle[j][2],0,180,500,2500);s+=angle_s;s+="T200";Serial1.println(s);delay(speed_s);}for(int j=4;j<=7;j++){String s="";int i=4;s+="#";s+=i;s+="P";int  angle_s=map(90-angle[7-j][0],0,180,500,2500);s+=angle_s;i=5;s+="#";s+=i;s+="P";angle_s=map(angle[7-j][1]+90,0,180,500,2500);s+=angle_s;i=6;s+="#";s+=i;s+="P";angle_s=map(90-angle[7-j][2],0,180,500,2500);s+=angle_s;i=7;s+="#";s+=i;s+="P";angle_s=map(90+angle[j][0],0,180,500,2500);s+=angle_s;i=8;s+="#";s+=i;s+="P";angle_s=map(angle[j][1]+90,0,180,500,2500);s+=angle_s;i=9;s+="#";s+=i;s+="P";angle_s=map(90-angle[j][2],0,180,500,2500);s+=angle_s;i=10;s+="#";s+=i;s+="P";angle_s=map(90-angle[7-j][0],0,180,500,2500);s+=angle_s;i=11;s+="#";s+=i;s+="P";angle_s=map(angle[7-j][1]+90,0,180,500,2500);s+=angle_s;i=12;s+="#";s+=i;s+="P";angle_s=map(90-angle[7-j][2],0,180,500,2500);s+=angle_s;i=21;s+="#";s+=i;s+="P";angle_s=map(90-angle[j][0],0,180,500,2500);s+=angle_s;i=22;s+="#";s+=i;s+="P";angle_s=map(angle[j][1]+90,0,180,500,2500);s+=angle_s;i=23;s+="#";s+=i;s+="P";angle_s=map(90-angle[j][2],0,180,500,2500);s+=angle_s;i=24;s+="#";s+=i;s+="P";angle_s=map(90-angle[j-4][0],0,180,500,2500);s+=angle_s;i=25;s+="#";s+=i;s+="P";angle_s=map(angle[j-4][1]+90,0,180,500,2500);s+=angle_s;i=26;s+="#";s+=i;s+="P";angle_s=map(90-angle[j-4][2],0,180,500,2500);s+=angle_s;i=27;s+="#";s+=i;s+="P";angle_s=map(90-angle[j][0],0,180,500,2500);s+=angle_s;i=28;s+="#";s+=i;s+="P";angle_s=map(angle[j][1]+90,0,180,500,2500);s+=angle_s;i=29;s+="#";s+=i;s+="P";angle_s=map(90-angle[j][2],0,180,500,2500);s+=angle_s;s+="T200";Serial1.println(s);delay(speed_s);}
}void zuozhuan()
{for(int j=0;j<=3;j++){String s="";int i=4;s+="#";s+=i;s+="P";int angle_s=map(90-angle[j][0],0,180,500,2500);s+=angle_s;i=5;s+="#";s+=i;s+="P";angle_s=map(angle[j][1]+90,0,180,500,2500);s+=angle_s;i=6;s+="#";s+=i;s+="P";angle_s=map(90-angle[j][2],0,180,500,2500);s+=angle_s;i=7;s+="#";s+=i;s+="P";angle_s=map(90-angle[j+4][0],0,180,500,2500);s+=angle_s;i=8;s+="#";s+=i;s+="P";angle_s=map(angle[j+4][1]+90,0,180,500,2500);s+=angle_s;i=9;s+="#";s+=i;s+="P";angle_s=map(90-angle[j+4][2],0,180,500,2500);s+=angle_s;i=10;s+="#";s+=i;s+="P";angle_s=map(90-angle[j][0],0,180,500,2500);s+=angle_s;i=11;s+="#";s+=i;s+="P";angle_s=map(angle[j][1]+90,0,180,500,2500);s+=angle_s;i=12;s+="#";s+=i;s+="P";angle_s=map(90-angle[j][2],0,180,500,2500);s+=angle_s;i=21;s+="#";s+=i;s+="P";angle_s=map(90-angle[j][0],0,180,500,2500);s+=angle_s;i=22;s+="#";s+=i;s+="P";angle_s=map(angle[j][1]+90,0,180,500,2500);s+=angle_s;i=23;s+="#";s+=i;s+="P";angle_s=map(90-angle[j][2],0,180,500,2500);s+=angle_s;i=24;s+="#";s+=i;s+="P";angle_s=map(90-angle[j+4][0],0,180,500,2500);s+=angle_s;i=25;s+="#";s+=i;s+="P";angle_s=map(angle[j+4][1]+90,0,180,500,2500);s+=angle_s;i=26;s+="#";s+=i;s+="P";angle_s=map(90-angle[j+4][2],0,180,500,2500);s+=angle_s;i=27;s+="#";s+=i;s+="P";angle_s=map(90-angle[j][0],0,180,500,2500);s+=angle_s;i=28;s+="#";s+=i;s+="P";angle_s=map(angle[j][1]+90,0,180,500,2500);s+=angle_s;i=29;s+="#";s+=i;s+="P";angle_s=map(90-angle[j][2],0,180,500,2500);s+=angle_s;s+="T200";Serial1.println(s);delay(speed_s);}for(int j=4;j<=7;j++){String s="";int i=4;s+="#";s+=i;s+="P";int angle_s=map(90-angle[j][0],0,180,500,2500);s+=angle_s;i=5;s+="#";s+=i;s+="P";angle_s=map(angle[j][1]+90,0,180,500,2500);s+=angle_s;i=6;s+="#";s+=i;s+="P";angle_s=map(90-angle[j][2],0,180,500,2500);s+=angle_s;i=7;s+="#";s+=i;s+="P";angle_s=map(90-angle[j-4][0],0,180,500,2500);s+=angle_s;i=8;s+="#";s+=i;s+="P";angle_s=map(angle[j-4][1]+90,0,180,500,2500);s+=angle_s;i=9;s+="#";s+=i;s+="P";angle_s=map(90-angle[j-4][2],0,180,500,2500);s+=angle_s;i=10;s+="#";s+=i;s+="P";angle_s=map(90-angle[j][0],0,180,500,2500);s+=angle_s;i=11;s+="#";s+=i;s+="P";angle_s=map(angle[j][1]+90,0,180,500,2500);s+=angle_s;i=12;s+="#";s+=i;s+="P";angle_s=map(90-angle[j][2],0,180,500,2500);s+=angle_s;i=21;s+="#";s+=i;s+="P";angle_s=map(90-angle[j][0],0,180,500,2500);s+=angle_s;i=22;s+="#";s+=i;s+="P";angle_s=map(angle[j][1]+90,0,180,500,2500);s+=angle_s;i=23;s+="#";s+=i;s+="P";angle_s=map(90-angle[j][2],0,180,500,2500);s+=angle_s;i=24;s+="#";s+=i;s+="P";angle_s=map(90-angle[j-4][0],0,180,500,2500);s+=angle_s;i=25;s+="#";s+=i;s+="P";angle_s=map(angle[j-4][1]+90,0,180,500,2500);s+=angle_s;i=26;s+="#";s+=i;s+="P";angle_s=map(90-angle[j-4][2],0,180,500,2500);s+=angle_s;i=27;s+="#";s+=i;s+="P";angle_s=map(90-angle[j][0],0,180,500,2500);s+=angle_s;i=28;s+="#";s+=i;s+="P";angle_s=map(angle[j][1]+90,0,180,500,2500);s+=angle_s;i=29;s+="#";s+=i;s+="P";angle_s=map(90-angle[j][2],0,180,500,2500);s+=angle_s;s+="T200";Serial1.println(s);delay(speed_s);}
}void youzhuan()
{for(int j=0;j<=3;j++){String s="";int i=4;s+="#";s+=i;s+="P";int angle_s=map(90-angle[7-j][0],0,180,500,2500);s+=angle_s;i=5;s+="#";s+=i;s+="P";angle_s=map(angle[7-j][1]+90,0,180,500,2500);s+=angle_s;i=6;s+="#";s+=i;s+="P";angle_s=map(90-angle[7-j][2],0,180,500,2500);s+=angle_s;i=7;s+="#";s+=i;s+="P";angle_s=map(90+angle[j][0],0,180,500,2500);s+=angle_s;i=8;s+="#";s+=i;s+="P";angle_s=map(angle[j][1]+90,0,180,500,2500);s+=angle_s;i=9;s+="#";s+=i;s+="P";angle_s=map(90-angle[j][2],0,180,500,2500);s+=angle_s;i=10;s+="#";s+=i;s+="P";angle_s=map(90-angle[7-j][0],0,180,500,2500);s+=angle_s;i=11;s+="#";s+=i;s+="P";angle_s=map(angle[7-j][1]+90,0,180,500,2500);s+=angle_s;i=12;s+="#";s+=i;s+="P";angle_s=map(90-angle[7-j][2],0,180,500,2500);s+=angle_s;i=21;s+="#";s+=i;s+="P";angle_s=map(90-angle[7-j][0],0,180,500,2500);s+=angle_s;i=22;s+="#";s+=i;s+="P";angle_s=map(angle[7-j][1]+90,0,180,500,2500);s+=angle_s;i=23;s+="#";s+=i;s+="P";angle_s=map(90-angle[7-j][2],0,180,500,2500);s+=angle_s;i=24;s+="#";s+=i;s+="P";angle_s=map(90+angle[j][0],0,180,500,2500);s+=angle_s;i=25;s+="#";s+=i;s+="P";angle_s=map(angle[j][1]+90,0,180,500,2500);s+=angle_s;i=26;s+="#";s+=i;s+="P";angle_s=map(90-angle[j][2],0,180,500,2500);s+=angle_s;i=27;s+="#";s+=i;s+="P";angle_s=map(90-angle[7-j][0],0,180,500,2500);s+=angle_s;i=28;s+="#";s+=i;s+="P";angle_s=map(angle[7-j][1]+90,0,180,500,2500);s+=angle_s;i=29;s+="#";s+=i;s+="P";angle_s=map(90-angle[7-j][2],0,180,500,2500);s+=angle_s;s+="T200";Serial1.println(s);delay(speed_s);}for(int j=4;j<=7;j++){String s="";int i=4;s+="#";s+=i;s+="P";int  angle_s=map(90-angle[7-j][0],0,180,500,2500);s+=angle_s;i=5;s+="#";s+=i;s+="P";angle_s=map(angle[7-j][1]+90,0,180,500,2500);s+=angle_s;i=6;s+="#";s+=i;s+="P";angle_s=map(90-angle[7-j][2],0,180,500,2500);s+=angle_s;i=7;s+="#";s+=i;s+="P";angle_s=map(90+angle[j][0],0,180,500,2500);s+=angle_s;i=8;s+="#";s+=i;s+="P";angle_s=map(angle[j][1]+90,0,180,500,2500);s+=angle_s;i=9;s+="#";s+=i;s+="P";angle_s=map(90-angle[j][2],0,180,500,2500);s+=angle_s;i=10;s+="#";s+=i;s+="P";angle_s=map(90-angle[7-j][0],0,180,500,2500);s+=angle_s;i=11;s+="#";s+=i;s+="P";angle_s=map(angle[7-j][1]+90,0,180,500,2500);s+=angle_s;i=12;s+="#";s+=i;s+="P";angle_s=map(90-angle[7-j][2],0,180,500,2500);s+=angle_s;i=21;s+="#";s+=i;s+="P";angle_s=map(90-angle[7-j][0],0,180,500,2500);s+=angle_s;i=22;s+="#";s+=i;s+="P";angle_s=map(angle[7-j][1]+90,0,180,500,2500);s+=angle_s;i=23;s+="#";s+=i;s+="P";angle_s=map(90-angle[7-j][2],0,180,500,2500);s+=angle_s;i=24;s+="#";s+=i;s+="P";angle_s=map(90+angle[j][0],0,180,500,2500);s+=angle_s;i=25;s+="#";s+=i;s+="P";angle_s=map(angle[j][1]+90,0,180,500,2500);s+=angle_s;i=26;s+="#";s+=i;s+="P";angle_s=map(90-angle[j][2],0,180,500,2500);s+=angle_s;i=27;s+="#";s+=i;s+="P";angle_s=map(90-angle[7-j][0],0,180,500,2500);s+=angle_s;i=28;s+="#";s+=i;s+="P";angle_s=map(angle[7-j][1]+90,0,180,500,2500);s+=angle_s;i=29;s+="#";s+=i;s+="P";angle_s=map(90-angle[7-j][2],0,180,500,2500);s+=angle_s;s+="T200";Serial1.println(s);delay(speed_s);}
}int dis(){Serial.println(millis());float dist=0;for(int i=0;i<3;i++){digitalWrite(TRIGGER, LOW);delayMicroseconds(2);//将trigPin电平拉高10微秒digitalWrite(TRIGGER, HIGH);delayMicroseconds(10);digitalWrite(TRIGGER, LOW);// 读取echoPin电平,以毫秒为单位返回声波往返时间// 计算距离float distance = pulseIn(ECHO,HIGH)/58.0; //算成厘米 
//    Serial.print("distance=");
//    Serial.println(distance);distance=(int(distance * 100.0))/100.0;//保留两位小数 dist+=distance;}
//  Serial.println(millis());return int(dist/3.0);
}void setup() {// put your setup code here, to run once:Serial.begin(9600);Serial1.begin(9600);
//  int a=35;
//  String s="The angle is:";
//  Serial.println("#4P1500T100");
//  delay(1000);
//  Serial.println("#4P1000T100");
//  delay(1000);
//  Serial.println("#4P1500T100");
//  s+=a;
//  Serial.println(s);
//  qianjin();pinMode(TRIGGER,OUTPUT);pinMode(ECHO,INPUT);pinMode(8,OUTPUT);pinMode(9,OUTPUT);digitalWrite(8,HIGH);digitalWrite(9,LOW);tingzhi();Serial.println("Init successful!");
}void loop() {// put your main code here, to run repeatedly:
//  for(int s=0;s<=5;s++)
//  {
//    qianjin();
//  }
//  for(int s=0;s<=5;s++)
//  {
//    houtui();
//  }
//  zuozhuan();
//    youzhuan();dis_u=dis();if(Serial.available()>0){now_cmd=Serial.read();Serial.println(now_cmd);}if(now_cmd=='A'){if((dis_u>=0)&&(dis_u<=dis_min)){for(int i=0;i<5;i++)houtui();for(int i=0;i<5;i++)youzhuan();}qianjin();}else if(now_cmd=='B'){houtui();}else if(now_cmd=='C'){zuozhuan();}else if(now_cmd=='D'){youzhuan();}else if(now_cmd=='E'){tingzhi();}
}

好了，接下来就可以用手机app遥控了，普通的蓝牙助手就可以！

本文标签： 白泽六足机器人Baize