This is my new robot named "FDR" (Futurama Drum Robot)
@ December 20, 2009
- Actuators / output devices: speakers, lights, drum motors
- Control method: autonomous
- CPU: Atmel Mega32
- Power source: and 9v in AA's for source voltage., and 4.8v in AA's for regulation voltage, A regular 9v for micro
- Programming language: Bascom Basic
- Sensors / input devices: ZXSound sensor, Sharp IR
- Target environment: indoors
3/27/10
I soldered up an 8 watt amplifier kit from kitsrus.com (picture below) to add onto the robot.
I will be using PWM into the amp from an extra micro pin to make tones which will be played on the side speakers.
This is the next step in adding another level of musical sound to this robot. Then once I figure out PWM rates to tone corrected music notes. I'll be adding another select case to my code, as well as additions to the counter loops. So that the random rhythm-timings will play the tones in a fashion that relates these musically together with the drum beats. I think I'll also have to add additional filtering to this circuit for noise, from all the other devices on this robot.
I'm also considering changing one of the drums to a cymbal. As well as exploring other sound options I can add on.
As always, I will be adding more features as time allows.
This is my version of the ever popular drum robot. Its called "FDR" (Futurama Drum Robot) named for the laser cnc job of the characters in both sides of its tankbot chassis.
- The brain is a wrighthobbies mega32 board.
- The 4 drum motors are the very popular solarbotics pager gear motors.
- The motorcontrollers are 3 - 298 controllers. One from Solarbotics, the other 2 are scratch made.
- The sensors are: 1 Sharp Ranging for object detection, 1 ZXSound for measuring background noises.
- The power is supplied by a Futurlec powersupply and 9v in AA's, a regulation pack of 4.8v in AA's, and a 9v for the microcontroller.
This robot works by scanning around for objects, then driving either forward/turning, then when its ready it plays some completely random music. I'm still programming and adding functions at this point, but it will have more routines, and will do a better job of staying in rhythm, etc. But overall you can see the gist of it....
Oh and I know it resembles a river boat, that wasn't intentional, but it adds a certain level of "cool".
Thanks for looking!!!
CODE:
$regfile = "m32def.dat" ' micro config file
$crystal = 8000000 ' internal resonator
$prog &HFF , &HC4 , &HD9 , &H00 ' sets fuse bits.
'
Config Adc = Single , Prescaler = Auto ' config ADC
Dim Spl_sensor As Byte
Dim Range_sensor As Byte
'
Config Porta = Output ' config ports
Config Portb = Output
Config Portc = Output
Config Portd = Output
'
Rm Alias Portd.6 'track directional motor controls
Rma Alias Portd.5
Lm Alias Portd.4
Lma Alias Portd.3
E Alias Portd.2
'
Drum4a Alias Portd.7 'drum drive enables
Drum4b Alias Portc.0
Drum1a Alias Portc.1
Drum1b Alias Portc.2
Drum2a Alias Portb.0
Drum2b Alias Portb.1
Drum3a Alias Portb.2
Drum3b Alias Portb.3
'
Ld1 Alias Portc.6 'for drum LED's
Ld2 Alias Portc.5
Ld3 Alias Portc.4
Ld4 Alias Portc.3
Ld5 Alias Portb.4
Ld6 Alias Portb.5
'
Ld1 = 1 'lights off
Ld2 = 1
Ld3 = 1
Ld4 = 1
Ld5 = 1
Ld6 = 1
'
Config Timer0 = Counter , Edge = Rising ' config timer
Start Counter0
'
Dim Z As Bit ' used as a compare for repeating stuff
Dim Y As Byte ' for repeating routines
Dim X As Byte ' for general counting
Dim Tempo As Integer ' tempo's generate drum patterns for the 4 bars
Dim Times2play As Integer ' generates number of times to play a drum pattern
Dim Drum As Integer ' generates which drum to play for a drum beat
Dim Pause As Integer ' generates the pause between drum beats
'
Dim Times2playrepeat As Integer ' used to save value to repeat the riff
Dim Drumrepeat As Integer ' used to save value to repeat the riff
Dim Temporepeat As Integer ' used to save value to repeat the riff
'
'
'
Wait 3 ' start up delay
'
Do
'
Z = 0 ' define starting value
Gosub Servo_center ' servo scan
Waitms 25
Gosub Servo_right
Waitms 25
Gosub Servo_center
Waitms 25
Gosub Servo_left
Waitms 25
'
Counter0 = Rnd(10) ' playing random music, and save values
For Y = 0 To Counter0
Gosub Setup
For X = 0 To Times2play
Gosub Play
Next X
Waitms 250
'
Gosub Setup ' play new random riff
For X = 0 To Times2play
Gosub Play
Next X
Waitms 250
'
Gosub Setup_2 ' repeat first riff
For X = 0 To Times2play
Gosub Play
Next X
Waitms 250
'
Gosub Setup ' play new random riff
For X = 0 To Times2play
Gosub Play
Next X
Waitms 250
'
Gosub Setup_2 ' repeat first riff
For X = 0 To Times2play
Gosub Play
Next X
Waitms 250
'
Gosub Setup_2 ' repeat first riff
For X = 0 To Times2play
Gosub Play
Next X
Waitms 250
Next Y
'
Wait 1
'
'
Loop
'
End
'
'
Setup:
Counter0 = Rnd(17)
If Counter0 > 16 Then ' limit counter0 to range 1-16
Counter0 = 1
End If
If Counter0 < 1 Then
Counter0 = Counter0 + 1
End If
'
Counter0 = Rnd(16)
Drum = Counter0 ' used to define which drums to use
If Drum > 15 Then
Drum = Drum / 2
End If
If Drum < 1 Then
Drum = Drum + 1
End If
If Z = 0 Then
Drumrepeat = Drum
End If
'
Counter0 = Rnd(29)
Tempo = Counter0 ' used to define the tempo
If Tempo > 28 Then
Tempo = Tempo / 2
End If
If Tempo < 1 Then
Tempo = Tempo + 1
End If
If Z = 0 Then
Temporepeat = Tempo
End If
'
Counter0 = Rnd(7)
Times2play = Counter0 'used to define the times to play
If Times2play > 6 Then
Times2play = Times2play / 2
End If
If Times2play < 2 Then
Times2play = Times2play + 1
End If
If Z = 0 Then
Times2playrepeat = Times2play
End If
Z = 1
Return
'
Setup_2:
Drum = Drumrepeat
Tempo = Temporepeat
Times2play = Times2playrepeat
Return
'
Play:
Select Case Tempo 'used to define the tempo
Case 1 : Pause = .965 ' 4/4
Case 2 : Pause = .93
Case 3 : Pause = .895
Case 4 : Pause = .86
Case 5 : Pause = .825
Case 6 : Pause = .79
Case 7 : Pause = .755
Case 8 : Pause = .72 ' 8/4
Case 9 : Pause = .685
Case 10 : Pause = .65
Case 11 : Pause = .615
Case 12 : Pause = .58
Case 13 : Pause = .545
Case 14 : Pause = .51
Case 15 : Pause = .475
Case 16 : Pause = .44 ' 16/4
Case 17 : Pause = .405
Case 18 : Pause = .37
Case 19 : Pause = .335
Case 20 : Pause = .3
Case 21 : Pause = .265
Case 22 : Pause = .23
Case 23 : Pause = .195
Case 24 : Pause = .16
Case 25 : Pause = .125
Case 26 : Pause = .09
Case 27 : Pause = .055
Case 28 : Pause = .02
End Select
'
If Drum = 1 Then 'these are used to turn on or off the drums
Gosub D1a
Waitms 36
Gosub D1b
Waitms Pause
End If
If Drum = 2 Then
Gosub D2a
Waitms 36
Gosub D2b
Waitms Pause
End If
If Drum = 3 Then
Gosub D3a
Waitms 36
Gosub D3b
Waitms Pause
End If
If Drum = 4 Then
Gosub D4a
Waitms 36
Gosub D4b
Waitms Pause
End If
If Drum = 5 Then
Gosub D1a
Gosub D2a
Waitms 36
Gosub D1b
Gosub D2b
Waitms Pause
End If
If Drum = 6 Then
Gosub D1a
Gosub D3a
Waitms 36
Gosub D1b
Gosub D3b
Waitms Pause
End If
If Drum = 7 Then
Gosub D1a
Gosub D4a
Waitms 36
Gosub D1b
Gosub D4b
Waitms Pause
End If
If Drum = 8 Then
Gosub D2a
Gosub D3a
Waitms 36
Gosub D2b
Gosub D3b
Waitms Pause
End If
If Drum = 9 Then
Gosub D2a
Gosub D4a
Waitms 36
Gosub D2b
Gosub D4b
Waitms Pause
End If
If Drum = 10 Then
Gosub D3a
Gosub D4a
Waitms 36
Gosub D3b
Gosub D4b
Waitms Pause
End If
If Drum = 11 Then
Gosub D1a
Gosub D2a
Gosub D3a
Waitms 36
Gosub D1b
Gosub D2b
Gosub D3b
Waitms Pause
End If
If Drum = 12 Then
Gosub D1a
Gosub D2a
Gosub D4a
Waitms 36
Gosub D1b
Gosub D2b
Gosub D4b
Waitms Pause
End If
If Drum = 13 Then
Gosub D1a
Gosub D3a
Gosub D4a
Waitms 36
Gosub D1b
Gosub D3b
Gosub D4b
Waitms Pause
End If
If Drum = 14 Then
Gosub D2a
Gosub D3a
Gosub D4a
Waitms 36
Gosub D2b
Gosub D3b
Gosub D4b
Waitms Pause
End If
If Drum = 15 Then
Gosub D1a
Gosub D2a
Gosub D3a
Gosub D4a
Waitms 36
Gosub D1b
Gosub D2b
Gosub D3b
Gosub D4b
Waitms Pause
End If
Return
'
D1a:
Ld1 = 0 'on
Drum1a = 1
Drum1b = 0
Return
'
D1b: 'off
Ld1 = 1
Drum1a = 0
Drum1b = 0
Return
'
D2a:
Ld2 = 0
Drum2a = 1
Drum2b = 0
Return
'
D2b:
Ld2 = 1
Drum2a = 0
Drum2b = 0
Return
'
D3a:
Ld3 = 0
Drum3a = 1
Drum3b = 0
Return
'
D3b:
Ld3 = 1
Drum3a = 0
Drum3b = 0
Return
'
D4a:
Ld4 = 0
Drum4a = 0
Drum4b = 1
Return
'
D4b:
Ld4 = 1
Drum4a = 0
Drum4b = 0
Return
'
L_turn:
Rm = 0
Rma = 1
Lm = 1
Lma = 0
E = 1
Ld5 = 0
Ld6 = 0
Return
'
R_turn:
Rm = 1
Rma = 0
Lm = 0
Lma = 1
E = 1
Ld5 = 0
Ld6 = 0
Return
'
Brake:
Rm = 0
Rma = 0
Lm = 0
Lma = 0
E = 0
Ld5 = 1
Ld6 = 1
Return
'
Forward:
Rm = 0
Rma = 1
Lm = 0
Lma = 1
E = 1
Ld5 = 0
Ld6 = 0
Return
'
Reverse:
Rm = 1
Rma = 0
Lm = 1
Lma = 0
E = 1
Ld5 = 0
Ld6 = 0
Return
'
Servo_center:
For X = 1 To 75
Pulseout Portc , 7 , 3100
Waitms 13
Next X
Return
'
Servo_left:
For X = 1 To 75
Pulseout Portc , 7 , 1250
Waitms 13
Next X
Return
'
Servo_right:
For X = 1 To 75
Pulseout Portc , 7 , 4990
Waitms 13
Next X
Return
Thanks for Looking!!!
@ Sat, 2011-07-02 17:01
Suggestions.
You know what would make the sound/music 'THAT' much better? Go to dollar story and buy a set of those cheap chimes. That would be just amazing! The robot itself is amazing!
@ Sat, 2011-07-02 16:14
Cool project!
@ Sat, 2011-07-02 22:24
RE
The drums are made from shelf post covers. Here's where I bought them:
http://www.harborfreight.com/4-tier-shelf-rack-91883.html
Bascom has a random number function that I call on over and over in this code. I use these random numbers to choose the drums, tempo, times to play, etc. The only part of this code that isn't random is when I tell it to repeat the previous drum riff so that it actually sounds like some form of music. If I didn't have the repeat structure then it would just be a string of random taps. The repeat structure I use is play riff1, riff2, riff1, riff2, riff2.
Once I get more sounds going from the robot playing in time with these drum taps it will sound more like music than it does presently.
@ Sat, 2011-07-02 13:43
mmm if i understand
mmm if i understand correctly u want to add a record/playback capability?
with the stuff needed to make that work, u could also rig up a sort of electronic drum with
a piezo element so u or the bot can assign different sounds to it.
like this guy did with his mousemat:
http://www.youtube.com/watch?v=HctUQTxMXEM
piezo elements look like this:
kinda looks like a cymbal ;)
@ Sat, 2011-07-02 22:52
RE
I tried a sound recorder and didn't like what I got from it.I had problems with keeping the playback in time with the drum tempo.
I tried having it make beeps from a piezo but didn't find what I'm looking for there either. Bascom has a "sound" function that is its own loop which is determined by pulses and duration. The timing problem is worse using this function because its adding a loop inside of my loop, so I have to add another timing adjustment to fit it all in the limited amount of time of the drum riff.
When I speed it up to play within the timing limit, it starts sounding like modem noise!!!
I'm going to shop around the dollar stores like suggested above and see what I can find to hack.
@ Sat, 2011-07-02 04:18
RE
Ok, its time to dust this thing off and add some more sounds!!!
I'm going to have to do some testing to see which way I can get better tones from the side speakers.
My previous attempts failed due to errors on my part. ~DOH!!!
The best method will either be from a DAC board to drive the amp. Or a driver board to PWM the speakers directly without the amp.
(You can't drive this much load directly from a micro pin.) So testing will be the only way to know which way is better.
I previously tried a piezo buzzer which didn't make good tones.
I'm also thinking about swapping the controller over to an Arduino Mega, as I've learned to like Arduino's a lot more than Bascom.
@ Wed, 2010-03-10 18:59
Just a little thing: I dont
Just a little thing: I dont know exactley how bascom basic works, but you should take a look at the "Select Case" command. that way you could write your code some shorter. like this:
Select tempo
case 1 : Pause = .9925
case 2 : Pause = .4962
case 3 : Pause = .3308
end select
instead of:
If Tempo = 1 Then 'these are used to properly time the drum beats
End If
If Tempo = 2 Then
Pause = .4962
End If
If Tempo = 3 Then
Pause = .3308
End If
Still have to say your code is looking more properly then my code.. lol. You know how these things goes, constantly chancing Things, adding features.
Good work! Go so further.
@ Thu, 2010-03-11 00:46
RE:
Yeah I agree with your code advice. Of the skills it takes to make robots, programming is my weakest skill. So my code is always in need of some cleanup, or could be written in a better way. But as long as it works....I'll make this correction when I post the next round of code.
I've got a few more things to get working, like a new recorder board, the sound pressure sensor, the Sharp ranging sensor, guitar sounds, etc.
@ Thu, 2010-03-11 01:00
RE:
@ Wed, 2010-03-10 05:18
Looks Good