| Folder | Description |
|---|---|
| initial_sketch/ | initial sketch for the s77 otto builder workshop |
This sketch supports two modes:
- walk and detect obstacles
- calibration mode
In this mode OTTO walks and he detects a obstacle, he makes a turn and walks again
- obstacle expected ~14cm
- pause for 1500ms
- no obstacle expected
- pause for 1500ms
- obstacle expected ~14cm
- pause for 1500ms
- no obstacle expected
for each servo, this mode executes the following sequence
- juggle the actual servo
- calibrate the actual servo
- calculate the trims from the obstacle distance
- play with the distance and you see the servos moves
- if you don't change the distance for ~2 seconds, the next servo are selected
- pause for 1000ms
if otto detects a obstacle for ~4 seconds for his eyes, the new values will saved to EEPROM (otto beeps the whole time). if you remove the obstacle in this period, nothing will saved.