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OTTO

Folder Description
initial_sketch/ initial sketch for the s77 otto builder workshop

initial_sketch/

This sketch supports two modes:

  • walk and detect obstacles
  • calibration mode

walk (default mode)

In this mode OTTO walks and he detects a obstacle, he makes a turn and walks again

calibration mode

steps to active this mode

  • obstacle expected ~14cm
  • pause for 1500ms
  • no obstacle expected
  • pause for 1500ms
  • obstacle expected ~14cm
  • pause for 1500ms
  • no obstacle expected

calibration

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.