Run this example from the command line with:
node eg/phoenix.js
/**
* This example is used to control a Lynxmotion Phoenix hexapod
* via an Arduino Mega and DFRobot Mega Sensor Shield along with
* an Arduino Uno and Sparkfun Joystick Shield
*
* Robot
* http://www.lynxmotion.com/c-117-phoenix.aspx
* http://arduino.cc/en/Main/ArduinoBoardMegaADK
* http://www.dfrobot.com/index.php?route=product/product&path=35_124&product_id=560
*
* You will want to update a couple of things if you are going to use this code:
* 1. You can tweak your walk with the "lift" and "s" objects.
* 2. You can trim your servos by changing the offset values on each servo
*
*/
var five = require("johnny-five"),
temporal = require("temporal"),
board, ph = {
state: "sleep"
},
easeIn = "inQuad",
easeOut = "outQuad",
easeInOut = "inOutQuad",
// This object describes the "leg lift" used in walking
lift = {
femur: 30,
tibia: -20
},
// By default, the gait length is about 2". Adjusting this
// value scales the gait and can really help out if your
// using servos don't have enough torque resulting in a
// saggy bottomed Phoenix. Note that the femur and tibia
// positions are optimized for a gait scale of 1.0.
gait = 1,
// This object contains the home positions of each
// servo in its forward, mid and rear position for
// walking.
s = {
front: {
coxa: [66 - 26 * gait, 66, 66 + 19 * gait],
femur: [100, 94, 65],
tibia: [115, 93, 40]
},
mid: {
coxa: [68 - 16 * gait, 68, 68 + 16 * gait],
femur: [92, 93, 86],
tibia: [95, 96, 82]
},
rear: {
coxa: [59 + 18 * gait, 59, 59 - 22 * gait],
femur: [80, 92, 100],
tibia: [70, 100, 113]
}
};
// Your port addresses will vary
board = new five.Board().on("ready", function() {
ph.r1c = new five.Servo({
pin: 23,
offset: 10,
startAt: 45
});
ph.r1f = new five.Servo({
pin: 22,
offset: -6,
startAt: 180
});
ph.r1t = new five.Servo({
pin: 21,
offset: -7,
startAt: 180
});
ph.r1 = new five.Servos([ph.r1c, ph.r1f, ph.r1t]);
ph.l1c = new five.Servo({
pin: 27,
invert: true,
offset: -7,
startAt: 45
});
ph.l1f = new five.Servo({
pin: 25,
invert: true,
offset: -2,
startAt: 180
});
ph.l1t = new five.Servo({
pin: 24,
invert: true,
offset: -8,
startAt: 180
});
ph.l1 = new five.Servos([ph.l1c, ph.l1f, ph.l1t]);
ph.r2c = new five.Servo({
pin: 17,
offset: 16,
startAt: 45
});
ph.r2f = new five.Servo({
pin: 16,
offset: 12,
startAt: 180
});
ph.r2t = new five.Servo({
pin: 15,
offset: 2,
startAt: 180
});
ph.r2 = new five.Servos([ph.r2c, ph.r2f, ph.r2t]);
ph.l2c = new five.Servo({
pin: 20,
invert: true,
offset: 21,
startAt: 45
});
ph.l2f = new five.Servo({
pin: 19,
invert: true,
offset: -19,
startAt: 180
});
ph.l2t = new five.Servo({
pin: 18,
invert: true,
offset: -3,
startAt: 180
});
ph.l2 = new five.Servos([ph.l2c, ph.l2f, ph.l2t]);
ph.r3c = new five.Servo({
pin: 9,
invert: true,
offset: 10,
startAt: 45
});
ph.r3f = new five.Servo({
pin: 4,
offset: 1,
startAt: 180
});
ph.r3t = new five.Servo({
pin: 5,
offset: -10,
startAt: 180
});
ph.r3 = new five.Servos([ph.r3c, ph.r3f, ph.r3t]);
ph.l3c = new five.Servo({
pin: 14,
offset: 5,
startAt: 45
});
ph.l3f = new five.Servo({
pin: 2,
invert: true,
offset: -5,
startAt: 180
});
ph.l3t = new five.Servo({
pin: 3,
invert: true,
startAt: 180
});
ph.l3 = new five.Servos([ph.l3c, ph.l3f, ph.l3t]);
ph.femurs = new five.Servos([ph.r1f, ph.l1f, ph.r2f, ph.l2f, ph.r3f, ph.l3f]);
ph.tibia = new five.Servos([ph.r1t, ph.l1t, ph.r2t, ph.l2t, ph.r3t, ph.l3t]);
ph.coxa = new five.Servos([ph.r1c, ph.l1c, ph.r2c, ph.l2c, ph.r3c, ph.l3c]);
ph.joints = new five.Servos([ph.coxa, ph.femurs, ph.tibia]);
ph.legs = new five.Servos([ph.r1c, ph.r1f, ph.r1t, ph.l1c, ph.l1f, ph.l1t, ph.r2c, ph.r2f, ph.r2t, ph.l2c, ph.l2f, ph.l2t, ph.r3c, ph.r3f, ph.r3t, ph.l3c, ph.l3f, ph.l3t]);
var legsAnimation = new five.Animation(ph.legs);
var stand = {
target: ph.joints,
duration: 500,
loop: false,
fps: 100,
cuePoints: [0, 0.1, 0.3, 0.7, 1.0],
oncomplete: function() {
ph.state = "stand";
},
keyFrames: [
[null, {
degrees: s.front.coxa[1]
}],
[null, false, false, {
degrees: s.front.femur[1] + 26,
easing: easeOut
}, {
degrees: s.front.femur[1],
easing: easeIn
}],
[null, false, {
degrees: s.front.tibia[1] + 13
},
false, {
degrees: s.front.tibia[1]
}
]
]
};
var sleep = {
duration: 500,
cuePoints: [0, 0.5, 1.0],
fps: 100,
target: ph.joints,
oncomplete: function() {
ph.state = "sleep";
},
keyFrames: [
[null, false, { degrees: 45, easing: easeOut }],
[null, { degrees: 136, easing: easeInOut }, { degrees: 180, easing: easeInOut }],
[null, { degrees: 120, easing: easeInOut }, { step: 60, easing: easeInOut }]
]
};
var waveRight = {
duration: 1500,
cuePoints: [0, 0.1, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.0],
target: ph.r1,
oncomplete: function() {
ph.state = "stand";
},
keyFrames: [
[null, false, { degrees: 120, easing: easeInOut }, false, false, false, false, false, { degrees: 52, easing: easeInOut }, {copyDegrees: 0, easing: easeInOut} ], // r1c
[null, { step: 55, easing: easeInOut }, false, false, false, false, false, false, { step: -55, easing: easeInOut }, {copyDegrees: 0, easing: easeInOut} ], // r1f
[null, { degrees: 85, easing: easeInOut }, { degrees: 45, easing: easeInOut }, { step: -15, easing: easeInOut}, { step: 30, easing: easeInOut}, { copyDegrees: 3, easing: easeInOut}, { copyFrame: 4 }, { copyDegrees: 2, easing: easeInOut}, { copyFrame: 1 }, {copyDegrees: 0, easing: easeInOut} ]
]
};
var waveLeft = {
duration: 1500,
cuePoints: [0, 0.1, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.0],
target: ph.l1,
oncomplete: function() {
ph.state = "stand";
},
keyFrames: [
[null, false, { degrees: 120, easing: easeInOut }, false, false, false, false, false, { degrees: 52, easing: easeInOut }, {copyDegrees: 0, easing: easeInOut} ], // l1c
[null, { step: 55, easing: easeInOut }, false, false, false, false, false, false, { step: -55, easing: easeInOut }, {copyDegrees: 0, easing: easeInOut} ], // l1f
[null, { degrees: 85, easing: easeInOut }, { degrees: 45, easing: easeInOut }, { step: -15, easing: easeInOut}, { step: 30, easing: easeInOut}, { copyDegrees: 3, easing: easeInOut}, { copyFrame: 4 }, { copyDegrees: 2, easing: easeInOut}, { copyFrame: 1 }, {copyDegrees: 0, easing: easeInOut} ]
]
};
ph.walk = function(dir) {
var a = dir === "rev" ? 0 : 2,
b = dir === "rev" ? 2 : 0;
legsAnimation.enqueue({
duration: 1500,
cuePoints: [0, 0.25, 0.5, 0.625, 0.75, 0.875, 1.0],
loop: true,
loopback: 0.5,
fps: 100,
onstop: function() {
ph.att();
},
oncomplete: function() {},
keyFrames: [
[ null, null, {degrees: s.front.coxa[a]}, {degrees: s.front.coxa[1]}, {degrees: s.front.coxa[b]}, null, {degrees: s.front.coxa[a]}],
[ null, { step: lift.femur, easing: easeOut }, {degrees: s.front.femur[a], easing: easeIn}, {degrees: s.front.femur[1]}, {degrees: s.front.femur[b]}, { step: lift.femur, easing: easeOut }, {degrees: s.front.femur[a], easing: easeIn}],
[ null, { step: lift.tibia, easing: easeOut }, {degrees: s.front.tibia[a], easing: easeIn}, {degrees: s.front.tibia[1]}, {degrees: s.front.tibia[b]}, { step: lift.tibia, easing: easeOut }, {degrees: s.front.tibia[a], easing: easeIn}],
[ null, null, {degrees: s.front.coxa[b]}, null, {degrees: s.front.coxa[a]}, {degrees: s.front.coxa[1]}, {degrees: s.front.coxa[b]}],
[ null, null, {degrees: s.front.femur[b]}, { step: lift.femur, easing: easeOut }, {degrees: s.front.femur[a], easing: easeIn}, {degrees: s.front.femur[1]}, {degrees: s.front.femur[b]}],
[ null, null, {degrees: s.front.tibia[b]}, { step: lift.tibia, easing: easeOut }, {degrees: s.front.tibia[a], easing: easeIn}, {degrees: s.front.tibia[1]}, {degrees: s.front.tibia[b]}],
[ null, null, {degrees: s.mid.coxa[b]}, null, {degrees: s.mid.coxa[a]}, {degrees: s.mid.coxa[1]}, {degrees: s.mid.coxa[b]}],
[ null, null, {degrees: s.mid.femur[b]}, { step: lift.femur, easing: easeOut }, {degrees: s.mid.femur[a], easing: easeIn}, {degrees: s.mid.femur[1]}, {degrees: s.mid.femur[b]}],
[ null, null, {degrees: s.mid.tibia[b]}, { step: lift.tibia, easing: easeOut }, {degrees: s.mid.tibia[a], easing: easeIn}, {degrees: s.mid.tibia[1]}, {degrees: s.mid.tibia[b]}],
[ null, null, {degrees: s.mid.coxa[a]}, {degrees: s.mid.coxa[1]}, {degrees: s.mid.coxa[b]}, null, {degrees: s.mid.coxa[a]}],
[ null, { step: lift.femur, easing: easeOut }, {degrees: s.mid.femur[a], easing: easeIn}, {degrees: s.mid.femur[1]}, {degrees: s.mid.femur[b]}, { step: lift.femur, easing: easeOut }, {degrees: s.mid.femur[a], easing: easeIn}],
[ null, { step: lift.tibia, easing: easeOut }, {degrees: s.mid.tibia[a], easing: easeIn}, {degrees: s.mid.tibia[1]}, {degrees: s.mid.tibia[b]}, { step: lift.tibia, easing: easeOut }, {degrees: s.mid.tibia[a], easing: easeIn}],
[ null, null, {degrees: s.rear.coxa[a]}, {degrees: s.rear.coxa[1]}, {degrees: s.rear.coxa[b]}, null, {degrees: s.rear.coxa[a]}],
[ null, { step: lift.femur, easing: easeOut }, {degrees: s.rear.femur[a], easing: easeIn}, {degrees: s.rear.femur[1]}, {degrees: s.rear.femur[b]}, { step: lift.femur, easing: easeOut }, {degrees: s.rear.femur[a], easing: easeIn}],
[ null, { step: lift.tibia, easing: easeOut }, {degrees: s.rear.tibia[a], easing: easeIn}, {degrees: s.rear.tibia[1]}, {degrees: s.rear.tibia[b]}, { step: lift.tibia, easing: easeOut }, {degrees: s.rear.tibia[a], easing: easeIn}],
[ null, null, {degrees: s.rear.coxa[b]}, null, {degrees: s.rear.coxa[a]}, {degrees: s.rear.coxa[1]}, {degrees: s.rear.coxa[b]}],
[ null, null, {degrees: s.rear.femur[b]}, { step: lift.femur, easing: easeOut }, {degrees: s.rear.femur[a], easing: easeIn}, {degrees: s.rear.femur[1]}, {degrees: s.rear.femur[b]}],
[ null, null, {degrees: s.rear.tibia[b]}, { step: lift.tibia, easing: easeOut }, {degrees: s.rear.tibia[a], easing: easeIn}, {degrees: s.rear.tibia[1]}, {degrees: s.rear.tibia[b]}],
]
});
return this;
};
ph.turn = function(dir) {
var a = dir === "left" ? 0 : 2,
b = dir === "left" ? 2 : 0;
legsAnimation.enqueue({
duration: 1500,
fps: 100,
cuePoints: [0, 0.25, 0.5, 0.625, 0.75, 0.875, 1.0],
loop: true,
loopback: 0.5,
onstop: function() {
ph.att();
},
keyFrames: [
[ null, null, {degrees: s.front.coxa[a]}, null, {degrees: s.front.coxa[b]}, null, {degrees: s.front.coxa[a]}],
[ null, null, {degrees: s.front.femur[a]}, { step: lift.femur, easing: easeOut }, {degrees: s.front.femur[b]}, null, {degrees: s.front.femur[a]}],
[ null, null, {degrees: s.front.tibia[a]}, { step: lift.tibia, easing: easeOut }, {degrees: s.front.tibia[b]}, null, {degrees: s.front.tibia[a]}],
[ null, null, {degrees: s.front.coxa[a]}, null, {degrees: s.front.coxa[b]}, null, {degrees: s.front.coxa[a]}],
[ null, { step: lift.femur, easing: easeOut }, {degrees: s.front.femur[a], easing: easeIn}, null, {degrees: s.front.femur[b], easing: easeIn}, { step: lift.femur, easing: easeOut }, {degrees: s.front.femur[a], easing: easeIn}],
[ null, { step: lift.tibia, easing: easeOut }, {degrees: s.front.tibia[a], easing: easeIn}, null, {degrees: s.front.tibia[b], easing: easeIn}, { step: lift.tibia, easing: easeOut }, {degrees: s.front.tibia[a], easing: easeIn}],
[ null, null, {degrees: s.mid.coxa[b]}, null, {degrees: s.mid.coxa[a]}, null, {degrees: s.mid.coxa[b]}],
[ null, { step: lift.femur, easing: easeOut }, {degrees: s.mid.femur[b], easing: easeIn}, null, {degrees: s.mid.femur[a], easing: easeIn}, { step: lift.femur, easing: easeOut }, {degrees: s.mid.femur[b], easing: easeIn}],
[ null, { step: lift.tibia, easing: easeOut }, {degrees: s.mid.tibia[b], easing: easeIn}, null, {degrees: s.mid.tibia[a], easing: easeIn}, { step: lift.tibia, easing: easeOut }, {degrees: s.mid.tibia[b], easing: easeIn}],
[ null, null, {degrees: s.mid.coxa[b]}, null, {degrees: s.mid.coxa[a]}, null, {degrees: s.mid.coxa[b]}],
[ null, null, {degrees: s.mid.femur[b]}, { step: lift.femur, easing: easeOut }, {degrees: s.mid.femur[a]}, null, {degrees: s.mid.femur[b]}],
[ null, null, {degrees: s.mid.tibia[b]}, { step: lift.tibia, easing: easeOut }, {degrees: s.mid.tibia[a]}, null, {degrees: s.mid.tibia[b]}],
[ null, null, {degrees: s.rear.coxa[a]}, null, {degrees: s.rear.coxa[b]}, null, {degrees: s.rear.coxa[a]}],
[ null, null, {degrees: s.rear.femur[a]}, { step: lift.femur, easing: easeOut }, {degrees: s.rear.femur[b]}, null, {degrees: s.rear.femur[a]}],
[ null, null, {degrees: s.rear.tibia[a]}, { step: lift.tibia, easing: easeOut }, {degrees: s.rear.tibia[b]}, null, {degrees: s.rear.tibia[a]}],
[ null, null, {degrees: s.rear.coxa[a]}, null, {degrees: s.rear.coxa[b]}, null, {degrees: s.rear.coxa[a]}],
[ null, { step: lift.femur, easing: easeOut }, {degrees: s.rear.femur[a], easing: easeIn}, null, {degrees: s.rear.femur[b], easing: easeIn}, { step: lift.femur, easing: easeOut }, {degrees: s.rear.femur[a], easing: easeIn}],
[ null, { step: lift.tibia, easing: easeOut }, {degrees: s.rear.tibia[a], easing: easeIn}, null, {degrees: s.rear.tibia[b], easing: easeIn}, { step: lift.tibia, easing: easeOut }, {degrees: s.rear.tibia[a], easing: easeIn}]
]
});
return this;
};
ph.att = function() {
var most = 0, grouped, mostIndex, ani, work = [
{ name: "r1", offset: 0, home: s.front.femur[1], thome: s.front.tibia[1], chome: s.front.coxa[1]},
{ name: "r2", offset: 0, home: s.mid.femur[1], thome: s.mid.tibia[1], chome: s.front.coxa[1] },
{ name: "r3", offset: 0, home: s.rear.femur[1], thome: s.rear.tibia[1], chome: s.front.coxa[1] },
{ name: "l1", offset: 0, home: s.front.femur[1], thome: s.front.tibia[1], chome: s.front.coxa[1] },
{ name: "l2", offset: 0, home: s.mid.femur[1], thome: s.mid.tibia[1], chome: s.front.coxa[1] },
{ name: "l3", offset: 0, home: s.rear.femur[1], thome: s.rear.tibia[1], chome: s.front.coxa[1] }
];
work.forEach(function(leg, i) {
work[i].offset = Math.abs(ph[leg.name + "f"].last.reqDegrees - leg.home);
});
if (work[1].offset > work[4].offset) {
grouped = [
[0, 2, 4],
[1, 3, 5]
];
} else {
grouped = [
[1, 3, 5],
[0, 2, 4]
];
}
grouped.forEach(function(group, i) {
group.forEach(function(leg, j) {
temporal.queue([{
delay: 250 * i,
task: function() {
ph[work[leg].name + "f"].to(work[leg].home + lift.femur);
ph[work[leg].name + "t"].to(work[leg].thome + lift.tibia);
}
}, {
delay: 50,
task: function() {
ph[work[leg].name + "c"].to(work[leg].chome);
}
}, {
delay: 50,
task: function() {
ph[work[leg].name + "f"].to(work[leg].home);
ph[work[leg].name + "t"].to(work[leg].thome);
}
}]);
});
});
ph.state = "stand";
};
ph.sleep = function() {
legsAnimation.enqueue(sleep);
};
ph.waveLeft = function() {
legsAnimation.enqueue(waveLeft);
};
ph.waveRight = function() {
legsAnimation.enqueue(waveRight);
};
ph.stand = function() {
legsAnimation.enqueue(stand);
};
ph.stop = function() {
legsAnimation.stop();
};
// Inject the `ph` object into
// the Repl instance's context
// allows direct command line access
this.repl.inject({
ph: ph
});
ph.sleep();
});
