Tweetosapien: Hack a Robosapien With Arduino to React to Tweets

Step #2: Arduino

• The original code on which is based the program to fake the remote and send data to Arduino is available on this page. Arduino allows us to fake the remote and communicate with the robot the «serial way». Before powering on the robot, I advice you to switch the robot in remote mode. When it’s done, you can power the robot on and switch back on Arduino mode. Then, you can plug the white wire on the Arduino 6 PIN and the black one on the GND. You can optionally add a LED on the 13 PIN. Upload the code on the Arduino. If everything is working well, you should hear your Robosapien burping, the link between the controller and the robot is fine.

  /*
  Tweetosapien
  [email protected] / May, 2013Thanks to RobosapienRu - test Robosapien hackspace.ru
  */
  
  #include
  
  volatile int viRobsapienCmd = -1;  // A robosapien command sent over the UART request
  
  //////////////////////////////////////////////////////////////////
  // Begin Robosapien specific variable deinitions
  //////////////////////////////////////////////////////////////////
  
  // Some but not all RS commands are defined
  #define RSTurnRight       0x80
  #define RSRightArmUp      0x81
  #define RSRightArmOut     0x82
  #define RSTiltBodyRight   0x83
  #define RSRightArmDown    0x84
  #define RSRightArmIn      0x85
  #define RSWalkForward     0x86
  #define RSWalkBackward    0x87
  #define RSTurnLeft        0x88
  #define RSLeftArmUp       0x89
  #define RSLeftArmOut      0x8A
  #define RSTiltBodyLeft    0x8B
  #define RSLeftArmDown     0x8C
  #define RSLeftArmIn       0x8D
  #define RSStop            0x8E
  #define RSWakeUp          0xB1
  #define RSBurp            0xC2
  #define RSRightHandStrike 0xC0
  #define RSNoOp            0xEF
  
  //
  #define RSRightHandSweep  0xC1
  #define RSRightHandStrike2 0xC3
  #define RSHigh5           0xC4
  #define RSFart            0xC7
  #define RSLeftHandStrike  0xC8
  #define RSLeftHandSweep  0xC9
  
  #define RSWhistle         0xCA
  #define RSRoar            0xCE
  
  int command, buff[]={
  0x80, 0x81, 0x82, 0x83, 0x84, 0x85,
  0x86, 0x87, 0x88, 0x89, 0x8A, 0x8B, 0x8C, 0x8D, 0x8E, 0xB1,
  0xC2, 0xC0, 0xEF, 0xC1, 0xC3, 0xC4, 0xC7, 0xC8, 0xC9};
  
  int LedControl = 13;     // Show when control on
  int IROut= 6;            // Where the echoed command will be sent from
  int bitTime=516;          // Bit time (Theoretically 833 but 516)
  // works for transmission and is faster
  int last;                 // Previous command from IR
  
  //////////////////////////////////////////////////////////////////
  // Begin Robosapien specific code
  //////////////////////////////////////////////////////////////////
  // send the command 8 bits
  void RSSendCommand(int command) {
  digitalWrite(IROut,LOW);
  delayMicroseconds(8*bitTime);
  for (int i=0;i<8;i++) {
  digitalWrite(IROut,HIGH);
  delayMicroseconds(bitTime);
  if ((command & 128) !=0) delayMicroseconds(3*bitTime);
  digitalWrite(IROut,LOW);
  delayMicroseconds(bitTime);
  command <<= 1;
  }
  digitalWrite(IROut,HIGH);
  delay(250); // Give a 1/4 sec before next
  }
  
  // Set up Robosapien functionality
  void RSSetup()
  {
  pinMode(IROut, OUTPUT);
  pinMode(LedControl,OUTPUT);
  digitalWrite(IROut,HIGH);
  
  // Make robot burp to indicate setup is complete
  RSSendCommand(RSBurp);
  }
  
  void setup()
  {
  Serial.begin(9600);
  Serial.println("RobSapien Start");
  
  RSSetup();
  }
  
  void loop()
  {
  
  }