circuito.io team
Published © GPL3+

Animatronic Tail by Circuito.io

Our first wearable project (!) is an animatronic tail with dual-control. No animals harmed in the making of this project.

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Things used in this project

Hardware components

Arduino UNO & Genuino UNO
Arduino UNO & Genuino UNO
×1
SparkFun Triple Axis Accelerometer and Gyro Breakout - MPU-6050
SparkFun Triple Axis Accelerometer and Gyro Breakout - MPU-6050
×1
Analog joystick (Generic)
×1
Servos (Tower Pro MG996R)
×3

Software apps and online services

circuito.io
circuito.io
Arduino IDE
Arduino IDE

Hand tools and fabrication machines

3D Printer (generic)
3D Printer (generic)

Story

Read more

Custom parts and enclosures

3D designs and laser cuts for Animatronic Tail

In the link you'll find all the design files you need for the tail including explanations and materials.

Code

Animatronic Tail Code

Arduino
Replace the code you received from circuito.io reply with the code below. Keep the // Include Libraries and
// Pin Definitions from the original code.
// Global variables and defines
int16_t mpu6050Ax, mpu6050Ay, mpu6050Az;
int16_t mpu6050Gx, mpu6050Gy, mpu6050Gz;

int posx = 0;
int posy = 0;

int joystickX;
int joystickY;

int joystickX_Cal = 0;
int joystickY_Cal = 0;
//use button to toggle between sensors
bool sensor_state = 1;

Servo servoUP;  // create servo object to control a servo
Servo servoLEFT;  // create servo object to control a servo
Servo servoRIGHT;  // create servo object to control a servo

MPU6050 mpu6050;
Joystick joystick(JOYSTICK_PIN_VRX, JOYSTICK_PIN_VRY, JOYSTICK_PIN_SW);


/* This code sets up the essentials for your circuit to work. It runs first every time your circuit is powered with electricity. */
void setup() {
  // Setup Serial which is useful for debugging
  // Use the Serial Monitor to view printed messages
  Serial.begin(9600);
  while (!Serial) ; // wait for serial port to connect. Needed for native USB
  Serial.println("start");

  Wire.begin();
  mpu6050.initialize();

  servoUP.attach(SERVO_1_PIN_SIG);  // attaches the servo on pin 9 to the servo object
  servoLEFT.attach(SERVO_2_PIN_SIG);  // attaches the servo on pin 9 to the servo object
  servoRIGHT.attach(SERVO_3_PIN_SIG);  // attaches the servo on pin 9 to the servo object

  // Read Joystick X,Y axis and press
  joystickX_Cal =  joystick.getX();
  joystickY_Cal =  joystick.getY();
  joystickX = joystickX_Cal;
  joystickY = joystickY_Cal;
}

/* This code is the main logic of your circuit. It defines the interaction between the components you selected. After setup, it runs over and over again, in an eternal loop. */
void loop() {
  int joystickSW =  joystick.getSWonPress();
  if (joystickSW)
  {
    sensor_state = !sensor_state;
    //Serial.println("Switch sesnor");
  }

  if (sensor_state)
  {

    joystickX +=  (joystick.getX() - joystickX_Cal);
    joystickY +=  (joystick.getY() - joystickY_Cal);

    joystickX = constrain(joystickX, 0, 1023);
    joystickY = constrain(joystickY, 0, 1023);
    
 /* Serial.print(joystickX);
    Serial.print("\t");
    Serial.println(joystickY);*/
    
    posx = map(joystickX, 0, 1023, 0, 180);
    posy = map(joystickY, 0, 1023, 0, 180);
    
     /*   Serial.print(posx);
        Serial.print("\t");
        Serial.println(posy);*/
    
    servoLEFT.write(posx);              
    servoRIGHT.write(posx);              
    servoUP.write(posy);
  }
  else
  {
    mpu6050.getMotion6(&mpu6050Ax, &mpu6050Ay, &mpu6050Az, &mpu6050Gx, &mpu6050Gy, &mpu6050Gz);   //read accelerometer and gyroscope raw data in three axes
    posy = constrain(map(mpu6050Gx, -16000, 16000, 0, 180), 0, 180);
    posx = constrain(map(mpu6050Gy, -16000, 16000, 0, 180), 0, 180);

    //Serial.print(mpu6050Gy);
/*
    Serial.print(posy);
    Serial.print("\t");
    Serial.println(posx);*/

    //If leaning forward rise up tail
    if (posx < 80)
      servoUP.write(175);
    //If leaning back lower the tail
    else if (posx > 100)
      servoUP.write(5);

    if (posy > 110)
    {
      servoLEFT.write(175);              // tell servo to go to position in variable 'pos'
      servoRIGHT.write(175);              // tell servo to go to position in variable 'pos'

    }
    else if (posy <= 70)
    {
      servoLEFT.write(5);              // tell servo to go to position in variable 'pos'
      servoRIGHT.write(5);              // tell servo to go to position in variable 'pos'

    }
  }




  delay(100);

}

Credits

circuito.io team

circuito.io team

29 projects • 368 followers
Circuito.io is an online platform that generates wiring and code for Arduino projects. Want to know more? Visit http://circuito.io

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