Nature has always been an important source of inspiration for humans, and humans have always been committed to imitating things in nature to invent new items. Biomimicry is the most intuitive way for humans to learn in nature. It refers to the science of humans imitating biological structures and functions and inventing new technologies.
Spider robot is a bionic robot, and our inspiration mainly comes from the biological characteristics of spiders. Spiders are arthropods with eight legs. Each leg has seven joints and can move flexibly. They can crawl on the ground or on walls. When a spider walks, it moves 4 of its 8 legs at a time, with legs 1 and 3 on one side of the body moving at the same time as legs 2 and 4 on the other side.
With the help of the movement characteristics of spiders, we made the spider robot into a four-legged structure. This multi-legged structure can give the spider robot good stability and balance, and can adapt to walking on different terrains.
Spider robots have wide application prospects in industrial, military and exploration fields, such as pipeline inspection, reconnaissance and search and rescue, geological exploration, etc. So we hope that after learning our quadruped bionic spider robot kit, you can conduct further research and study to realize its huge potential in more fields.
So next I will share its production process, starting with the material composition of the hardware and structural parts.
Motherboard type. The motherboard we use is ESP8266, which is a low-power, high-performance WiFi module. It integrates WiFi function and TCP/IP protocol stack, and can communicate with the main controller through the serial port. It is a module suitable for mobile devices, wearable electronics and IoT applications.
Expansion board type. We will use a special servo expansion board, which can connect eight servos at a time. Under the control of the ESP8266 motherboard, it can quickly drive the servos to complete different actions.
Servo module. The servo is an important motion joint of the quadruped spider robot. Its working principle is that the control board receives the control signal from the signal source and drives the motor to rotate; the gear set reduces the speed of the motor by many times, and amplifies the output torque of the motor by a corresponding multiple, and then outputs it; the potentiometer and the final stage of the gear set rotate together to measure the rotation angle of the servo shaft; the circuit board detects and determines the rotation angle of the servo according to the potentiometer, and then controls the servo to rotate to the target angle or keep it at the target angle.
List of structural parts. Cut from acrylic materials, forming the body and limbs of the quadruped spider robot.
Next are the steps to assemble the quadruped spider robot.
1. Install the servo expansion board
2. Install the servo
3. Install the motherboard
4. Install the limbs and claws of the quadruped robot
5. Connect the legs
6. Install the top cover
Finally, let’s take a look at its movement effect.
void setup() {
Serial.begin(115200);
}
void loop() {
Serial.println("Hello, ESP8266!");
delay(1000);
}
#include <Servo.h>
Servo myservo; // create servo object to control a servo
int pos;
void setup() {
myservo.attach(D0); // attaches the servo on GIO2 to the servo objec t
for (pos = 10; pos <= 170; pos += 1) { // goes from 0 degrees to 180 degrees
// in steps of 1 degree
myservo.write(pos); // tell servo to go to position in variable 'pos'
delay(15); // waits 15ms for the servo to reach the position
}
for (pos = 170; pos >= 10; pos -= 1) { // goes from 180 degrees to 0 degrees
myservo.write(pos); // tell servo to go to position in variable 'pos'
delay(15); // waits 15ms for the servo to reach the position
}
delay(1000);
}
void loop() {
myservo.write(90);
}
#include <Servo.h> //Import servo library
//Create eight servos variables
Servo servo_14;//Upper right [paw]
Servo servo_12;//Upper right [arm]
Servo servo_13;//Lower right [arm]
Servo servo_15;//Lower right [paw]
Servo servo_16;//Upper left [paw]
Servo servo_5;//Upper left [arm]
Servo servo_4;//Lower left [arm]
Servo servo_2;//Lower left [paw]
void setup(){ //Initialize the GPIO pin number of each servo
servo_14.attach(14);
servo_12.attach(12);
servo_13.attach(13);
servo_15.attach(15);
servo_16.attach(16);
servo_5.attach(5);
servo_4.attach(4);
servo_2.attach(2);
}
void zero() { //Define the zeroing function
servo_14.write(135);//Set right upper [paw]135°
servo_12.write(45);//Set upper right [arm]45°
servo_13.write(135);//Set lower right [arm]135°
servo_15.write(45);//Set right lower [paw]45°
servo_16.write(45);//Set upper left [paw]45°
servo_5.write(135);//Set upper left [arm]135°
servo_4.write(45);//Set lower left [arm]45°
servo_2.write(135);//Set left lower [paw]135°
}
void loop() {
zero();//Call the zeroing function
}
#include <Servo.h>
Servo servo_14;//Upper right [paw]
Servo servo_12;//Upper right [arm]
Servo servo_13;//Lower right [arm]
Servo servo_15;//Lower right [paw]
Servo servo_16;//Upper left [paw]
Servo servo_5;//Upper left [arm]
Servo servo_4;//Lower left [arm]
Servo servo_2;//Lower left [paw]
void setup(){
servo_14.attach(14);
servo_12.attach(12);
servo_13.attach(13);
servo_15.attach(15);
servo_16.attach(16);
servo_5.attach(5);
servo_4.attach(4);
servo_2.attach(2);
}
//Create the standby array
int array1[2][9] = {
//G14 G12 G13 G15 G16 G5 G4 G2 MS
{90, 90, 90, 90, 90, 90, 90, 90, 500},//Center point position
{70, 90, 90, 110, 110, 90, 90, 70, 500},//Standby mode
};
//A function that sets the standby state
void standby() {
for (int i = 0; i <= 1; i = i + 1) { //There are two sets of arrays that need to be traversed twice
servo_14.write(array1[i][0]); //The servo executes row i and column 1
servo_12.write(array1[i][1]); //The servo executes row i and column 2
servo_13.write(array1[i][2]); //The servo executes row i and column 3
servo_15.write(array1[i][3]); //The servo executes row i and column 4
servo_16.write(array1[i][4]); //The servo executes row i and column 5
servo_5.write(array1[i][5]); //The servo executes row i and column 6
servo_4.write(array1[i][6]); //The servo executes row i and column 7
servo_2.write(array1[i][7]); //The servo executes row i and column 8
delay(array1[i][8]); //Row i, column 9, execution delay time
}
}
//Run the standby function
void loop() {
standby();
delay(1000);
}
#include <Servo.h>
Servo servo_14;//Upper right [paw]
Servo servo_12;//Upper right [arm]
Servo servo_13;//Lower right [arm]
Servo servo_15;//Lower right [paw]
Servo servo_16;//Upper left [paw]
Servo servo_5;//Upper left [arm]
Servo servo_4;//Lower left [arm]
Servo servo_2;//Lower left [paw]
//Creates an array of action decompositions for moving forward
int array2[11][9] = { //There are 11 arrays with 9 columns
//G14 G12 G13 G15 G16 G5 G4 G2 MS （The latter is uniformly sorted according to this pin）
{70, 90, 90, 110, 110, 90, 90, 70, 200},//Ready for standby
{90, 90, 90, 110, 110, 90, 90, 90, 200},//Right upper paw and left lower paw are raised
{90, 120, 90, 110, 110, 90, 60, 90, 200},//Right upper arm and left lower arm forward
{70, 120, 90, 110, 110, 90, 60, 70, 200},//Right upper paw and left lower paw drop
{70, 120, 90, 90, 90, 90, 60, 70, 200},//The left upper paw and right lower paw are raised
{70, 90, 90, 90, 90, 90, 90, 70, 200},//Right upper arm and left lower arm back
{70, 90, 120,90, 90, 60, 90, 70, 200},//Left upper arm and right lower arm forward
{70, 90, 120,110, 110, 60, 90, 70, 200},//Left upper paw and right lower paw drop
{90, 90, 120,110, 110, 60, 90, 90, 200},//Right upper paw and left lower paw are raised
{90, 90, 90, 110, 110, 90, 90, 90, 200},//The upper left arm and lower right arm back
{70, 90, 90, 110, 110, 90, 90, 70, 200},//Right upper paw and left lower paw drop
};
//Sets the forward function
void forward() {
for (int i = 0; i <= 10; i = i + 1) {
servo_14.write(array2[i][0]);
servo_12.write(array2[i][1]);
servo_13.write(array2[i][2]);
servo_15.write(array2[i][3]);
servo_16.write(array2[i][4]);
servo_5.write(array2[i][5]);
servo_4.write(array2[i][6]);
servo_2.write(array2[i][7]);
delay(array2[i][8]);
}
}
void setup(){
servo_14.attach(14);
servo_12.attach(12);
servo_13.attach(13);
servo_15.attach(15);
servo_16.attach(16);
servo_5.attach(5);
servo_4.attach(4);
servo_2.attach(2);
}
// Run the forward function (to pause, put the swing switch on the servo extension board into OFF gear)
void loop() {
forward();// The robot may not necessarily walk in a straight line due to errors
}
#include <Servo.h>
Servo servo_14;//Upper right [paw]
Servo servo_12;//Upper right [arm]
Servo servo_13;//Lower right [arm]
Servo servo_15;//Lower right [paw]
Servo servo_16;//Upper left [paw]
Servo servo_5;//Upper left [arm]
Servo servo_4;//Lower left [arm]
Servo servo_2;//Lower left [paw]
//Creates a backward-moving action decomposition array
int array3[11][9] = {
{70, 90, 90, 110, 110, 90, 90, 70, 200},//Ready for standby
{90, 90, 90, 110, 110, 90, 90, 90, 200},//Right upper paw and left lower paw are raised
{90, 60, 90, 110, 110, 90, 120,90, 200},//Right upper arm and left lower arm back
{70, 60, 90, 110, 110, 90, 120,70, 200},//Right upper paw and left lower paw drop
{70, 60, 90, 90, 90, 90, 120,70, 200},//The left upper paw and right lower paw are raised
{70, 90, 90, 90, 90, 90, 90, 70, 200},//Right upper arm and left lower arm forward
{70, 90, 60, 90, 90, 120,90, 70, 200},//The upper left arm and lower right arm back
{70, 90, 60,110, 110, 120,90, 70, 200},//Left upper paw and right lower paw drop
{90, 90, 60,110, 110, 120,90, 90, 200},//Right upper paw and left lower paw are raised
{90, 90, 90, 110, 110, 90, 90, 90, 200},//Left upper arm and right lower arm forward
{70, 90, 90, 110, 110, 90, 90, 70, 200},//Right upper paw and left lower paw drop
};
//Sets the backoff function
void back() {
for (int i = 0; i <= 10; i = i + 1) {
servo_14.write(array3[i][0]);
servo_12.write(array3[i][1]);
servo_13.write(array3[i][2]);
servo_15.write(array3[i][3]);
servo_16.write(array3[i][4]);
servo_5.write(array3[i][5]);
servo_4.write(array3[i][6]);
servo_2.write(array3[i][7]);
delay(array3[i][8]);
}
}
void setup(){
servo_14.attach(14);
servo_12.attach(12);
servo_13.attach(13);
servo_15.attach(15);
servo_16.attach(16);
servo_5.attach(5);
servo_4.attach(4);
servo_2.attach(2);
}
//Running the backoff program
void loop() {
back();//Calling the backoff function
}
#include <Servo.h>
Servo servo_14;//Upper right [paw]
Servo servo_12;//Upper right [arm]
Servo servo_13;//Lower right [arm]
Servo servo_15;//Lower right [paw]
Servo servo_16;//Upper left [paw]
Servo servo_5;//Upper left [arm]
Servo servo_4;//Lower left [arm]
Servo servo_2;//Lower left [paw]
//Create the standby array
int array1[2][9] = {
//G14 G12 G13 G15 G16 G5 G4 G2 MS
{90, 90, 90, 90, 90, 90, 90, 90, 500},//Center point position
{70, 90, 90, 110, 110, 90, 90, 70, 500},//Standby mode
};
//Creates an array of action decompositions for moving forward
int array2[11][9] = { //There are 11 arrays with 9 columns
//G14 G12 G13 G15 G16 G5 G4 G2 MS （The latter is uniformly sorted according to this pin）
{70, 90, 90, 110, 110, 90, 90, 70, 200},//Ready for standby
{90, 90, 90, 110, 110, 90, 90, 90, 200},//Right upper paw and left lower paw are raised
{90, 120, 90, 110, 110, 90, 60, 90, 200},//Right upper arm and left lower arm forward
{70, 120, 90, 110, 110, 90, 60, 70, 200},//Right upper paw and left lower paw drop
{70, 120, 90, 90, 90, 90, 60, 70, 200},//The left upper paw and right lower paw are raised
{70, 90, 90, 90, 90, 90, 90, 70, 200},//Right upper arm and left lower arm back
{70, 90, 120,90, 90, 60, 90, 70, 200},//Left upper arm and right lower arm forward
{70, 90, 120,110, 110, 60, 90, 70, 200},//Left upper paw and right lower paw drop
{90, 90, 120,110, 110, 60, 90, 90, 200},//Right upper paw and left lower paw are raised
{90, 90, 90, 110, 110, 90, 90, 90, 200},//The upper left arm and lower right arm back
{70, 90, 90, 110, 110, 90, 90, 70, 200},//Right upper paw and left lower paw drop
};
//Creates a backward-moving action decomposition array
int array3[11][9] = {
{70, 90, 90, 110, 110, 90, 90, 70, 200},//Ready for standby
{90, 90, 90, 110, 110, 90, 90, 90, 200},//Right upper paw and left lower paw are raised
{90, 60, 90, 110, 110, 90, 120,90, 200},//Right upper arm and left lower arm back
{70, 60, 90, 110, 110, 90, 120,70, 200},//Right upper paw and left lower paw drop
{70, 60, 90, 90, 90, 90, 120,70, 200},//The left upper paw and right lower paw are raised
{70, 90, 90, 90, 90, 90, 90, 70, 200},//Right upper arm and left lower arm forward
{70, 90, 60, 90, 90, 120,90, 70, 200},//The upper left arm and lower right arm back
{70, 90, 60,110, 110, 120,90, 70, 200},//Left upper paw and right lower paw drop
{90, 90, 60,110, 110, 120,90, 90, 200},//Right upper paw and left lower paw are raised
{90, 90, 90, 110, 110, 90, 90, 90, 200},//Left upper arm and right lower arm forward
{70, 90, 90, 110, 110, 90, 90, 70, 200},//Right upper paw and left lower paw drop
};
//A function that sets the standby state
void standby() {
for (int i = 0; i <= 1; i = i + 1) { //There are two sets of arrays that need to be traversed twice
servo_14.write(array1[i][0]); //The servo executes row i and column 1
servo_12.write(array1[i][1]); //The servo executes row i and column 2
servo_13.write(array1[i][2]); //The servo executes row i and column 3
servo_15.write(array1[i][3]); //The servo executes row i and column 4
servo_16.write(array1[i][4]); //The servo executes row i and column 5
servo_5.write(array1[i][5]); //The servo executes row i and column 6
servo_4.write(array1[i][6]); //The servo executes row i and column 7
servo_2.write(array1[i][7]); //The servo executes row i and column 8
delay(array1[i][8]); //Row i, column 9, execution delay time
}
}
//Sets the forward function
void forward() {
for (int i = 0; i <= 10; i = i + 1) {
servo_14.write(array2[i][0]);
servo_12.write(array2[i][1]);
servo_13.write(array2[i][2]);
servo_15.write(array2[i][3]);
servo_16.write(array2[i][4]);
servo_5.write(array2[i][5]);
servo_4.write(array2[i][6]);
servo_2.write(array2[i][7]);
delay(array2[i][8]);
}
}
//Sets the backoff function
void back() {
for (int i = 0; i <= 10; i = i + 1) {
servo_14.write(array3[i][0]);
servo_12.write(array3[i][1]);
servo_13.write(array3[i][2]);
servo_15.write(array3[i][3]);
servo_16.write(array3[i][4]);
servo_5.write(array3[i][5]);
servo_4.write(array3[i][6]);
servo_2.write(array3[i][7]);
delay(array3[i][8]);
}
}
void setup(){
servo_14.attach(14);
servo_12.attach(12);
servo_13.attach(13);
servo_15.attach(15);
servo_16.attach(16);
servo_5.attach(5);
servo_4.attach(4);
servo_2.attach(2);
}
void loop() {
for (int i = 0; i <= 2; i = i + 1){
forward();//Move forward three times
}
for (int i = 0; i <= 1; i = i + 1){
back();//Move backwards twice
}
standby();//Standby mode
}
#include <Servo.h>
Servo servo_14;//Upper right [paw]
Servo servo_12;//Upper right [arm]
Servo servo_13;//Lower right [arm]
Servo servo_15;//Lower right [paw]
Servo servo_16;//Upper left [paw]
Servo servo_5;//Upper left [arm]
Servo servo_4;//Lower left [arm]
Servo servo_2;//Lower left [paw]
//Create an array of turns to the left. By default, the robot rotates 22.5 degrees
int array6[8][9] = {
//G14 G12 G13 G15 G16 G5 G4 G2 MS
{70, 90, 90, 110, 110, 90, 90, 70, 200},//Ready for standby
{90, 90, 90, 110, 110, 90, 90, 90, 200},//Right upper paw and left lower paw are raised
{90, 135, 90, 110, 110, 90,135, 90, 200},//Right upper arm forward, left lower arm back
{70, 135, 90, 110, 110, 90,135, 70, 200},//Right upper paw and left lower paw drop
{70, 135, 90, 90, 90, 90, 135, 70, 200},//The left upper paw and right lower paw are raised
{70, 135, 135, 90, 90, 135,135, 70, 200},//Put your upper left arm back and your lower right arm forward
{70, 135, 135, 110, 110, 135,135, 70, 200},//Left upper paw and right lower paw drop
{70, 90, 90, 110, 110, 90, 90, 70, 200},//Four arms rotation
};
//A function that sets the left turn
void turnleft() {
for (int i = 0; i <= 7; i = i + 1) {
servo_14.write(array6[i][0]);
servo_12.write(array6[i][1]);
servo_13.write(array6[i][2]);
servo_15.write(array6[i][3]);
servo_16.write(array6[i][4]);
servo_5.write(array6[i][5]);
servo_4.write(array6[i][6]);
servo_2.write(array6[i][7]);
delay(array6[i][8]);
}
}
void setup(){
servo_14.attach(14);
servo_12.attach(12);
servo_13.attach(13);
servo_15.attach(15);
servo_16.attach(16);
servo_5.attach(5);
servo_4.attach(4);
servo_2.attach(2);
}
//Run the left turn
void loop() {
turnleft();
}
#include <Servo.h>
Servo servo_14;//Upper right [paw]
Servo servo_12;//Upper right [arm]
Servo servo_13;//Lower right [arm]
Servo servo_15;//Lower right [paw]
Servo servo_16;//Upper left [paw]
Servo servo_5;//Upper left [arm]
Servo servo_4;//Lower left [arm]
Servo servo_2;//Lower left [paw]
//Create an array of actions for turning right (for setting the rotation Angle, see instructions for turning left arrays)
int array7[8][9] = {
{70, 90, 90, 110, 110, 90, 90, 70, 200},//Ready for standby
{70, 90, 90, 90, 90, 90, 90, 70, 200},//The left upper paw and right lower paw are raised
{70, 90, 45, 90, 90, 45, 90, 70, 200},//The upper left arm goes forward and the lower right arm goes back
{70, 90, 45, 110, 110, 45, 90, 70, 200},//Left upper paw and right lower paw drop
{90, 90, 45, 110, 110, 45, 90, 90, 200},//Right upper paw and left lower paw are raised
{90, 45, 45, 110, 110, 45, 45, 90, 200},//Right upper arm back, left lower arm forward
{70, 45, 45, 110, 110, 45, 45, 70, 200},//Right upper paw and left lower paw drop
{70, 90, 90, 110, 110, 90, 90, 70, 200},//Four arms rotation
};
//A function that sets the right turn
void turnright() {
for (int i = 0; i <= 7; i = i + 1) {
servo_14.write(array7[i][0]);
servo_12.write(array7[i][1]);
servo_13.write(array7[i][2]);
servo_15.write(array7[i][3]);
servo_16.write(array7[i][4]);
servo_5.write(array7[i][5]);
servo_4.write(array7[i][6]);
servo_2.write(array7[i][7]);
delay(array7[i][8]);
}
}
void setup(){
servo_14.attach(14);
servo_12.attach(12);
servo_13.attach(13);
servo_15.attach(15);
servo_16.attach(16);
servo_5.attach(5);
servo_4.attach(4);
servo_2.attach(2);
}
//Run the right turn
void loop() {
turnright();
}
#include <Servo.h>
Servo servo_14;//Upper right [paw]
Servo servo_12;//Upper right [arm]
Servo servo_13;//Lower right [arm]
Servo servo_15;//Lower right [paw]
Servo servo_16;//Upper left [paw]
Servo servo_5;//Upper left [arm]
Servo servo_4;//Lower left [arm]
Servo servo_2;//Lower left [paw]
//Creates an array of action decompositions for moving forward
int array2[11][9] = { //There are 11 arrays with 9 columns
//G14 G12 G13 G15 G16 G5 G4 G2 MS （The latter is uniformly sorted according to this pin）
{70, 90, 90, 110, 110, 90, 90, 70, 200},//Ready for standby
{90, 90, 90, 110, 110, 90, 90, 90, 200},//Right upper paw and left lower paw are raised
{90, 120, 90, 110, 110, 90, 60, 90, 200},//Right upper arm and left lower arm forward
{70, 120, 90, 110, 110, 90, 60, 70, 200},//Right upper paw and left lower paw drop
{70, 120, 90, 90, 90, 90, 60, 70, 200},//The left upper paw and right lower paw are raised
{70, 90, 90, 90, 90, 90, 90, 70, 200},//Right upper arm and left lower arm back
{70, 90, 120,90, 90, 60, 90, 70, 200},//Left upper arm and right lower arm forward
{70, 90, 120,110, 110, 60, 90, 70, 200},//Left upper paw and right lower paw drop
{90, 90, 120,110, 110, 60, 90, 90, 200},//Right upper paw and left lower paw are raised
{90, 90, 90, 110, 110, 90, 90, 90, 200},//The upper left arm and lower right arm back
{70, 90, 90, 110, 110, 90, 90, 70, 200},//Right upper paw and left lower paw drop
};
//Create an array of turns to the left. By default, the robot rotates 22.5 degrees
int array6[8][9] = {
//G14 G12 G13 G15 G16 G5 G4 G2 MS
{70, 90, 90, 110, 110, 90, 90, 70, 200},//Ready for standby
{90, 90, 90, 110, 110, 90, 90, 90, 200},//Right upper paw and left lower paw are raised
{90, 135, 90, 110, 110, 90,135, 90, 200},//Right upper arm forward, left lower arm back
{70, 135, 90, 110, 110, 90,135, 70, 200},//Right upper paw and left lower paw drop
{70, 135, 90, 90, 90, 90, 135, 70, 200},//The left upper paw and right lower paw are raised
{70, 135, 135, 90, 90, 135,135, 70, 200},//Put your upper left arm back and your lower right arm forward
{70, 135, 135, 110, 110, 135,135, 70, 200},//Left upper paw and right lower paw drop
{70, 90, 90, 110, 110, 90, 90, 70, 200},//Four arms rotation
};
//Create an array of actions for turning right (for setting the rotation Angle, see instructions for turning left arrays)
int array7[8][9] = {
{70, 90, 90, 110, 110, 90, 90, 70, 200},//Ready for standby
{70, 90, 90, 90, 90, 90, 90, 70, 200},//The left upper paw and right lower paw are raised
{70, 90, 45, 90, 90, 45, 90, 70, 200},//The upper left arm goes forward and the lower right arm goes back
{70, 90, 45, 110, 110, 45, 90, 70, 200},//Left upper paw and right lower paw drop
{90, 90, 45, 110, 110, 45, 90, 90, 200},//Right upper paw and left lower paw are raised
{90, 45, 45, 110, 110, 45, 45, 90, 200},//Right upper arm back, left lower arm forward
{70, 45, 45, 110, 110, 45, 45, 70, 200},//Right upper paw and left lower paw drop
{70, 90, 90, 110, 110, 90, 90, 70, 200},//Four arms rotation
};
//Sets the forward function
void forward() {
for (int i = 0; i <= 10; i = i + 1) {
servo_14.write(array2[i][0]);
servo_12.write(array2[i][1]);
servo_13.write(array2[i][2]);
servo_15.write(array2[i][3]);
servo_16.write(array2[i][4]);
servo_5.write(array2[i][5]);
servo_4.write(array2[i][6]);
servo_2.write(array2[i][7]);
delay(array2[i][8]);
}
}
//A function that sets the left turn
void turnleft() {
for (int i = 0; i <= 7; i = i + 1) {
servo_14.write(array6[i][0]);
servo_12.write(array6[i][1]);
servo_13.write(array6[i][2]);
servo_15.write(array6[i][3]);
servo_16.write(array6[i][4]);
servo_5.write(array6[i][5]);
servo_4.write(array6[i][6]);
servo_2.write(array6[i][7]);
delay(array6[i][8]);
}
}
//A function that sets the right turn
void turnright() {
for (int i = 0; i <= 7; i = i + 1) {
servo_14.write(array7[i][0]);
servo_12.write(array7[i][1]);
servo_13.write(array7[i][2]);
servo_15.write(array7[i][3]);
servo_16.write(array7[i][4]);
servo_5.write(array7[i][5]);
servo_4.write(array7[i][6]);
servo_2.write(array7[i][7]);
delay(array7[i][8]);
}
}
void setup(){
servo_14.attach(14);
servo_12.attach(12);
servo_13.attach(13);
servo_15.attach(15);
servo_16.attach(16);
servo_5.attach(5);
servo_4.attach(4);
servo_2.attach(2);
}
//Four edges need to repeat forward and rotation actions four times, preferentially using the traversal loop.
void loop() {
for (int i = 0; i <= 3; i = i + 1){
for (int i = 0; i <= 2; i = i + 1){
forward(); //Three times forward
}
for (int i = 0; i <= 3; i = i + 1){
turnright(); //One rotate it four times to the right, which is about 90 degrees
}
}
}
#include <Servo.h>
Servo servo_14;//Upper right [paw]
Servo servo_12;//Upper right [arm]
Servo servo_13;//Lower right [arm]
Servo servo_15;//Lower right [paw]
Servo servo_16;//Upper left [paw]
Servo servo_5;//Upper left [arm]
Servo servo_4;//Lower left [arm]
Servo servo_2;//Lower left [paw]
//Create an array of moves to the left
int array4[11][9] = {
{70, 90, 90, 110, 110, 90, 90, 70, 200},//Ready for standby
{70, 90, 90, 90, 90, 90, 90, 70, 200},//The left upper paw and right lower paw are raised
{70, 90, 60, 90, 90, 120,90, 70, 200},//The upper left arm and lower right arm back
{70, 90, 60, 110, 110, 120,90, 70, 200},//Left upper paw and right lower paw drop
{90, 90, 60, 110, 110, 120,90, 90, 200},//Right upper paw and left lower paw are raised
{90, 90, 90, 110, 110, 90, 90, 90, 200},//Left upper arm and right lower arm forward
{90, 120,90, 110, 110, 90, 60, 90, 200},//Right upper arm and left lower arm forward
{70, 120,90, 110, 110, 90, 60, 70, 200},//Right upper paw and left lower paw drop
{70, 120,90, 90, 90, 90, 60, 70, 200},//The left upper paw and right lower paw are raised
{70, 90, 90, 90, 90, 90, 90, 70, 200},//Right upper arm and left lower arm back
{70, 90, 90, 110, 110, 90, 90, 70, 200},//Left upper paw and right lower paw drop
};
//Sets the function to move to the left
void leftmove() {
for (int i = 0; i <= 10; i = i + 1) {
servo_14.write(array4[i][0]);
servo_12.write(array4[i][1]);
servo_13.write(array4[i][2]);
servo_15.write(array4[i][3]);
servo_16.write(array4[i][4]);
servo_5.write(array4[i][5]);
servo_4.write(array4[i][6]);
servo_2.write(array4[i][7]);
delay(array4[i][8]);
}
}
void setup() {
servo_14.attach(14);
servo_12.attach(12);
servo_13.attach(13);
servo_15.attach(15);
servo_16.attach(16);
servo_5.attach(5);
servo_4.attach(4);
servo_2.attach(2);
}
// Run the program moved to the left
void loop() {
leftmove();
}
#include <Servo.h>
Servo servo_14;//Upper right [paw]
Servo servo_12;//Upper right [arm]
Servo servo_13;//Lower right [arm]
Servo servo_15;//Lower right [paw]
Servo servo_16;//Upper left [paw]
Servo servo_5;//Upper left [arm]
Servo servo_4;//Lower left [arm]
Servo servo_2;//Lower left [paw]
//Create an array of actions to move to the right
int array5[11][9] = {
{70, 90, 90, 110, 110, 90, 90, 70, 200},//Ready for standby
{90, 90, 90, 110, 110, 90, 90, 90, 200},//Right upper paw and left lower paw are raised
{90, 60, 90, 110, 110, 90, 120,90, 200},//Right upper arm and left lower arm back
{70, 60, 90, 110, 110, 90, 120,70, 200},//Right upper paw and left lower paw drop
{70, 60, 90, 90, 90, 90, 120,70, 200},//The left upper paw and right lower paw are raised
{70, 90, 90, 90, 90, 90, 90, 70, 200},//Right upper arm and left lower arm forward
{70, 90, 120,90, 90, 60, 90, 70, 200},//Left upper arm and right lower arm forward
{70, 90, 120,110, 110, 60, 90, 70, 200},//Left upper paw and right lower paw drop
{90, 90, 120,110, 110, 60, 90, 90, 200},//Right upper paw and left lower paw are raised
{90, 90, 90, 110, 110, 90, 90, 90, 200},//The upper left arm and lower right arm back
{70, 90, 90, 110, 110, 90, 90, 70, 200},//Right upper paw and left lower paw drop
};
//Sets the function to move to the right
void rightmove() {
for (int i = 0; i <= 10; i = i + 1) {
servo_14.write(array5[i][0]);
servo_12.write(array5[i][1]);
servo_13.write(array5[i][2]);
servo_15.write(array5[i][3]);
servo_16.write(array5[i][4]);
servo_5.write(array5[i][5]);
servo_4.write(array5[i][6]);
servo_2.write(array5[i][7]);
delay(array5[i][8]);
}
}
void setup() {
servo_14.attach(14);
servo_12.attach(12);
servo_13.attach(13);
servo_15.attach(15);
servo_16.attach(16);
servo_5.attach(5);
servo_4.attach(4);
servo_2.attach(2);
}
// Run the program moved to the right
void loop() {
rightmove();
}
#include <Servo.h>
Servo servo_14;//Upper right [paw]
Servo servo_12;//Upper right [arm]
Servo servo_13;//Lower right [arm]
Servo servo_15;//Lower right [paw]
Servo servo_16;//Upper left [paw]
Servo servo_5;//Upper left [arm]
Servo servo_4;//Lower left [arm]
Servo servo_2;//Lower left [paw]
//Create an array of hello actions
int array8[7][9] = {
{70, 90, 135, 90, 90, 90, 90, 90, 400},//Left upper paw, right lower paw, left lower paw down
{170, 90, 135, 90, 90, 90, 90, 90, 400},//Right upper paw raised
{170, 130, 135, 90, 90, 90, 90, 90, 400},//Swing your right upper arm forward
{170, 50, 135, 90, 90, 90, 90, 90, 400},//Swing your right upper arm back
{170, 130, 135, 90, 90, 90, 90, 90, 400},//Swing your right upper arm forward
{170, 90, 135, 90, 90, 90, 90, 90, 400},//Swing your right upper arm back
{70, 90, 135, 90, 90, 90, 90, 90, 400},//Right upper arm down
};
//Set the hello function
void hello() {
for (int i = 0; i <= 6; i = i + 1) {
servo_14.write(array8[i][0]);
servo_12.write(array8[i][1]);
servo_13.write(array8[i][2]);
servo_15.write(array8[i][3]);
servo_16.write(array8[i][4]);
servo_5.write(array8[i][5]);
servo_4.write(array8[i][6]);
servo_2.write(array8[i][7]);
delay(array8[i][8]);
}
}
void setup() {
servo_14.attach(14);
servo_12.attach(12);
servo_13.attach(13);
servo_15.attach(15);
servo_16.attach(16);
servo_5.attach(5);
servo_4.attach(4);
servo_2.attach(2);
}
// Run the hello program
void loop() {
hello();
}
#include <Servo.h>
Servo servo_14;//Upper right [paw]
Servo servo_12;//Upper right [arm]
Servo servo_13;//Lower right [arm]
Servo servo_15;//Lower right [paw]
Servo servo_16;//Upper left [paw]
Servo servo_5;//Upper left [arm]
Servo servo_4;//Lower left [arm]
Servo servo_2;//Lower left [paw]
//Create an action array for the elementary step
int array9[10][9] = {
{90, 90, 90, 90, 90, 90, 90, 90, 400},//Lift all four paws
{50, 90, 90, 90, 90, 90, 90, 90, 400},//Right upper paw down
{90, 90, 90, 130, 90, 90, 90, 90, 400},//Right upper paw up, right lower paw down
{90, 90, 90, 90, 90, 90, 90, 50, 400},//Right lower paw up , left lower paw down
{90, 90, 90, 90, 130, 90, 90, 90, 400},//Left upper paw down, left lower paw up
{50, 90, 90, 90, 90, 90, 90, 90, 400},//Left upper paw up, right upper paw down
{90, 90, 90, 130, 90, 90, 90, 90, 400},//Right upper paw up, right lower paw down
{90, 90, 90, 90, 90, 90, 90, 50, 400},//Right lower paw up,left lower paw down
{90, 90, 90, 90, 130, 90, 90, 90, 400},//Left upper paw down, left lower paw up
{90, 90, 90, 90, 90, 90, 90, 90, 400},//Left upper paw up
};
//A function to set the elementary steps
void dance1() {
for (int i = 0; i <= 9; i = i + 1) {
servo_14.write(array9[i][0]);
servo_12.write(array9[i][1]);
servo_13.write(array9[i][2]);
servo_15.write(array9[i][3]);
servo_16.write(array9[i][4]);
servo_5.write(array9[i][5]);
servo_4.write(array9[i][6]);
servo_2.write(array9[i][7]);
delay(array9[i][8]);
}
}
void setup() {
servo_14.attach(14);
servo_12.attach(12);
servo_13.attach(13);
servo_15.attach(15);
servo_16.attach(16);
servo_5.attach(5);
servo_4.attach(4);
servo_2.attach(2);
}
//Run the program for the elementary step
void loop() {
dance1();
delay(1000);
}
#include <Servo.h>
Servo servo_14;//Upper right [paw]
Servo servo_12;//Upper right [arm]
Servo servo_13;//Lower right [arm]
Servo servo_15;//Lower right [paw]
Servo servo_16;//Upper left [paw]
Servo servo_5;//Upper left [arm]
Servo servo_4;//Lower left [arm]
Servo servo_2;//Lower left [paw]
//Create an action array for intermediate steps
int array10[9][9] = {
{70, 45, 135, 110, 110, 135, 45, 70, 400},//The four arms are left and right together
{115, 45, 135, 65, 110, 135, 45, 70, 400},//Right upper paw and right lower paw are raised
{70, 45, 135, 110, 65, 135, 45, 115, 400},//Right upper and lower paws down,left upper and lower paws up
{115, 45, 135, 65, 110, 135, 45, 70, 400},//Left upper and lower paws down,right upper and lower paws up
{70, 45, 135, 110, 65, 135, 45, 115, 400},//Right upper and lower paws down,left upper and lower paws up
{115, 45, 135, 65, 110, 135, 45, 70, 400},//Left upper and lower paws down,right upper and lower paws up
{70, 45, 135, 110, 65, 135, 45, 115, 400},//Right upper and lower paws down,left upper and lower paws up
{115, 45, 135, 65, 110, 135, 45, 70, 400},//Left upper and lower paws down,right upper and lower paws up
{75, 45, 135, 105, 110, 135, 45, 70, 400},//Right upper paw and right lower paw down
};
//A function to set intermediate steps
void dance2() {
for (int i = 0; i <= 8; i = i + 1) {
servo_14.write(array10[i][0]);
servo_12.write(array10[i][1]);
servo_13.write(array10[i][2]);
servo_15.write(array10[i][3]);
servo_16.write(array10[i][4]);
servo_5.write(array10[i][5]);
servo_4.write(array10[i][6]);
servo_2.write(array10[i][7]);
delay(array10[i][8]);
}
}
void setup() {
servo_14.attach(14);
servo_12.attach(12);
servo_13.attach(13);
servo_15.attach(15);
servo_16.attach(16);
servo_5.attach(5);
servo_4.attach(4);
servo_2.attach(2);
}
//Run the intermediate step program
void loop() {
dance2();
delay(1000);
}
#include <Servo.h>
Servo servo_14;//Upper right [paw]
Servo servo_12;//Upper right [arm]
Servo servo_13;//Lower right [arm]
Servo servo_15;//Lower right [paw]
Servo servo_16;//Upper left [paw]
Servo servo_5;//Upper left [arm]
Servo servo_4;//Lower left [arm]
Servo servo_2;//Lower left [paw]
//Create an action array for advanced steps
int array11[10][9] = {
{70, 45, 45, 110, 110, 135, 135, 70, 400},//All four arms back
{90, 45, 45, 60, 90, 135, 135, 70, 400},//Right upper paw, left upper paw, right lower paw up
{70, 45, 45, 110, 110, 135, 135, 70, 400},//Right upper paw, left upper paw and right lower paw down
{90, 45, 45, 110, 90, 135, 135, 120, 400},//Right upper paw, left upper paw, left lower paw up
{70, 45, 45, 110, 110, 135, 135, 70, 400},//Right upper paw, left upper paw and left lower paw down
{90, 45, 45, 60, 90, 135, 135, 70, 400},//Right upper paw, left upper paw, right lower paw up
{70, 45, 45, 110, 110, 135, 135, 70, 400},//Right upper paw, left upper paw and right lower paw down
{90, 45, 45, 110, 90, 135, 135, 120, 400},//Right upper paw, left upper paw, left lower paw up
{70, 45, 45, 110, 110, 135, 135, 70, 400},//Right upper paw, left upper paw and left lower paw down
{70, 90, 90, 110, 110, 90, 90, 70, 400},//Standby mode
};
//A function to set advanced steps
void dance3() {
for (int i = 0; i <= 9; i = i + 1) {
servo_14.write(array11[i][0]);
servo_12.write(array11[i][1]);
servo_13.write(array11[i][2]);
servo_15.write(array11[i][3]);
servo_16.write(array11[i][4]);
servo_5.write(array11[i][5]);
servo_4.write(array11[i][6]);
servo_2.write(array11[i][7]);
delay(array11[i][8]);
}
}
void setup() {
servo_14.attach(14);
servo_12.attach(12);
servo_13.attach(13);
servo_15.attach(15);
servo_16.attach(16);
servo_5.attach(5);
servo_4.attach(4);
servo_2.attach(2);
}
//Run the advanced step program
void loop() {
dance3();
delay(1000);
}
#include <Servo.h>
Servo servo_14;//Upper right [paw]
Servo servo_12;//Upper right [arm]
Servo servo_13;//Lower right [arm]
Servo servo_15;//Lower right [paw]
Servo servo_16;//Upper left [paw]
Servo servo_5;//Upper left [arm]
Servo servo_4;//Lower left [arm]
Servo servo_2;//Lower left [paw]
String item;//Because serial data is in string format, the variables are also in string format
//Create the standby array
int array1[2][9] = {
//G14 G12 G13 G15 G16 G5 G4 G2 MS
{90, 90, 90, 90, 90, 90, 90, 90, 500},//Center point position
{70, 90, 90, 110, 110, 90, 90, 70, 500},//Standby mode
};
//dance1
int array9[10][9] = {
{90, 90, 90, 90, 90, 90, 90, 90, 400},
{50, 90, 90, 90, 90, 90, 90, 90, 400},
{90, 90, 90, 130, 90, 90, 90, 90, 400},
{90, 90, 90, 90, 90, 90, 90, 50, 400},
{90, 90, 90, 90, 130, 90, 90, 90, 400},
{50, 90, 90, 90, 90, 90, 90, 90, 400},
{90, 90, 90, 130, 90, 90, 90, 90, 400},
{90, 90, 90, 90, 90, 90, 90, 50, 400},
{90, 90, 90, 90, 130, 90, 90, 90, 400},
{90, 90, 90, 90, 90, 90, 90, 90, 400},
};
//dance2
int array10[9][9] = {
{70, 45, 135, 110, 110, 135, 45, 70, 400},
{115, 45, 135, 65, 110, 135, 45, 70, 400},
{70, 45, 135, 110, 65, 135, 45, 115, 400},
{115, 45, 135, 65, 110, 135, 45, 70, 400},
{70, 45, 135, 110, 65, 135, 45, 115, 400},
{115, 45, 135, 65, 110, 135, 45, 70, 400},
{70, 45, 135, 110, 65, 135, 45, 115, 400},
{115, 45, 135, 65, 110, 135, 45, 70, 400},
{75, 45, 135, 105, 110, 135, 45, 70, 400},
};
//dance3
int array11[10][9] = {
{70, 45, 45, 110, 110, 135, 135, 70, 400},
{90, 45, 45, 60, 90, 135, 135, 70, 400},
{70, 45, 45, 110, 110, 135, 135, 70, 400},
{90, 45, 45, 110, 90, 135, 135, 120, 400},
{70, 45, 45, 110, 110, 135, 135, 70, 400},
{90, 45, 45, 60, 90, 135, 135, 70, 400},
{70, 45, 45, 110, 110, 135, 135, 70, 400},
{90, 45, 45, 110, 90, 135, 135, 120, 400},
{70, 45, 45, 110, 110, 135, 135, 70, 400},
{70, 90, 90, 110, 110, 90, 90, 70, 400},
};
//A function that sets the standby state
void standby() {
for (int i = 0; i <= 1; i = i + 1) { //There are two sets of arrays that need to be traversed twice
servo_14.write(array1[i][0]); //The servo executes row i and column 1
servo_12.write(array1[i][1]); //The servo executes row i and column 2
servo_13.write(array1[i][2]); //The servo executes row i and column 3
servo_15.write(array1[i][3]); //The servo executes row i and column 4
servo_16.write(array1[i][4]); //The servo executes row i and column 5
servo_5.write(array1[i][5]); //The servo executes row i and column 6
servo_4.write(array1[i][6]); //The servo executes row i and column 7
servo_2.write(array1[i][7]); //The servo executes row i and column 8
delay(array1[i][8]); //Row i, column 9, execution delay time
}
}
void dance1() {
for (int i = 0; i <= 9; i = i + 1) {
servo_14.write(array9[i][0]);
servo_12.write(array9[i][1]);
servo_13.write(array9[i][2]);
servo_15.write(array9[i][3]);
servo_16.write(array9[i][4]);
servo_5.write(array9[i][5]);
servo_4.write(array9[i][6]);
servo_2.write(array9[i][7]);
delay(array9[i][8]);
}
}
void dance2() {
for (int i = 0; i <= 8; i = i + 1) {
servo_14.write(array10[i][0]);
servo_12.write(array10[i][1]);
servo_13.write(array10[i][2]);
servo_15.write(array10[i][3]);
servo_16.write(array10[i][4]);
servo_5.write(array10[i][5]);
servo_4.write(array10[i][6]);
servo_2.write(array10[i][7]);
delay(array10[i][8]);
}
}
void dance3() {
for (int i = 0; i <= 9; i = i + 1) {
servo_14.write(array11[i][0]);
servo_12.write(array11[i][1]);
servo_13.write(array11[i][2]);
servo_15.write(array11[i][3]);
servo_16.write(array11[i][4]);
servo_5.write(array11[i][5]);
servo_4.write(array11[i][6]);
servo_2.write(array11[i][7]);
delay(array11[i][8]);
}
}
void setup() {
servo_14.attach(14);
servo_12.attach(12);
servo_13.attach(13);
servo_15.attach(15);
servo_16.attach(16);
servo_5.attach(5);
servo_4.attach(4);
servo_2.attach(2);
standby();
Serial.begin(115200);
item = "";//Initialize the variable as an empty string
}
// Don't select \r\n in serial port, just select no
void loop() { // Run the serial control dance program
//Determine whether there is data in the serial port
if (Serial.available()) {
item = Serial.readString(); //The variable is assigned to the data read by the serial port
Serial.println(item); //The serial port prints out the input data
//According to the input data, the condition is judged and the corresponding function is executed
if (item == "1") { //When 1 is input to the serial port, dance1 is executed
dance1();
}
if (item == "2") { //When 2 is input to the serial port, dance2 is executed
dance2();
}
if (item == "3") { //When 3 is input to the serial port, dance3 is executed
dance3();
}
}
}
#include <ESP8266WiFi.h>
#include <ESP8266WebServer.h>
#include "text.h"
const char* ssid = "QuadBot-E";
const char* password = "12345678";
WiFiServer server(100);
WiFiClient client;
String sendBuff;
byte RX_package[17] = {0};
byte callback_forward_package[5] = {0xff,0x55,0x02,0x01,0x01};
byte callback_back_package[5] = {0xff,0x55,0x02,0x01,0x02};
byte callback_leftmove_package[5] = {0xff,0x55,0x02,0x01,0x03};
byte callback_rightmove_package[5] = {0xff,0x55,0x02,0x01,0x04};
byte callback_turnleft_package[5] = {0xff,0x55,0x02,0x01,0x05};
byte callback_turnright_package[5] = {0xff,0x55,0x02,0x01,0x06};
byte Serial_package[5] = {0};
byte dataLen, index_a = 0;
char buffer[52];
unsigned char prevc=0;
bool isStart = false;
bool ED_client = true;
bool WA_en = false;
#define CMD_RUN 1
#define CMD_daiji 3
#define CMD_jiaozun 4
#define CMD_suijiao 5
#define CMD_padi 6
#define CMD_dazaohu 7
#define CMD_fuwoceng 8
#define CMD_zandou 9
#define CMD_dance1 10
#define CMD_dance2 11
#define CMD_dance3 12
void setup()
{
Serial.setTimeout(10);
Serial.begin(115200);
WiFi.mode(WIFI_AP);
WiFi.softAP(ssid,password,5);
server.begin();
delay(100);
servo_14.attach(14, SERVOMIN, SERVOMAX);
servo_12.attach(12, SERVOMIN, SERVOMAX);
servo_13.attach(13, SERVOMIN, SERVOMAX);
servo_15.attach(15, SERVOMIN, SERVOMAX);
servo_16.attach(16, SERVOMIN, SERVOMAX);
servo_5.attach(5, SERVOMIN, SERVOMAX);
servo_4.attach(4, SERVOMIN, SERVOMAX);
servo_2.attach(2, SERVOMIN, SERVOMAX);
Servo_PROGRAM_Zero();
}
unsigned char readBuffer(int index_r)
{
return buffer[index_r];
}
void writeBuffer(int index_w,unsigned char c)
{
buffer[index_w]=c;
}
void runModule(int device)
{
switch(device)
{
case 0x0C:
{
int val = readBuffer(12);
switch (val)
{
case 0x01:
forward();//Serial.println("ok");
//Serial.write(callback_forward_package,5);
client.write(callback_forward_package,5);
break;
case 0x02:
back();
client.write(callback_back_package,5);
break;
case 0x03:
leftmove();
client.write(callback_leftmove_package,5);
break;
case 0x04:
rightmove();
client.write(callback_rightmove_package,5);
break;
case 0x05:
turnleft();
client.write(callback_turnleft_package,5);
break;
case 0x06:
turnright();
client.write(callback_turnright_package,5);
break;
default:
break;
}
}break;
}
}
void parseData()
{
isStart = false;
int action = readBuffer(9);
int device = readBuffer(10);
switch(action)
{
case CMD_RUN:
{
runModule(device);
}
break;
case CMD_daiji:
{
standby();//Serial.println("ok");
}
break;
case CMD_jiaozun:
{
//zero();
}
break;
case CMD_suijiao:
{
sleep();
}
break;
case CMD_padi:
{
lie();
}
break;
case CMD_dazaohu:
{
hello();
}
break;
case CMD_fuwoceng:
{
pushup();
}
break;
case CMD_zandou:
{
fighting();
}
break;
case CMD_dance1:
{
dance1();
}
break;
case CMD_dance2:
{
dance2();
}
break;
case CMD_dance3:
{
dance3();
}
break;
}
}
void loop()
{
client = server.available();
if (client)
{
WA_en = true;
ED_client = true;
Serial.println("[Client connected]");
while (client.connected())
{
if (client.available())
{
unsigned char c = client.read()&0xff;
Serial.write(c);
if(c==0x55&&isStart==false)
{
if(prevc==0xff)
{
index_a=1;
isStart = true;
}
}
else
{
prevc = c;
if(isStart)
{
if(index_a==2)
{
dataLen = c;
}
else if(index_a>2)
{
dataLen--;
}
writeBuffer(index_a,c);
}
}
index_a++;
if(index_a>120)
{
index_a=0;
isStart=false;
}
if(isStart&&dataLen==0&&index_a>3)
{
isStart = false;
parseData();
index_a=0;
}
}
if (Serial.available())
{
char c = Serial.read();
sendBuff += c;
client.print(sendBuff);
Serial.print(sendBuff);
sendBuff = "";
}
static unsigned long Test_time = 0;
if (millis() - Test_time > 1000)
{
Test_time = millis();
if (0 == (WiFi.softAPgetStationNum()))
{
//Serial.write(Stop,17);
break;
}
}
}
//Serial.write(Stop,17);
client.stop();
Serial.println("[Client disconnected]");
}
else
{
if (ED_client == true)
{
ED_client = false;
//Serial.write(Stop,17);
}
}
}
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