Published January 13, 2020 © MIT

The Candy Serving Robot That I Brought to CES

Build a robot that can greet people and serve candies to them, perfect for parties or convention booths, and I even tested it in CES!

IntermediateFull instructions provided1 hour930

Things used in this project

Hardware components

Morpx MoonBot Kit

LEGO Technic beams

Cardboard paper

Software apps and online services

Morpx Mixly for MoonBot

Story

I have been gone through many different conferences each year, and the exhibitors all have one thing in common. They will give out many different swags to attract people coming to their booths. And they are trying ever harder each year for new ways to that.

Now that we have the MoonBot, which has fully programmable actions and voices. I want to see if I can build a robot to automate these swag distribution tasks. I am also curious on how people will react to this. Luckily, it was right about CES time, so I decide to make a chocolate distribution robot and bring it to CES to test.

As you can see, MoonBot is perfect for this job. Its cute appearance has already got half of the work done. It also has the MU vision sensor which will allow it to detect and track people to position the tray towards the guests. All you need to do is to program it with the right greeting voices and actions.

Build

1. Build the MoonBot humanoid form, according to the manual found here. You can also this youtube video for the building instructions.

2. Build a tray with LEGO for MoonBot to hold the chocolates. Since MoonBot is LEGO Technic compatible, we can build this tray with some technic beams.

Here are all the LEGO parts I use to build the tray. You can have your own tray design as long as it fits on the holes on MoonBot's arm.

And here are the building steps. Note that I used a card paper in the MoonBot Kit to make the bottom of the tray with the help of some double sided tape.

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And this is how it looked like when the tray was installed on the MoonBot.

Program

MoonBot's main controller is Arduino compatible, so you can just write the program directly in Arduino, or use the Mixly block programming IDE.

The goal of the program is to let MoonBot to find people and doing some actions to serve them the candies on his tray. I will write the program in roughly 3 parts: Setup, Event Loop, and Actions. I will do this code example in Mixly, and I will also show the Arduino code that Mixly automatically converts to.

Setup

The setup will initialize a bunch of things, such as the MU vision sensor, the touch sensor on the robot ears, the speaker module, the servos, and the proximity sensor to detect if people are picking candies from the tray.

Event Loop

The main logic of the robot loop around three states:

Track, where the robot is trying to find and track people.
Deliver, when it sense proximity of people.
Thank, when people finished taking the candy and the robot will thank them.

I also use a variable "last_action_time" to record the time that the robot did the last action, this will prevent the robot from switching actions too frequently due to sensor fluctuations.

In the main loop I use a switch statement to toggle between the action functions for the three states.

Actions

The three action functions are show here.

Track will check if the MU vision sensor detects a human body and adjust the robot's pose toward that person. This is done by checking the vertical and horizontal value of the detected human body and adjust the corresponding servos and motors on the MoonBot.

Once the detected human is in the center of the vision sensor, we will let MoonBot play some audio clips. The MoonBot will randomly choose some sound to play, and also randomly display some eye emotions. You can also record your own MP3 files and copy it to MoonBot's speaker module to use it. The block with [speaker play "2001"] is an example of playing a custom mp3 clip. The number "2001" are the first 4 letters of the mp3 filename.

Finally, the IR proximity sensor on the MU vision sensor can be used to detect if people are trying to reach the candies on the tray. If it detects people, MoonBot will stop motion, wait for the candies to be picked up and say "thank you" with a head bow.

That's pretty much it. I will attach the mixly file as well as the generated arduino file for you to try yourself.

Of course you can introduce more states and build more complex interactions, such as search for people, snoring when there is no people, etc. I will attach another more complex code for you to try.

Test in CES

I did bring MoonBot to CES, and it serves chocolates in multiple locations during the two days I was at CES. Here are a few photos I captured during the show.

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It turns our that you can serve more than just candies, pot-stickers works well too. Photo taken in a food court near LVCC South Hall :D

I believe that you will all invent new ways for MoonBot to deliver swags, can't wait to see all your shared pictures!

Code

#include <Arduino.h>
#include <MoonBot.h>
#include <MuVisionSensor.h>

MuVisionSensor MU0(0x60);
volatile int head_angle;
volatile int state;
volatile int TRACK;
volatile int DELIVER;
volatile int THANK;
volatile long last_action_time;

void Greeting();
void Track();
void TrackPeople();
void Deliver();
void Thank();
void setup();
void loop();

void Greeting() {
  if (millis() > last_action_time + 4000) {
    last_action_time = millis();
    switch (random(0, 4)) {
     case 0:
      speaker.play((char*)"0209");
      break;
     case 1:
      speaker.play("2001");
      m_servo[kServo1].write(85);
      m_servo[kServo4].write(85);
      delay(1200);
      m_servo[kServo1].write(90);
      m_servo[kServo4].write(90);
      break;
     case 2:
      speaker.play((char*)"0210");
      break;
     case 3:
      speaker.play((char*)"0212");
      break;
    }
    switch (random(0, 4)) {
     case 0:
      for (size_t i = 0; i < kServoNum; ++i) { m_servo[i].power(0); }
      {//eyes blink
          unsigned int action_delay = 30;
          moonbot_eyes.setPixelColor(0, 0);
          moonbot_eyes.setPixelColor(6, 0);
          moonbot_eyes.show();
          delay(action_delay);
          moonbot_eyes.setPixelColor(1, 0);
          moonbot_eyes.setPixelColor(5, 0);
          moonbot_eyes.setPixelColor(7, 0);
          moonbot_eyes.setPixelColor(11, 0);
          moonbot_eyes.show();
          delay(action_delay);
          moonbot_eyes.setPixelColor(2, 0);
          moonbot_eyes.setPixelColor(4, 0);
          moonbot_eyes.setPixelColor(8, 0);
          moonbot_eyes.setPixelColor(10, 0);
          moonbot_eyes.show();
          delay(action_delay);
          moonbot_eyes.setPixelColor(3, 0);
          moonbot_eyes.setPixelColor(9, 0);
          moonbot_eyes.show();
          delay(action_delay);
          moonbot_eyes.setPixelColor(3, 0, 0xFF, 0xFF);
          moonbot_eyes.setPixelColor(9, 0, 0xFF, 0xFF);
          moonbot_eyes.show();
          delay(action_delay);
          moonbot_eyes.setPixelColor(2, 0, 0xFF, 0xFF);
          moonbot_eyes.setPixelColor(4, 0, 0xFF, 0xFF);
          moonbot_eyes.setPixelColor(8, 0, 0xFF, 0xFF);
          moonbot_eyes.setPixelColor(10, 0, 0xFF, 0xFF);
          moonbot_eyes.show();
          delay(action_delay);
          moonbot_eyes.setPixelColor(1, 0, 0xFF, 0xFF);
          moonbot_eyes.setPixelColor(5, 0, 0xFF, 0xFF);
          moonbot_eyes.setPixelColor(7, 0, 0xFF, 0xFF);
          moonbot_eyes.setPixelColor(11, 0, 0xFF, 0xFF);
          moonbot_eyes.show();
          delay(action_delay);
          moonbot_eyes.setPixelColor(0, 0, 0xFF, 0xFF);
          moonbot_eyes.setPixelColor(6, 0, 0xFF, 0xFF);
          moonbot_eyes.show();
      }
      for (size_t i = 0; i < kServoNum; ++i) { m_servo[i].power(1); }
      break;
     case 1:
      for (size_t i = 0; i < kServoNum; ++i) { m_servo[i].power(0); }
      {//eyes circle
          colorWipe(moonbot_eyes, (0), 40);
          colorWipe(moonbot_eyes, 0xFFFF, 40);
      }
      for (size_t i = 0; i < kServoNum; ++i) { m_servo[i].power(1); }
      break;
     case 2:
      for (size_t i = 0; i < kServoNum; ++i) { m_servo[i].power(0); }
      MoonBotEyesLook(moonbot_eyes, kEyesLookUp, 0x00FFFF);
      for (size_t i = 0; i < kServoNum; ++i) { m_servo[i].power(1); }
      break;
     case 3:
      for (size_t i = 0; i < kServoNum; ++i) { m_servo[i].power(0); }
      {//eyes smile
          moonbot_eyes.clear();
          moonbot_eyes.setPixelColor(0, 0x00FFFF);
          moonbot_eyes.setPixelColor(1, 0x00FFFF);
          moonbot_eyes.setPixelColor(5, 0x00FFFF);
          moonbot_eyes.setPixelColor(6, 0x00FFFF);
          moonbot_eyes.setPixelColor(7, 0x00FFFF);
          moonbot_eyes.setPixelColor(11, 0x00FFFF);
          moonbot_eyes.show();
      }
      for (size_t i = 0; i < kServoNum; ++i) { m_servo[i].power(1); }
      break;
    }

  }
}

void Track() {
  while (true) {
    if (MU0.GetValue(VISION_BODY_DETECT, kStatus)) {
      LED.setPixelColor(0, 0x00ff00);
      LED.setPixelColor(1, 0x00ff00);
      LED.show();
      TrackPeople();

    } else {
      LED.setPixelColor(0, 0xff0000);
      LED.setPixelColor(1, 0xff0000);
      LED.show();
      TankBase.stop();

    }
    if (MU0.LsReadProximity() > 15) {
      state = DELIVER;
      if (true) {
        return;
      }

    }
  }
}

void TrackPeople() {
  head_angle = m_servo[kServo3].read();
  if (MU0.GetValue(VISION_BODY_DETECT, kYValue) < 45) {
    m_servo[kServo3].write(head_angle - 2);

  } else if (MU0.GetValue(VISION_BODY_DETECT, kYValue) > 55) {
    m_servo[kServo3].write(head_angle + 2);
  }
  if (MU0.GetValue(VISION_BODY_DETECT, kXValue) < 45) {
    Motor1.write(100);
    Motor2.write(-100);

  } else if (MU0.GetValue(VISION_BODY_DETECT, kXValue) > 55) {
    Motor1.write(-100);
    Motor2.write(100);
  } else {
    TankBase.stop();
    Greeting();

  }
}

void Deliver() {
  head_angle = 80;
  m_servo[kServo3].write(head_angle);
  TankBase.stop();
  moonbot_eyes.setPixelColor(0, 0x000000);
  moonbot_eyes.setPixelColor(1, 0x000000);
  moonbot_eyes.setPixelColor(2, 0xffff00);
  moonbot_eyes.setPixelColor(3, 0xffff00);
  moonbot_eyes.setPixelColor(4, 0xffff00);
  moonbot_eyes.setPixelColor(5, 0x000000);
  moonbot_eyes.setPixelColor(6, 0x000000);
  moonbot_eyes.setPixelColor(7, 0x000000);
  moonbot_eyes.setPixelColor(8, 0xffff00);
  moonbot_eyes.setPixelColor(9, 0xffff00);
  moonbot_eyes.setPixelColor(10, 0xffff00);
  moonbot_eyes.setPixelColor(11, 0x000000);
  moonbot_eyes.show();
  if (millis() - last_action_time > 2000) {
    last_action_time = millis();
    speaker.play((char*)"0214");

  }
  while (MU0.LsReadProximity() > 15) {
  }
  state = THANK;
}

void Thank() {
  moonbot_eyes.setPixelColor(0, 0x00ffff);
  moonbot_eyes.setPixelColor(1, 0x00ffff);
  moonbot_eyes.setPixelColor(2, 0x00ffff);
  moonbot_eyes.setPixelColor(3, 0x00ffff);
  moonbot_eyes.setPixelColor(4, 0x00ffff);
  moonbot_eyes.setPixelColor(5, 0x00ffff);
  moonbot_eyes.setPixelColor(6, 0x00ffff);
  moonbot_eyes.setPixelColor(7, 0x00ffff);
  moonbot_eyes.setPixelColor(8, 0x00ffff);
  moonbot_eyes.setPixelColor(9, 0x00ffff);
  moonbot_eyes.setPixelColor(10, 0x00ffff);
  moonbot_eyes.setPixelColor(11, 0x00ffff);
  moonbot_eyes.show();
  if (millis() - last_action_time > 1000) {
    last_action_time = millis();
    speaker.play((char*)"0205");
    delay(250);
    m_servo[kServo3].write(head_angle + 7);
    delay(250);
    m_servo[kServo3].write(head_angle + 0);

  }
  state = TRACK;
}

void setup(){
  m_servo[kServo1].attach(kServo1);
  m_servo[kServo4].attach(kServo4);
  moonbot_eyes.begin();
  LED.begin();
  TankBase.begin();
  Serial3.begin(115200);
  head_angle = 90;
  m_servo[kServo3].attach(kServo3);
  MU0.begin(&Serial3);
  while(MU0.VisionBegin(VISION_BODY_DETECT) != MU_OK);
  speaker.begin(Serial2);
  pinMode(moonbotPortToPin(kPort3, kPortPin1), INPUT_PULLUP);
  pinMode(moonbotPortToPin(kPort7, kPortPin1), INPUT_PULLUP);
  TankBase.rpmCorrection(100);
  TankBase.wheelSpacingSet(165);
  m_servo[kServo3].write(head_angle);
  m_servo[kServo4].reverse(true);
  m_servo[kServo1].correction(-6);
  m_servo[kServo4].correction(3);
  m_servo[kServo1].write(90);
  m_servo[kServo4].write(90);
  moonbot_eyes.setPin(moonbotPortToPin(kPort1, kPortPin1));
  moonbot_eyes.setBrightness(66);
  for (size_t i = 0; i < kServoNum; ++i) { m_servo[i].power(0); }
  {//eyes circle
      colorWipe(moonbot_eyes, (0), 40);
      colorWipe(moonbot_eyes, 0xFFFF, 40);
  }
  for (size_t i = 0; i < kServoNum; ++i) { m_servo[i].power(1); }
  LED.setBrightness(66);
  MU0.LsBegin(LS_PROXIMITY_ENABLE);
  while (!((!digitalRead(MOONBOT_PIN_BUTTON_A)) || digitalRead(moonbotPortToPin(kPort3, kPortPin1)))) {
    LED.setPixelColor(0, 0xffff00);
    LED.setPixelColor(1, 0x000000);
    LED.show();
    delay(100);
    LED.setPixelColor(0, 0x000000);
    LED.setPixelColor(1, 0x000000);
    LED.show();
    delay(100);
  }
  state = 0;
  TRACK = 0;
  DELIVER = 1;
  THANK = 2;
  last_action_time = millis();
}

void loop(){
  switch (state) {
   case 0:
    Track();
    break;
   case 1:
    Deliver();
    break;
   case 2:
    Thank();
    break;
  }

}

#include <Arduino.h>
#include <MuVisionSensor.h>
#include <MoonBot.h>

MuVisionSensor MU0(0x60);
volatile int head_angle;
volatile int proximate_threshold;
volatile int state;
volatile int SNORE;
volatile int SEARCH;
volatile int TRACK;
volatile int DELIVER;
volatile int THANK;
volatile int LIFTED;
volatile int _search_stage;
volatile int _search_direction;
volatile int _search_step;
volatile float energy;
volatile long _last_detect_time;
volatile long greeting_stage;
volatile long _last_greeting_time;
volatile long _snore_time;
volatile long pick_time;
volatile long _last_cry;

void SearchPeople();
void Track();
void Greeting();
void BlinkRight(int blink_delay);
void Snore();
void Deliver();
void TrackPeople();
void Lifted();
void Thank();
void setup();
void loop();

void SearchPeople() {
  _search_stage = 0;
  LED.setBrightness(100);
  LED.setPixelColor(0, 0xff0000);
  LED.setPixelColor(1, 0xff0000);
  LED.show();
  Serial.println("Searching people...");
  TankBase.stop();
  while (true) {
    Serial.println(String("  Searching stage ") + String(_search_stage));
    switch (_search_stage) {
     case 0:
      _search_direction = 1;
      _search_step = 6;
      break;
     case 1:
      _search_direction = -1;
      _search_step = 12;
      break;
     case 2:
      _search_direction = 1;
      _search_step = 24;
      break;
     case 3:
      _search_direction = -1;
      _search_step = 24;
      break;
     case 4:
      _search_direction = 1;
      _search_step = 12;
      break;
    }
    Serial.println(String("  Searching step") + String((_search_step * _search_direction)));
    Serial.println("    Turning ...");
    for (int i = (1); i <= (_search_step); i = i + (1)) {
      if (MU0.GetValue(VISION_BODY_DETECT, kStatus)) {
        state = TRACK;
        if (true) {
          return;
        }

      }
      if (_search_direction > 0) {
        Motor1.write(100);
        Motor2.write(-100);

      } else {
        Motor1.write(-100);
        Motor2.write(100);

      }
    }
    TankBase.stop();
    Serial.println("    Head up/down ...");
    for (int i = 1; i <= 6; i = i + (1)) {
      if (MU0.GetValue(VISION_BODY_DETECT, kStatus)) {
        state = TRACK;
        if (true) {
          return;
        }

      }
      head_angle = m_servo[kServo3].read() + random(-2, 2);
      head_angle = constrain(head_angle, 90, 70);
      m_servo[kServo3].write(head_angle);
      delay(500);
    }
    _search_stage = _search_stage + 1;
    if (_search_stage == 5) {
      state = SNORE;
      if (true) {
        return;
      }

    }
    if (!(!digitalRead(moonbotPortToPin(kPort5, kPortPin1))) && !(!digitalRead(moonbotPortToPin(kPort5, kPortPin2)))) {
      state = LIFTED;
      if (true) {
        return;
      }

    }
  }
}

void Track() {
  LED.setPixelColor(0, 0x00ff00);
  LED.setPixelColor(1, 0x00ff00);
  LED.show();
  Serial.println("Following people...");
  energy = 100;
  _last_detect_time = millis();
  while (true) {
    if (MU0.GetValue(VISION_BODY_DETECT, kStatus)) {
      _last_detect_time = millis();
      TrackPeople();

    } else {
      TankBase.stop();
      Serial.println("  People not found.");
      if (millis() > _last_detect_time + 5000) {
        Serial.println("  Exit to people search.");
        greeting_stage = 0;
        state = SEARCH;
        if (true) {
          return;
        }

      }

    }
    if (energy < 1) {
      greeting_stage = 0;
      if (true) {
        return;
      }

    }
    if (MU0.LsReadProximity() > proximate_threshold) {
      Serial.println("Exit due to proximity detection");
      greeting_stage = 0;
      state = DELIVER;
      if (true) {
        return;
      }

    }
    if (!(!digitalRead(moonbotPortToPin(kPort5, kPortPin1))) && !(!digitalRead(moonbotPortToPin(kPort5, kPortPin2)))) {
      state = LIFTED;
      if (true) {
        return;
      }

    }
  }
}

void Greeting() {
  if (millis() > _last_greeting_time + 4000) {
    Serial.println("Generate new greeting");
    _last_greeting_time = millis();
    switch (greeting_stage) {
     case 0:
      if (random(-100, 100) > 0) {
        speaker.play((char*)"0201");

      } else {
        speaker.play((char*)"0202");

      }
      greeting_stage = greeting_stage + 1;
      break;
     case 1:
      speaker.play((char*)"0204");
      greeting_stage = greeting_stage + 1;
      break;
     case 2:
      switch (random(0, 4)) {
       case 0:
        speaker.play((char*)"0209");
        break;
       case 1:
        speaker.play("2001");
        m_servo[kServo1].write(85);
        m_servo[kServo4].write(85);
        delay(1200);
        m_servo[kServo1].write(90);
        m_servo[kServo4].write(90);
        break;
       case 2:
        speaker.play((char*)"0210");
        break;
       case 3:
        speaker.play((char*)"0212");
        break;
      }
      break;
    }
    switch (random(0, 4)) {
     case 0:
      if (MU0.GetValue(VISION_BODY_DETECT, kWidthValue) < 30) {
        for (size_t i = 0; i < kServoNum; ++i) { m_servo[i].power(0); }
        {//eyes blink
            unsigned int action_delay = 30;
            moonbot_eyes.setPixelColor(0, 0);
            moonbot_eyes.setPixelColor(6, 0);
            moonbot_eyes.show();
            delay(action_delay);
            moonbot_eyes.setPixelColor(1, 0);
            moonbot_eyes.setPixelColor(5, 0);
            moonbot_eyes.setPixelColor(7, 0);
            moonbot_eyes.setPixelColor(11, 0);
            moonbot_eyes.show();
            delay(action_delay);
            moonbot_eyes.setPixelColor(2, 0);
            moonbot_eyes.setPixelColor(4, 0);
            moonbot_eyes.setPixelColor(8, 0);
            moonbot_eyes.setPixelColor(10, 0);
            moonbot_eyes.show();
            delay(action_delay);
            moonbot_eyes.setPixelColor(3, 0);
            moonbot_eyes.setPixelColor(9, 0);
            moonbot_eyes.show();
            delay(action_delay);
            moonbot_eyes.setPixelColor(3, 0, 0xFF, 0xFF);
            moonbot_eyes.setPixelColor(9, 0, 0xFF, 0xFF);
            moonbot_eyes.show();
            delay(action_delay);
            moonbot_eyes.setPixelColor(2, 0, 0xFF, 0xFF);
            moonbot_eyes.setPixelColor(4, 0, 0xFF, 0xFF);
            moonbot_eyes.setPixelColor(8, 0, 0xFF, 0xFF);
            moonbot_eyes.setPixelColor(10, 0, 0xFF, 0xFF);
            moonbot_eyes.show();
            delay(action_delay);
            moonbot_eyes.setPixelColor(1, 0, 0xFF, 0xFF);
            moonbot_eyes.setPixelColor(5, 0, 0xFF, 0xFF);
            moonbot_eyes.setPixelColor(7, 0, 0xFF, 0xFF);
            moonbot_eyes.setPixelColor(11, 0, 0xFF, 0xFF);
            moonbot_eyes.show();
            delay(action_delay);
            moonbot_eyes.setPixelColor(0, 0, 0xFF, 0xFF);
            moonbot_eyes.setPixelColor(6, 0, 0xFF, 0xFF);
            moonbot_eyes.show();
        }
        for (size_t i = 0; i < kServoNum; ++i) { m_servo[i].power(1); }

      } else {
        BlinkRight(80);

      }
      break;
     case 1:
      for (size_t i = 0; i < kServoNum; ++i) { m_servo[i].power(0); }
      {//eyes circle
          colorWipe(moonbot_eyes, (0), 40);
          colorWipe(moonbot_eyes, 0xFFFF, 40);
      }
      for (size_t i = 0; i < kServoNum; ++i) { m_servo[i].power(1); }
      break;
     case 2:
      for (size_t i = 0; i < kServoNum; ++i) { m_servo[i].power(0); }
      MoonBotEyesLook(moonbot_eyes, kEyesLookUp, 0x00FFFF);
      for (size_t i = 0; i < kServoNum; ++i) { m_servo[i].power(1); }
      break;
     case 3:
      for (size_t i = 0; i < kServoNum; ++i) { m_servo[i].power(0); }
      {//eyes smile
          moonbot_eyes.clear();
          moonbot_eyes.setPixelColor(0, 0x00FFFF);
          moonbot_eyes.setPixelColor(1, 0x00FFFF);
          moonbot_eyes.setPixelColor(5, 0x00FFFF);
          moonbot_eyes.setPixelColor(6, 0x00FFFF);
          moonbot_eyes.setPixelColor(7, 0x00FFFF);
          moonbot_eyes.setPixelColor(11, 0x00FFFF);
          moonbot_eyes.show();
      }
      for (size_t i = 0; i < kServoNum; ++i) { m_servo[i].power(1); }
      break;
    }

  }
}

void BlinkRight(int blink_delay) {
  moonbot_eyes.setPixelColor(0, 0x00ffff);
  moonbot_eyes.setPixelColor(1, 0x00ffff);
  moonbot_eyes.setPixelColor(2, 0x00ffff);
  moonbot_eyes.setPixelColor(3, 0x00ffff);
  moonbot_eyes.setPixelColor(4, 0x00ffff);
  moonbot_eyes.setPixelColor(5, 0x00ffff);
  moonbot_eyes.setPixelColor(6, 0x00ffff);
  moonbot_eyes.setPixelColor(7, 0x00ffff);
  moonbot_eyes.setPixelColor(8, 0x00ffff);
  moonbot_eyes.setPixelColor(9, 0x00ffff);
  moonbot_eyes.setPixelColor(10, 0x00ffff);
  moonbot_eyes.setPixelColor(11, 0x00ffff);
  moonbot_eyes.show();
  delay(blink_delay);
  moonbot_eyes.setPixelColor(0, 0x000000);
  moonbot_eyes.setPixelColor(1, 0x00ffff);
  moonbot_eyes.setPixelColor(2, 0x00ffff);
  moonbot_eyes.setPixelColor(3, 0x00ffff);
  moonbot_eyes.setPixelColor(4, 0x00ffff);
  moonbot_eyes.setPixelColor(5, 0x00ffff);
  moonbot_eyes.setPixelColor(6, 0x00ffff);
  moonbot_eyes.setPixelColor(7, 0x00ffff);
  moonbot_eyes.setPixelColor(8, 0x00ffff);
  moonbot_eyes.setPixelColor(9, 0x00ffff);
  moonbot_eyes.setPixelColor(10, 0x00ffff);
  moonbot_eyes.setPixelColor(11, 0x00ffff);
  moonbot_eyes.show();
  delay(blink_delay);
  moonbot_eyes.setPixelColor(0, 0x000000);
  moonbot_eyes.setPixelColor(1, 0x000000);
  moonbot_eyes.setPixelColor(2, 0x00ffff);
  moonbot_eyes.setPixelColor(3, 0x000000);
  moonbot_eyes.setPixelColor(4, 0x00ffff);
  moonbot_eyes.setPixelColor(5, 0x000000);
  moonbot_eyes.setPixelColor(6, 0x00ffff);
  moonbot_eyes.setPixelColor(7, 0x00ffff);
  moonbot_eyes.setPixelColor(8, 0x00ffff);
  moonbot_eyes.setPixelColor(9, 0x00ffff);
  moonbot_eyes.setPixelColor(10, 0x00ffff);
  moonbot_eyes.setPixelColor(11, 0x00ffff);
  moonbot_eyes.show();
  delay(blink_delay);
  moonbot_eyes.setPixelColor(0, 0x000000);
  moonbot_eyes.setPixelColor(1, 0x000000);
  moonbot_eyes.setPixelColor(2, 0x000000);
  moonbot_eyes.setPixelColor(3, 0x000000);
  moonbot_eyes.setPixelColor(4, 0x000000);
  moonbot_eyes.setPixelColor(5, 0x000000);
  moonbot_eyes.setPixelColor(6, 0x00ffff);
  moonbot_eyes.setPixelColor(7, 0x00ffff);
  moonbot_eyes.setPixelColor(8, 0x00ffff);
  moonbot_eyes.setPixelColor(9, 0x00ffff);
  moonbot_eyes.setPixelColor(10, 0x00ffff);
  moonbot_eyes.setPixelColor(11, 0x00ffff);
  moonbot_eyes.show();
  delay(blink_delay);
  moonbot_eyes.setPixelColor(0, 0x000000);
  moonbot_eyes.setPixelColor(1, 0x000000);
  moonbot_eyes.setPixelColor(2, 0x00ffff);
  moonbot_eyes.setPixelColor(3, 0x000000);
  moonbot_eyes.setPixelColor(4, 0x00ffff);
  moonbot_eyes.setPixelColor(5, 0x000000);
  moonbot_eyes.setPixelColor(6, 0x00ffff);
  moonbot_eyes.setPixelColor(7, 0x00ffff);
  moonbot_eyes.setPixelColor(8, 0x00ffff);
  moonbot_eyes.setPixelColor(9, 0x00ffff);
  moonbot_eyes.setPixelColor(10, 0x00ffff);
  moonbot_eyes.setPixelColor(11, 0x00ffff);
  moonbot_eyes.show();
  delay(blink_delay);
  moonbot_eyes.setPixelColor(0, 0x000000);
  moonbot_eyes.setPixelColor(1, 0x00ffff);
  moonbot_eyes.setPixelColor(2, 0x00ffff);
  moonbot_eyes.setPixelColor(3, 0x00ffff);
  moonbot_eyes.setPixelColor(4, 0x00ffff);
  moonbot_eyes.setPixelColor(5, 0x00ffff);
  moonbot_eyes.setPixelColor(6, 0x00ffff);
  moonbot_eyes.setPixelColor(7, 0x00ffff);
  moonbot_eyes.setPixelColor(8, 0x00ffff);
  moonbot_eyes.setPixelColor(9, 0x00ffff);
  moonbot_eyes.setPixelColor(10, 0x00ffff);
  moonbot_eyes.setPixelColor(11, 0x00ffff);
  moonbot_eyes.show();
  delay(blink_delay);
  moonbot_eyes.setPixelColor(0, 0x00ffff);
  moonbot_eyes.setPixelColor(1, 0x00ffff);
  moonbot_eyes.setPixelColor(2, 0x00ffff);
  moonbot_eyes.setPixelColor(3, 0x00ffff);
  moonbot_eyes.setPixelColor(4, 0x00ffff);
  moonbot_eyes.setPixelColor(5, 0x00ffff);
  moonbot_eyes.setPixelColor(6, 0x00ffff);
  moonbot_eyes.setPixelColor(7, 0x00ffff);
  moonbot_eyes.setPixelColor(8, 0x00ffff);
  moonbot_eyes.setPixelColor(9, 0x00ffff);
  moonbot_eyes.setPixelColor(10, 0x00ffff);
  moonbot_eyes.setPixelColor(11, 0x00ffff);
  moonbot_eyes.show();
}

void Snore() {
  if (millis() - _snore_time > 5000) {
    _snore_time = millis();
    speaker.play((char*)"0226");

  }
  if (MU0.GetValue(VISION_BODY_DETECT, kStatus)) {
    speaker.play("2002");
    delay(1000);
    state = TRACK;
    if (true) {
      return;
    }

  }
}

void Deliver() {
  head_angle = 80;
  m_servo[kServo3].write(head_angle);
  TankBase.stop();
  moonbot_eyes.setPixelColor(0, 0x000000);
  moonbot_eyes.setPixelColor(1, 0x000000);
  moonbot_eyes.setPixelColor(2, 0xffff00);
  moonbot_eyes.setPixelColor(3, 0xffff00);
  moonbot_eyes.setPixelColor(4, 0xffff00);
  moonbot_eyes.setPixelColor(5, 0x000000);
  moonbot_eyes.setPixelColor(6, 0x000000);
  moonbot_eyes.setPixelColor(7, 0x000000);
  moonbot_eyes.setPixelColor(8, 0xffff00);
  moonbot_eyes.setPixelColor(9, 0xffff00);
  moonbot_eyes.setPixelColor(10, 0xffff00);
  moonbot_eyes.setPixelColor(11, 0x000000);
  moonbot_eyes.show();
  if (millis() - pick_time > 2000) {
    pick_time = millis();
    speaker.play((char*)"0214");

  }
  while (MU0.LsReadProximity() > 15) {
  }
  if (millis() - pick_time > 1000) {
    pick_time = millis();
    state = THANK;

  } else {
    state = SEARCH;

  }
}

void TrackPeople() {
  head_angle = m_servo[kServo3].read();
  if (MU0.GetValue(VISION_BODY_DETECT, kYValue) < 45) {
    m_servo[kServo3].write(head_angle - 2);
    energy = energy + 2;

  } else if (MU0.GetValue(VISION_BODY_DETECT, kYValue) > 55) {
    m_servo[kServo3].write(head_angle + 2);
    energy = energy + 2;
  }
  if (MU0.GetValue(VISION_BODY_DETECT, kXValue) < 45) {
    Motor1.write(100);
    Motor2.write(-100);
    energy = energy + 2;

  } else if (MU0.GetValue(VISION_BODY_DETECT, kXValue) > 55) {
    Motor1.write(-100);
    Motor2.write(100);
    energy = energy + 2;
  } else {
    TankBase.stop();
    Serial.println(String("  People Locked, energy=") + String(energy));
    if (energy >= 20) {
      Greeting();

    }
    energy = energy - 0.5;

  }
  energy = constrain(energy, 0, 100);
  LED.setBrightness(energy);
  LED.setPixelColor(0, 0x00ff00);
  LED.setPixelColor(1, 0x00ff00);
  LED.show();
}

void Lifted() {
  TankBase.stop();
  speaker.play((char*)"0227");
  _last_cry = millis();
  while (!(!digitalRead(moonbotPortToPin(kPort5, kPortPin1))) && !(!digitalRead(moonbotPortToPin(kPort5, kPortPin2)))) {
    if (millis() > _last_cry + 1500) {
      speaker.play((char*)"0230");
      for (size_t i = 0; i < kServoNum; ++i) { m_servo[i].power(0); }
      {//eyes angry
          for (long int i = 0; i <= 200; i = i + (4)) {
              moonbot_eyes.fill(i<<16, 0, 0);
              moonbot_eyes.show();
              delay(2);
          }
          for (long int i = 200; i >= 0; i = i-4) {
              moonbot_eyes.fill(i<<16, 0, 0);
              moonbot_eyes.show();
              delay(1);
          }
          for (long int i = 0; i <= 200; i = i + (4)) {
              moonbot_eyes.fill(i<<16, 0, 0);
              moonbot_eyes.show();
              delay(2);
          }
      }
      for (size_t i = 0; i < kServoNum; ++i) { m_servo[i].power(1); }
      _last_cry = millis();

    }
  }
  state = SEARCH;
}

void Thank() {
  speaker.play((char*)"0205");
  delay(250);
  m_servo[kServo3].write(head_angle + 7);
  delay(250);
  m_servo[kServo3].write(head_angle + 0);
  moonbot_eyes.setPixelColor(0, 0x00ffff);
  moonbot_eyes.setPixelColor(1, 0x00ffff);
  moonbot_eyes.setPixelColor(2, 0x00ffff);
  moonbot_eyes.setPixelColor(3, 0x00ffff);
  moonbot_eyes.setPixelColor(4, 0x00ffff);
  moonbot_eyes.setPixelColor(5, 0x00ffff);
  moonbot_eyes.setPixelColor(6, 0x00ffff);
  moonbot_eyes.setPixelColor(7, 0x00ffff);
  moonbot_eyes.setPixelColor(8, 0x00ffff);
  moonbot_eyes.setPixelColor(9, 0x00ffff);
  moonbot_eyes.setPixelColor(10, 0x00ffff);
  moonbot_eyes.setPixelColor(11, 0x00ffff);
  moonbot_eyes.show();
  state = SEARCH;
}

void setup(){
  Serial.begin(9600);
  Serial3.begin(115200);
  TankBase.begin();
  head_angle = 90;
  m_servo[kServo3].attach(kServo3);
  m_servo[kServo4].attach(kServo4);
  m_servo[kServo1].attach(kServo1);
  moonbot_eyes.begin();
  LED.begin();
  proximate_threshold = 15;
  state = 0;
  SNORE = 0;
  SEARCH = 1;
  TRACK = 2;
  DELIVER = 3;
  THANK = 4;
  LIFTED = 5;
  Serial.println("Setup Vision Sensor");
  MU0.begin(&Serial3);
  while(MU0.VisionBegin(VISION_BODY_DETECT) != MU_OK);
  Serial.println("Setup Eye, Speaker, Touch");
  speaker.begin(Serial2);
  pinMode(moonbotPortToPin(kPort3, kPortPin1), INPUT_PULLUP);
  pinMode(moonbotPortToPin(kPort7, kPortPin1), INPUT_PULLUP);
  Serial.println("Calibrate TankBase");
  TankBase.rpmCorrection(100);
  TankBase.wheelSpacingSet(165);
  Serial.println("Waiting to start...");
  m_servo[kServo3].write(head_angle);
  m_servo[kServo4].reverse(true);
  m_servo[kServo1].correction(-6);
  m_servo[kServo4].correction(3);
  m_servo[kServo1].write(90);
  m_servo[kServo4].write(90);
  moonbot_eyes.setPin(moonbotPortToPin(kPort1, kPortPin1));
  moonbot_eyes.setBrightness(66);
  for (size_t i = 0; i < kServoNum; ++i) { m_servo[i].power(0); }
  {//eyes circle
      colorWipe(moonbot_eyes, (0), 40);
      colorWipe(moonbot_eyes, 0xFFFF, 40);
  }
  for (size_t i = 0; i < kServoNum; ++i) { m_servo[i].power(1); }
  LED.setBrightness(66);
  MU0.LsBegin(LS_PROXIMITY_ENABLE);
  pinMode(moonbotPortToPin(kPort5, kPortPin1), INPUT);
  pinMode(moonbotPortToPin(kPort5, kPortPin2), INPUT);
  while (!((!digitalRead(MOONBOT_PIN_BUTTON_A)) || digitalRead(moonbotPortToPin(kPort3, kPortPin1)))) {
    LED.setPixelColor(0, 0xffff00);
    LED.setPixelColor(1, 0x000000);
    LED.show();
    delay(100);
    LED.setPixelColor(0, 0x000000);
    LED.setPixelColor(1, 0x000000);
    LED.show();
    delay(100);
  }
  if (MU0.LsReadProximity() > proximate_threshold) {
    proximate_threshold = MU0.LsReadProximity();

  }
  _search_stage = 0;
  _search_direction = 0;
  _search_step = 0;
  energy = 0;
  _last_detect_time = 0;
  greeting_stage = 0;
  _last_greeting_time = 0;
  _snore_time = millis();
  pick_time = millis();
  _last_cry = 0;
}

void loop(){
  switch (state) {
   case 0:
    Snore();
    break;
   case 1:
    SearchPeople();
    break;
   case 2:
    Track();
    break;
   case 3:
    Deliver();
    break;
   case 4:
    Thank();
    break;
   case 5:
    Lifted();
    break;
  }

}

Credits

Tianli Yu

3 projects • 5 followers

The Candy Serving Robot That I Brought to CES

Things used in this project

Hardware components

Software apps and online services

Story

Build

Program

Test in CES

Custom parts and enclosures

Mixly code file for the demo candy server

A more complex version of the candy server

Code

Candy Server Simple - Arduino

Candy Server Full - Arduino

Credits

Tianli Yu

Comments

Embed the widget on your own site

The Candy Serving Robot That I Brought to CES

The Candy Serving Robot That I Brought to CES

Things used in this project

Hardware components

Software apps and online services

Story

Build

Program

Test in CES

Custom parts and enclosures

Mixly code file for the demo candy server

A more complex version of the candy server

Code

Candy Server Simple - Arduino

Candy Server Full - Arduino

Credits

Tianli Yu

Comments

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