tft display eyes in stock

The prototype was built by plugging the ESP32 and displays into breadboards and using jumper wires. This is convenient for initial experimentation but is prone to poor connection especially if moved about. It the eyes are to be used as part of a costume then soldering all connections is recommended.

Normally the TFT chip select line for a single display is defined within a user_setup file of the TFT_eSPI library, however when using the library with two displays the chip selects must be controlled by the sketch, thus you must NOT define the TFT_CS pin in the TFT_eSPI library setup files. Instead, the chip selects (CS) must be defined in the "config.h" tab of the Animated_Eyes_2 sketch.

The TFT_eSPI library uses "user_setup" files to define all the parameters for the display, processor and interfaces, for the Animated_Eyes_2 sketch the "Setup47_ST7735.h" file was used with the wiring as shown above.

The displays used for testing were 128x128 ST7735 displays, the TFT_eSPI library setup file may need to be changed as these displays come in many configuration variants.

Give your next animatronic or robotic project the gift of eyes with this Snake Eyes Bonnet Pack for Raspberry Pi. The Snake Eyes bonnet is an accessory for driving TFT LCD displays, and it also provides four analog inputs for sensors. It"s perfect for making cosplay masks, props, spooky sculptures for halloween, animatronics, robots…anything where you want to add a pair of animated eyes!

We recently added some very fancy 1.54" TFT displays with high density 240×240 resolution and IPS full angle viewing. Basically, they"ve got the image quality of an OLED, but the pricing of a TFT – and 4x the pixels of either! Perfect for dazzlingly good looking eyes. What"s not to love?

Before you get a new monition for your organization, comparing the TFT display vs IPS display is something that you should do. You would want to buy the monitor which is the most advanced in technology. Therefore, understanding which technology is good for your organization is a must. click to view the 7 Best Types Of Display Screens Technology.

That is why it is important to break it down and discuss point by point so that you can understand it in a layman’s language devoid of any technical jargon. Therefore, in this very article, let’s discuss what exactly TFT LCDs and IPS LCDs are, and what are their differences? You will also find out about their pros and cons for your organization.

The word TFT means Thin-Film-Translator. It is the technology that is used in LCD or Liquid Crystal Display. Here you should know that this type of LCD is also categorically referred to as active-matrix LCDs. It tells that these LCDs can hold back some pixels while using other pixels. So, the LCD will be using a very minimum amount of energy to function. TFT LCDs have capacitors and transistors. These are the two elements that play a key part in ensuring that the display monitor functions by using a very small amount of energy without running out of operation.

Now, it is time to take a look at its features that are tailored to improve the experience of the monitor users significantly. Here are some of the features of the TFT monitor;

The display range covers the application range of all displays from 1 inch to 40 inches as well as the large projection plane and is a full-size display terminal.

Display quality from the simplest monochrome character graphics to high resolution, high color fidelity, high brightness, high contrast, the high response speed of a variety of specifications of the video display models.

No radiation, no scintillation, no harm to the user’s health. In particular, the emergence of TFT LCD electronic books and periodicals will bring humans into the era of a paperless office and paperless printing, triggering a revolution in the civilized way of human learning, dissemination, and recording.

It can be normally used in the temperature range from -20℃ to +50℃, and the temperature-hardened TFT LCD can operate at low temperatures up to -80 ℃. It can not only be used as a mobile terminal display, or desktop terminal display but also can be used as a large screen projection TV, which is a full-size video display terminal with excellent performance.

The manufacturing technology has a high degree of automation and good characteristics of large-scale industrial production. TFT LCD industry technology is mature, a mass production rate of more than 90%.

TFT LCD screen from the beginning of the use of flat glass plate, its display effect is flat right angles, let a person have a refreshing feeling. And LCDs are easier to achieve high resolution on small screens.

The word IPS refers to In-Plane-Switching which is a technology used to improve the viewing experience of the usual TFT displays. You can say that the IPS display is a more advanced version of the traditional TFT LCD module. However, the features of IPS displays are much more advanced and their applications are very much widespread. You should also know that the basic structure of the IPS LCD is the same as TFT LCD if you compare TFT LCD vs IPS.

As you already know, TFT displays do have a very quick response time which is a plus point for it. But, that does not mean IPS displays a lack of response time. In fact, the response time of an IPS LCD is much more consistent, stable, and quick than the TFT display that everyone used to use in the past. However, you will not be able to gauge the difference apparently by watching TFT and IPS displays separately. But, once you watch the screen side-by-side, the difference will become quite clear to you.

The main drawback of the TFT displays as figured above is the narrow-angle viewing experience. The monitor you buy for your organization should give you an experience of wide-angle viewing. It is very much true if you have to use the screen by staying in motion.

So, as IPS displays are an improved version of TFT displays the viewing angle of IPS LCDs is very much wide. It is a plus point in favor of IPS LCDs when you compare TFT vs IPS. With a TFT screen, you cannot watch an image from various angles without encountering halo effects, blurriness, or grayscale that will cause problems for your viewing.

It is one of the major and remarkable differences between IPS and TFT displays. So, if you don’t want to comprise on the viewing angles and want to have the best experience of viewing the screen from wide angles, the IPS display is what you want. The main reason for such a versatile and wonderful viewing angle of IPS display is the screen configuration which is widely set.

Now, when you want to achieve wide-angle viewing with your display screen, you need to make sure it has a faster level of frequency transmittance. It is where IPS displays overtake TFT displays easily in the comparison because the IPS displays have a much faster and speedier transmittance of frequencies than the TFT displays.

Now the transmittance difference between TFT displays and IPS displays would be around 1ms vs. 25ms. Now, you might think that the difference in milliseconds should not create much of a difference as far as the viewing experience is concerned. Yes, this difference cannot be gauged with a naked eye and you will find it difficult to decipher the difference.

However, when you view and an IPS display from a side-by-side angle and a TFT display from a similar angle, the difference will be quite evident in front of you. That is why those who want to avoid lagging in the screen during information sharing at a high speed; generally go for IPS displays. So, if you are someone who is looking to perform advanced applications on the monitor and want to have a wider viewing angle, then an IPS display is the perfect choice for you.

As you know, the basic structure of the IPS display and TFT displays are the same. So, it is quite obvious that an IPS display would use the same basic colors to create various shades with the pixels. However, there is a big difference with the way a TFT display would produce the colors and shade to an IPS display.

The major difference is in the way pixels get placed and the way they operate with electrodes. If you take the perspective of the TFT display, its pixels function perpendicularly once the pixels get activated with the help of the electrodes. It does help in creating sharp images.

But the images that IPS displays create are much more pristine and original than that of the TFT screen. IPS displays do this by making the pixels function in a parallel way. Because of such placing, the pixels can reflect light in a better way, and because of that, you get a better image within the display.

As the display screen made with IPS technology is mostly wide-set, it ensures that the aspect ratio of the screen would be wider. This ensures better visibility and a more realistic viewing experience with a stable effect.

As you already know the features of both TFT and IPS displays, it would be easier for you to understand the difference between the two screen-types. Now, let’s divide the matters into three sections and try to understand the basic differences so that you understand the two technologies in a compressive way. So, here are the difference between an IPS display and a TFT display;

Now, before starting the comparison, it is quite fair to say that both IPS and TFT displays have a wonderful and clear color display. You just cannot say that any of these two displays lag significantly when it comes to color clarity.

However, when it comes to choosing the better display on the parameter of clarity of color, then it has to be the IPS display. The reason why IPS displays tend to have better clarity of color than TFT displays is a better crystal oriental arrangement which is an important part.

That is why when you compare the IPS LCD with TFT LCD for the clarity of color, IPS LCD will get the nod because of the better and advanced technology and structure.

IPS displays have a wider aspect ratio because of the wide-set configuration. That is why it will give you a better wide-angle view when it comes to comparison between IPS and TFT displays. After a certain angle, with a TFT display, the colors will start to get a bit distorted.

But, this distortion of color is very much limited in an IPS display and you may see it very seldom after a much wider angle than the TFT displays. That is why for wide-angle viewing, TFT displays will be more preferable.

When you are comparing TFT LCD vs. IPS, energy consumption also becomes an important part of that comparison. Now, IPS technology is a much advanced technology than TFT technology. So, it is quite obvious that IPS takes a bit more energy to function than TFT.

Also, when you are using an IPS monitor, the screen will be much larger. So, as there is a need for much more energy for the IPS display to function, the battery of the device will drain faster. Furthermore, IPS panels cost way more than TFT display panels.

1. The best thing about TFT technology is it uses much less energy to function when it is used from a bigger screen. It ensures that the cost of electricity is reduced which is a wonderful plus point.

2. When it comes to visibility, the TFT technology enhances your experience wonderfully. It creates sharp images that will have no problems for older and tired eyes.

1. One of the major problems of TFT technology is that it fails to create a wider angle of view. As a result, after a certain angle, the images in a TFT screen will distort marring the overall experience of the user.

Although IPS screen technology is very good, it is still a technology based on TFT, the essence of the TFT screen. Whatever the strength of the IPS, it is a TFT-based derivative.

Finally, as you now have a proper understanding of the TFT displays vs IPS displays, it is now easier for you when it comes to choose one for your organization. Technology is advancing at a rapid pace. You should not be surprised if you see more advanced display screens in the near future. However, so far, TFT vs IPS are the two technologies that are marching ahead when it comes to making display screens.

STONE provides a full range of 3.5 inches to 15.1 inches of small and medium-size standard quasi TFT LCD module, LCD display, TFT display module, display industry, industrial LCD screen, under the sunlight visually highlight TFT LCD display, industrial custom TFT screen, TFT LCD screen-wide temperature, industrial TFT LCD screen, touch screen industry. The LCD module is very suitable for industrial control equipment, medical instruments, POS system, electronic consumer products, vehicles, and other products.

If you want to buy a new monitor, you might wonder what kind of display technologies I should choose. In today’s market, there are two main types of computer monitors: TFT LCD monitors & IPS monitors.

The word TFT means Thin Film Transistor. It is the technology that is used in LCD displays.  We have additional resources if you would like to learn more about what is a TFT Display. This type of LCDs is also categorically referred to as an active-matrix LCD.

These LCDs can hold back some pixels while using other pixels so the LCD screen will be using a very minimum amount of energy to function (to modify the liquid crystal molecules between two electrodes). TFT LCDs have capacitors and transistors. These two elements play a key part in ensuring that the TFT display monitor functions by using a very small amount of energy while still generating vibrant, consistent images.

Industry nomenclature: TFT LCD panels or TFT screens can also be referred to as TN (Twisted Nematic) Type TFT displays or TN panels, or TN screen technology.

IPS (in-plane-switching) technology is like an improvement on the traditional TFT LCD display module in the sense that it has the same basic structure, but has more enhanced features and more widespread usability.

Both TFT display and IPS display are active-matrix displays, neither can’t emit light on their own like OLED displays and have to be used with a back-light of white bright light to generate the picture. Newer panels utilize LED backlight (light-emitting diodes) to generate their light hence utilizing less power and requiring less depth by design. Neither TFT display nor IPS display can produce color, there is a layer of RGB (red, green, blue) color filter in each LCD pixels to produce the color consumers see. If you use a magnifier to inspect your monitor, you will see RGB color in each pixel. With an on/off switch and different level of brightness RGB, we can get many colors.

Winner. IPS TFT screens have around 0.3 milliseconds response time while TN TFT screens responds around 10 milliseconds which makes the latter unsuitable for gaming

Winner. the images that IPS displays create are much more pristine and original than that of the TFT screen. IPS displays do this by making the pixels function in a parallel way. Because of such placing, the pixels can reflect light in a better way, and because of that, you get a better image within the display.

As the display screen made with IPS technology is mostly wide-set, it ensures that the aspect ratio of the screen would be wider. This ensures better visibility and a more realistic viewing experience with a stable effect.

Winner. While the TFT LCD has around 15% more power consumption vs IPS LCD, IPS has a lower transmittance which forces IPS displays to consume more power via backlights. TFT LCD helps battery life.

Normally, high-end products, such as Apple Mac computer monitors and Samsung mobile phones, generally use IPS panels. Some high-end TV and mobile phones even use AMOLED (Active Matrix Organic Light Emitting Diodes) displays. This cutting edge technology provides even better color reproduction, clear image quality, better color gamut, less power consumption when compared to LCD technology.

This kind of touch technology was first introduced by Steve Jobs in the first-generation iPhone. Of course, a TFT LCD display can always meet the basic needs at the most efficient price. An IPS display can make your monitor standing out.

In this tutorial, we are going to launch a kind of TFT LCD with St7789 driver, as a result of which we will be able to show an interesting animation that simulates the function of the human eye. Of course, I will teach you how to change the type of eye animation. In this project, we will use the Wemos board with ESP8266 chip to set up the TFT display, the used TFT display with dimensions of 240 x 240, which due to its full color, contributes a lot to the beauty of the project. We will use the TFT-eSPI library to set up and display graphic items, but we will also make changes to the library to make it suitable for ESP8266 use. VisitCiferTechfor more tutorials, and be sure to follow myInstagrampage to support me. ^-^

In the human eye project, we use TFT LCD, which stands for “Thin Film Transistor”. The color TFT LCD display has transistors made of amorphous silicon thin films deposited on the glass. It acts as a control valve to generate the proper voltage on the liquid crystals for separate sub-pixels. For this reason, the TFT LCD screen is also called the Active Matrix display. The 1.54-inch display has 240×240 pixels, 16-bit full color, and an IPS display, so the color looks great up to 80 degrees from the axis in any direction. This LCD uses the ST7789 driver.

In this project, we use the TFT-eSPI library to set up the monitor. However, in order to be able to connect the monitor to the ESP8266 board, we must make changes in the library by replacing one of the files in the main folder. In this step, follow the steps below for the initial installation of the library. First, we install the TFT-eSPI sensor reference library in Arduino IDE software. Follow these steps:Follow this path Sketch> Include Library> Manage LibrariesSearch for the word TFT-eSPI.Install the library.

In this project, we used a TFT LCD or SPI communication protocol that will use pins D0, D1, D5, D7 on the Wemos board, we will also use a light-dependent resistor whose values are determined by analog to digital pins A0 is measured. Make the connections according to the table and schematic below.

Give your next animatronic or robotic project the gift of eyes with this Snake Eyes Bonnet Pack for Raspberry Pi. The Snake Eyes bonnet is an accessory for driving TFT LCD displays, and it also provides four analog inputs for sensors. It"s perfect for making cosplay masks, props, spooky sculptures for halloween, animatronics, robots...anything where you want to add a pair of animated eyes!

We recently added some very fancy 1.54" TFT displays with high density 240x240 resolution and IPS full angle viewing. Basically, they"ve got the image quality of an OLED, but the pricing of a TFT - and 4x the pixels of either! Perfect for dazzlingly good looking eyes. What"s not to love?

We really really recommend only pairing this with a Raspberry Pi 3. These high-density displays have a lot of pixels to push around and the quad-core Pi 3 will help keep the frame rate high and flicker-free. You can use a 3 Model B or 3 B+.

TFT stands for thin-film transistor, which means that each pixel in the device has a thin-film transistor attached to it. Transistors are activated by electrical currents that make contact with the pixels to produce impeccable image quality on the screen. Here are some important features of TFT displays.Excellent Colour Display.Top notch colour contrast, clarity, and brightness settings that can be adjusted to accommodate specific application requirements.Extended Half-Life.TFT displays boast a much higher half-life than their LED counterparts and they also come in a variety of size configurations that can impact the device’s half-life depending on usage and other factors.TFT displays can have either resistive or capacitive touch panels.Resistive is usually the standard because it comes at a lower price point, but you can also opt for capacitive which is compatible with most modern smartphones and other devices.TFT displays offer exceptional aspect ratio control.Aspect ratio control contributes to better image clarity and quality by mapping out the number of pixels that are in the source image compared to the resolution pixels on the screen.Monitor ghosting doesn’t occur on TFT displays.This is when a moving image or object has blurry pixels following it across the screen, resembling a ghost.

TFT displays are incredibly versatile.The offer a number of different interface options that are compatible with various devices and accommodate the technical capabilities of all users.

There are two main types of TFT LCD displays:· Twisted nematic TFT LCDs are an older model. They have limited colour options and use 6 bits per each blue, red, and green channel.

In-plane switching TFT LCDs are a newer model. Originally introduced in the 1990s by Hitachi, in-plane switching TFT LCDs consist of moving liquid pixels that move in contrast or opposite the plane of the display, rather than alongside it.

The type of TFT LCD monitor or industrial display you choose to purchase will depend on the specifications of your application or project. Here are a few important factors to consider when selecting an appropriate TFT LCD display technology:Life expectancy/battery life.Depending on the length of ongoing use and the duration of your project, you’re going to want to choose a device that can last a long time while maintaining quality usage.

Image clarity.Some TFT displays feature infrared touchscreens, while others are layered. The former is preferable, especially in poor lighting conditions or for outdoor and industrial applications, because there’s no overlay and therefore no obstructions to light emittance.

The environmental conditions make a difference in operation and image clarity. When choosing a TFT for outdoor or industrial applications, be sure to choose one that can withstand various environmental elements like dust, wind, moisture, dirt, and even sunlight.

As a leading manufacturer and distributor of high-quality digital displays in North America, Nauticomp Inc. can provide custom TFT LCD monitor solutions that are suitable for a multitude of industrial and commercial indoor and outdoor applications. Contact us today to learn more.

AMOLED and TFT are two types of display technology used in smartphones. AMOLED (active-matrix organic light-emitting diode) displays are made up of tiny organic light-emitting diodes, while TFT (Thin-Film Transistor) displays use inorganic thin-film transistors.

AMOLEDs are made from organic materials that emit light when an electric current is passed through them, while TFTs use a matrix of tiny transistors to control the flow of electricity to the display.

Refresh Rate: Another key difference between AMOLED and TFT displays is the refresh rate. The refresh rate is how often the image on the screen is updated. AMOLED screens have a higher refresh rate than TFT screens, which means that they can display images more quickly and smoothly.

Response Time: The response time is how long it takes for the pixels to change from one colour to another. AMOLED screens have a shorter response time than TFT screens..

Colour Accuracy/Display Quality: AMOLED screens are more accurate when it comes to displaying colours. This is because each pixel on an AMOLED screen emits its own light, which means that the colours are more pure and true to life. TFT screens, on the other hand, use a backlight to illuminate the pixels, which can cause the colours to appear washed out or less vibrant.

Viewing Angle: The viewing angle is the angle at which you can see the screen. AMOLED screens have a wider viewing angle than TFT screens, which means that you can see the screen from more angles without the colours looking distorted.

Power Consumption: One of the main advantages of AMOLED displays is that they consume less power than TFT displays. This is because the pixels on an AMOLED screen only light up when they need to, while the pixels on a TFT screen are always illuminated by the backlight.

Production Cost: AMOLED screens are more expensive to produce than TFT screens. This is because the manufacturing process for AMOLED screens is more complex, and the materials used are more expensive.

Availability: TFT screens are more widely available than AMOLED screens and have been around for longer. They are typically used in a variety of devices, ranging from phones to TVs.

Usage: AMOLED screens are typically used in devices where power consumption is a concern, such as phones and wearable devices. TFT screens are more commonly used in devices where image quality is a higher priority, such as TVs and monitors.

AMOLED and TFT are two different types of display technology. AMOLED displays are typically brighter and more vibrant, but they are more expensive to produce. TFT displays are cheaper to produce, but they are not as bright or power efficient as AMOLED displays.

The display technology that is best for you will depend on your needs and preferences. If you need a screen that is bright and vibrant, then an AMOLED display is a good choice. If you need a screen that is cheaper to produce, then a TFT display is a good choice. However, if you’re worried about image retention, then TFT may be a better option.

Nauticomp Inc.provides world-class fully customizable touchscreen displays for commercial and industrial settings. With features like sunlight readability, brightness adjustability, infrared lighting, full backlighting, all-weather capabilities, etc., our displays are second to none. Contact us today to learn more.

Thanks to one Mark Komus for flagging this, just spotted n twitter – it’s the adafruit MONSTER M4SK eyes, repurposed in an appropriately circular way. (We’re talking the DIY Electronic Eyes Mask, to be precise, which costs $44.95 when in stock).

They normally feature 240×240 pixel IPS TFT displays – I read – driven by a 120 MHZ Cortex M4 processor, but Mark has worked his own system. Specifically, using an adafruit Feather M4 and a round 1.28-in LCD screen with GC9A01 Controller.

The eye certainly does look almost 3D but it is a flat display with appropriately realistic images constantly displayed. Those eyes could look exactly how you wanted! I wouldn’t look into them too closely, though.

Along 3 years I have been trying several leg mechanism, at first I decided to do a simple desing with tibial motor where placed on femur joint.This design had several problems, like it wasn"t very robust and the most importat is that having the motor (with big mass) that far from the rotating axis, caused that in some movements it generate unwanted dynamics to the robot body, making controlability worse.New version have both motors of femur/tibial limb at coxa frame, this ends with a very simple setup and at the same time, the heaviest masses of the mechanism are centered to the rotating axis of coxa limb, so even though the leg do fast movements, inertias won"t be strong enough to affect the hole robot mass, achieving more agility.Inverse Kinematics of the mechanismAfter building it I notice that this mechanism was very special for another reason, at the domain the leg normally moves, it acts as a diferential mecanism, this means that torque is almost all the time shared between both motor of the longer limbs. That was an improvent since with the old mechanism tibial motor had to hold most of the weight and it was more forced than the one for femur.To visualize this, for the same movement, we can see how tibial motor must travel more arc of angel that the one on the new version.In order to solve this mechanism, just some trigonometry is needed. Combining both cosine and sine laws, we can obtain desired angle (the one between femur and tibia) with respect to the angle the motor must achieve.Observing these equations, with can notice that this angle (the one between femur and tibia) depends on both servos angles, which means both motors are contributing to the movement of the tibia.Calibration of servosAnother useful thing to do if we want to control servo precisely is to print a calibration tool for our set up. As shown in the image below, in order to know where real angles are located, angle protactor is placer just in the origin of the rotating joint, and choosing 2 know angles we can match PWM signal to the real angles we want to manipulate simply doing a lineal relation between angles and PWM pulse length.Then a simple program in the serial console can be wrtten to let the user move the motor to the desired angle. This way the calibration process is only about placing motor at certain position and everything is done and we won"t need to manually introduce random values that can be a very tedious task.With this I have achieved very good calibrations on motors, which cause the robot to be very simetrial making the hole system more predictable. Also the calibration procedure now is very easy to do, as all calculations are done automatically. Check Section 1 for the example code for calibration.More about this can be seen in the video below, where all the building process is shown as well as the new leg in action.SECTION 1:In the example code below, you can see how calibration protocol works, it is just a function called calibrationSecuence() which do all the work until calibration is finished. So you only need to call it one time to enter calibration loop, for example by sending a "c" character thought the serial console.Also some useful function are used, like moving motor directly with analogWrite functions which all the calculations involved, this is a good point since no interrupts are used.This code also have the feature to calibrate the potentiometer coming from each motor.#define MAX_PULSE 2500 #define MIN_PULSE 560 /*---------------SERVO PIN DEFINITION------------------------*/ int m1 = 6;//FR int m2 = 5; int m3 = 4; int m4 = 28;//FL int m5 = 29; int m6 = 36; int m7 = 3;//BR int m8 = 2; int m9 = 1; int m10 = 7;//BL int m11 = 24; int m12 = 25; int m13 = 0;//BODY /*----------------- CALIBRATION PARAMETERS OF EACH SERVO -----------------*/ double lowLim[13] = {50, 30, 30, 50, 30, 30, 50, 30, 30, 50, 30, 30, 70}; double highLim[13] = {130, 150, 150, 130, 150, 150, 130, 150, 150, 130, 150, 150, 110}; double a[13] = { -1.08333, -1.06667, -1.07778, //FR -1.03333, 0.97778, 1.01111, //FL 1.03333, 1.05556, 1.07778, //BR 1.07500, -1.07778, -1.00000, //BL 1.06250 }; double b[13] = {179.0, 192.0, 194.5, //FR 193.0, 5.5, -7.5, //FL 7.0, -17.0, -16.0, //BR -13.5, 191.5, 157.0, //BL -0.875 }; double ae[13] = {0.20292, 0.20317, 0.19904 , 0.21256, -0.22492, -0.21321, -0.21047, -0.20355, -0.20095, -0.20265, 0.19904, 0.20337, -0.20226 }; double be[13] = { -18.59717, -5.70512, -2.51697, -5.75856, 197.29411, 202.72169, 185.96931, 204.11902, 199.38663, 197.89534, -5.33768, -32.23424, 187.48058 }; /*--------Corresponding angles you want to meassure at in your system-----------*/ double x1[13] = {120, 135, 90, 60, 135 , 90, 120, 135, 90, 60, 135, 90, 110}; //this will be the first angle you will meassure double x2[13] = {60, 90, 135, 120, 90, 135, 60, 90, 135, 120, 90, 135, 70};//this will be the second angle you will meassure for calibration /*--------You can define a motor tag for each servo--------*/ String motorTag[13] = {"FR coxa", "FR femur", "FR tibia", "FL coxa", "FL femur", "FL tibia", "BR coxa", "BR femur", "BR tibia", "BL coxa", "BL femur", "BL tibia", "Body angle" }; double ang1[13] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; double ang2[13] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; float xi[500]; float yi[500]; float fineAngle; float fineL; float fineH; int motorPin; int motor = 0; float calibrationAngle; float res = 1.0; float ares = 0.5; float bres = 1.0; float cres = 4.0; float rawAngle; float orawAngle; char cm; char answer; bool interp = false; bool question = true; bool swing = false; int i; double eang; int freq = 100; // PWM frecuency can be choosen here. void connectServos() { analogWriteFrequency(m1, freq); //FR coxa digitalWrite(m1, LOW); pinMode(m1, OUTPUT); analogWriteFrequency(m2, freq); //femur digitalWrite(m2, LOW); pinMode(m2, OUTPUT); analogWriteFrequency(m3, freq); //tibia digitalWrite(m3, LOW); pinMode(m3, OUTPUT); analogWriteFrequency(m4, freq); //FL coxa digitalWrite(m4, LOW); pinMode(m4, OUTPUT); analogWriteFrequency(m5, freq); //femur digitalWrite(m5, LOW); pinMode(m5, OUTPUT); analogWriteFrequency(m6, freq); //tibia digitalWrite(m6, LOW); pinMode(m6, OUTPUT); analogWriteFrequency(m7, freq); //FR coxa digitalWrite(m7, LOW); pinMode(m7, OUTPUT); analogWriteFrequency(m8, freq); //femur digitalWrite(m8, LOW); pinMode(m8, OUTPUT); analogWriteFrequency(m9, freq); //tibia digitalWrite(m9, LOW); pinMode(m9, OUTPUT); analogWriteFrequency(m10, freq); //FR coxa digitalWrite(m10, LOW); pinMode(m10, OUTPUT); analogWriteFrequency(m11, freq); //femur digitalWrite(m11, LOW); pinMode(m11, OUTPUT); analogWriteFrequency(m12, freq); //tibia digitalWrite(m12, LOW); pinMode(m12, OUTPUT); analogWriteFrequency(m13, freq); //body digitalWrite(m13, LOW); pinMode(m13, OUTPUT); } void servoWrite(int pin , double angle) { float T = 1000000.0f / freq; float usec = float(MAX_PULSE - MIN_PULSE) * (angle / 180.0) + (float)MIN_PULSE; uint32_t duty = int(usec / T * 4096.0f); analogWrite(pin , duty); } double checkLimits(double angle , double lowLim , double highLim) { if ( angle >= highLim ) { angle = highLim; } if ( angle <= lowLim ) { angle = lowLim; } return angle; } int motorInfo(int i) { enc1 , enc2 , enc3 , enc4 , enc5 , enc6 , enc7 , enc8 , enc9 , enc10 , enc11 , enc12 , enc13 = readEncoders(); if (i == 0) { rawAngle = enc1; motorPin = m1; } else if (i == 1) { rawAngle = enc2; motorPin = m2; } else if (i == 2) { rawAngle = enc3; motorPin = m3; } else if (i == 3) { rawAngle = enc4; motorPin = m4; } else if (i == 4) { rawAngle = enc5; motorPin = m5; } else if (i == 5) { rawAngle = enc6; motorPin = m6; } else if (i == 6) { rawAngle = enc7; motorPin = m7; } else if (i == 7) { rawAngle = enc8; motorPin = m8; } else if (i == 8) { rawAngle = enc9; motorPin = m9; } else if (i == 9) { rawAngle = enc10; motorPin = m10; } else if (i == 10) { rawAngle = enc11; motorPin = m11; } else if (i == 11) { rawAngle = enc12; motorPin = m12; } else if (i == 12) { rawAngle = enc13; motorPin = m13; } return rawAngle , motorPin; } void moveServos(double angleBody , struct vector anglesServoFR , struct vector anglesServoFL , struct vector anglesServoBR , struct vector anglesServoBL) { //FR anglesServoFR.tetta = checkLimits(anglesServoFR.tetta , lowLim[0] , highLim[0]); fineAngle = a[0] * anglesServoFR.tetta + b[0]; servoWrite(m1 , fineAngle); anglesServoFR.alpha = checkLimits(anglesServoFR.alpha , lowLim[1] , highLim[1]); fineAngle = a[1] * anglesServoFR.alpha + b[1]; servoWrite(m2 , fineAngle); anglesServoFR.gamma = checkLimits(anglesServoFR.gamma , lowLim[2] , highLim[2]); fineAngle = a[2] * anglesServoFR.gamma + b[2]; servoWrite(m3 , fineAngle); //FL anglesServoFL.tetta = checkLimits(anglesServoFL.tetta , lowLim[3] , highLim[3]); fineAngle = a[3] * anglesServoFL.tetta + b[3]; servoWrite(m4 , fineAngle); anglesServoFL.alpha = checkLimits(anglesServoFL.alpha , lowLim[4] , highLim[4]); fineAngle = a[4] * anglesServoFL.alpha + b[4]; servoWrite(m5 , fineAngle); anglesServoFL.gamma = checkLimits(anglesServoFL.gamma , lowLim[5] , highLim[5]); fineAngle = a[5] * anglesServoFL.gamma + b[5]; servoWrite(m6 , fineAngle); //BR anglesServoBR.tetta = checkLimits(anglesServoBR.tetta , lowLim[6] , highLim[6]); fineAngle = a[6] * anglesServoBR.tetta + b[6]; servoWrite(m7 , fineAngle); anglesServoBR.alpha = checkLimits(anglesServoBR.alpha , lowLim[7] , highLim[7]); fineAngle = a[7] * anglesServoBR.alpha + b[7]; servoWrite(m8 , fineAngle); anglesServoBR.gamma = checkLimits(anglesServoBR.gamma , lowLim[8] , highLim[8]); fineAngle = a[8] * anglesServoBR.gamma + b[8]; servoWrite(m9 , fineAngle); //BL anglesServoBL.tetta = checkLimits(anglesServoBL.tetta , lowLim[9] , highLim[9]); fineAngle = a[9] * anglesServoBL.tetta + b[9]; servoWrite(m10 , fineAngle); anglesServoBL.alpha = checkLimits(anglesServoBL.alpha , lowLim[10] , highLim[10]); fineAngle = a[10] * anglesServoBL.alpha + b[10]; servoWrite(m11 , fineAngle); anglesServoBL.gamma = checkLimits(anglesServoBL.gamma , lowLim[11] , highLim[11]); fineAngle = a[11] * anglesServoBL.gamma + b[11]; servoWrite(m12 , fineAngle); //BODY angleBody = checkLimits(angleBody , lowLim[12] , highLim[12]); fineAngle = a[12] * angleBody + b[12]; servoWrite(m13 , fineAngle); } double readEncoderAngles() { enc1 , enc2 , enc3 , enc4 , enc5 , enc6 , enc7 , enc8 , enc9 , enc10 , enc11 , enc12 , enc13 = readEncoders(); eang1 = ae[0] * enc1 + be[0]; eang2 = ae[1] * enc2 + be[1]; eang3 = ae[2] * enc3 + be[2]; eang4 = ae[3] * enc4 + be[3]; eang5 = ae[4] * enc5 + be[4]; eang6 = ae[5] * enc6 + be[5]; eang7 = ae[6] * enc7 + be[6]; eang8 = ae[7] * enc8 + be[7]; eang9 = ae[8] * enc9 + be[8]; eang10 = ae[9] * enc10 + be[9]; eang11 = ae[10] * enc11 + be[10]; eang12 = ae[11] * enc12 + be[11]; eang13 = ae[12] * enc13 + be[12]; return eang1 , eang2 , eang3 , eang4 , eang5 , eang6 , eang7 , eang8 , eang9 , eang10 , eang11 , eang12 , eang13; } void calibrationSecuence( ) { //set servos at their middle position at firstt for (int i = 0; i <= 12; i++) { rawAngle , motorPin = motorInfo(i); servoWrite(motorPin , 90); } // sensorOffset0 = calibrateContacts(); Serial.println(" "); Serial.println("_________________________________SERVO CALIBRATION ROUTINE_________________________________"); Serial.println("___________________________________________________________________________________________"); Serial.println("(*) Don"t send several caracter at the same time."); delay(500); Serial.println(" "); Serial.println("Keyboard: "x"-> EXIT CALIBRATION. "c"-> ENTER CALIBRATION."); Serial.println(" "i"-> PRINT INFORMATION. "); Serial.println(" "); Serial.println(" "n"-> CHANGE MOTOR (+). "b" -> CHANGE MOTOR (-)."); Serial.println(" "m"-> START CALIBRATION."); Serial.println(" "q"-> STOP CALIBRATION."); Serial.println(" "); Serial.println(" "r"-> CHANGE RESOLUTION."); Serial.println(" "p"-> ADD ANGLE. "o"-> SUBTRACT ANGLE. "); Serial.println(" "s"-> SAVE ANGLE."); delay(500); Serial.println(" "); Serial.println("---------------------------------------------------------------------------------------------------"); Serial.print("SELECTED MOTOR: "); Serial.print(motorTag[motor]); Serial.print(". SELECTED RESOLUTION: "); Serial.println(res); while (CAL == true) { if (Serial.available() > 0) { cm = Serial.read(); if (cm == "x") { Serial.println("Closing CALIBRATION program..."); CAL = false; secuence = false; startDisplay(PAGE); angleBody = 90; anglesIKFR.tetta = 0.0; anglesIKFR.alpha = -45.0; anglesIKFR.gamma = 90.0; anglesIKFL.tetta = 0.0; anglesIKFL.alpha = -45.0; anglesIKFL.gamma = 90.0; anglesIKBR.tetta = 0.0; anglesIKBR.alpha = 45.0; anglesIKBR.gamma = -90.0; anglesIKBL.tetta = 0.0; anglesIKBL.alpha = 45.0; anglesIKBL.gamma = -90.0; } else if (cm == "i") { // + Serial.println(" "); Serial.println("---------------------------------------------------------------------------------------------------"); Serial.println("---------------------------------------------------------------------------------------------------"); Serial.println("(*) Don"t send several caracter at the same time."); delay(500); Serial.println(" "); Serial.println("Keyboard: "x"-> EXIT CALIBRATION. "c"-> ENTER CALIBRATION."); Serial.println(" "i"-> PRINT INFORMATION. "); Serial.println(" "); Serial.println(" "n"-> CHANGE MOTOR (+). "b" -> CHANGE MOTOR (-)."); Serial.println(" "m"-> START CALIBRATION."); Serial.println(" "q"-> STOP CALIBRATION."); Serial.println(" "); Serial.println(" "r"-> CHANGE RESOLUTION."); Serial.println(" "p"-> ADD ANGLE. "o"-> SUBTRACT ANGLE. "s"-> SAVE ANGLE."); Serial.println(" "); delay(500); Serial.println(" "); Serial.println("---------------------------------------------------------------------------------------------------"); Serial.println(" "); Serial.print("SELECTED MOTOR: "); Serial.print(motorTag[motor]); Serial.print(". SELECTED RESOLUTION: "); Serial.println(res); Serial.println("Actual parameters of the motor: "); Serial.print("High limit: "); Serial.print(highLim[motor]); Serial.print(" Low limit: "); Serial.print(lowLim[motor]); Serial.print(" Angle 1: "); Serial.print(ang1[motor]); Serial.print(" Angle 2: "); Serial.println(ang2[motor]); Serial.println("---------------------------------------------------------------------------------------------------"); } else if (cm == "m") { // + secuence = true; } else if (cm == "s") { // + } else if (cm == "n") { // + motor++; if (motor >= 13) { motor = 0; } Serial.print("SELECTED MOTOR: "); Serial.println(motorTag[motor]); } else if (cm == "b") { // + motor--; if (motor < 0) { motor = 13 - 1; } Serial.print("SELECTED MOTOR: "); Serial.println(motorTag[motor]); } else if (cm == "r") { // + if (res == ares) { res = bres; } else if (res == bres) { res = cres; } else if (res == cres) { res = ares; } Serial.print("SELECTED RESOLUTION: "); Serial.println(res); } } if (secuence == true) { Serial.print("Starting secuence for motor: "); Serial.println(motorTag[motor]); for (int i = 0; i <= 30; i++) { delay(20); Serial.print("."); } Serial.println("."); while (question == true) { unsigned long currentMicros = micros(); if (currentMicros - previousMicros >= 100000) { previousMicros = currentMicros; if (Serial.available() > 0) { answer = Serial.read(); if (answer == "y") { question = false; interp = true; secuence = true; } else if (answer == "n") { question = false; interp = false; secuence = true; } else { Serial.println("Please, select Yes(y) or No(n)."); } } } } answer = "t"; question = true; if (interp == false) { Serial.println("___"); Serial.println(" | Place motor at 1ts position and save angle"); Serial.println(" | This position can be the higher one"); rawAngle , motorPin = motorInfo(motor); calibrationAngle = 90; //start calibration at aproximate middle position of the servo. while (secuence == true) { /* find first calibration angle */ if (Serial.available() > 0) { cm = Serial.read(); if (cm == "p") { // + Serial.print(" | +"); Serial.print(res); Serial.print(" : "); calibrationAngle = calibrationAngle + res; servoWrite(motorPin , calibrationAngle); Serial.println(calibrationAngle); } else if (cm == "o") { // - Serial.print(" | -"); Serial.print(res); Serial.print(" : "); calibrationAngle = calibrationAngle - res; servoWrite(motorPin , calibrationAngle); Serial.println(calibrationAngle); } else if (cm == "r") { // + if (res == ares) { res = bres; } else if (res == bres) { res = cres; } else if (res == cres) { res = ares; } Serial.print("SELECTED RESOLUTION: "); Serial.println(res); } else if (cm == "q") { // quit secuence secuence = false; Serial.println(" | Calibration interrupted!!"); } else if (cm == "s") { // save angle ang1[motor] = calibrationAngle; secuence = false; Serial.print(" | Angle saved at "); Serial.println(calibrationAngle); } } } if (cm == "q") { Serial.println(" |"); } else { secuence = true; Serial.println("___"); Serial.println(" | Place motor at 2nd position and save angle"); Serial.println(" | This position can be the lower one"); } while (secuence == true) { /* find second calibration angle */ if (Serial.available() > 0) { cm = Serial.read(); if (cm == "p") { // + Serial.print(" | +"); Serial.print(res); Serial.print(" : "); calibrationAngle = calibrationAngle + res; servoWrite(motorPin , calibrationAngle); Serial.println(calibrationAngle); } else if (cm == "o") { // - Serial.print(" | -"); Serial.print(res); Serial.print(" : "); calibrationAngle = calibrationAngle - res; servoWrite(motorPin , calibrationAngle); Serial.println(calibrationAngle); } else if (cm == "r") { // + if (res == ares) { res = bres; } else if (res == bres) { res = cres; } else if (res == cres) { res = ares; } Serial.print("SELECTED RESOLUTION: "); Serial.println(res); } else if (cm == "q") { // quit secuence secuence = false; Serial.println(" | Calibration interrupted!!"); } else if (cm == "s") { // save angle ang2[motor] = calibrationAngle; secuence = false; Serial.print(" | Angle saved at "); Serial.println(calibrationAngle); } } } /*--------------------start calibration calculations------------------*/ if (cm == "q") { Serial.println("___|"); Serial.println("Calibration finished unespected."); Serial.println(" Select another motor."); Serial.print("SELECTED MOTOR: "); Serial.print(motorTag[motor]); Serial.print(". SELECTED RESOLUTION: "); Serial.println(res); } else { Serial.println("___"); Serial.println(" |___"); Serial.print( " | | Interpolating for motor: "); Serial.println(motorTag[motor]); secuence = true; //real angle is calculated interpolating both angles to a linear relation. a[motor] = (ang2[motor] - ang1[motor]) / (x2[motor] - x1[motor]); b[motor] = ang1[motor] - x1[motor] * (ang2[motor] - ang1[motor]) / (x2[motor] - x1[motor]); Serial.println(" | |"); } interp = true; } /*---------------------------make swing movement to interpolate motor encoder-----*/ if (interp == true and secuence == true) { delay(200); double x; int k = 0; int stp = 180; swing = true; i = 0; orawAngle , motorPin = motorInfo(motor); previousMicros = 0; while (swing == true) { // FIRST unsigned long currentMicros = micros(); if (currentMicros - previousMicros >= 10000) { // save the last time you blinked the LED previousMicros = currentMicros; x = x2[motor]; calibrationAngle = a[motor] * x + b[motor]; servoWrite(motorPin , calibrationAngle); rawAngle , motorPin = motorInfo(motor); if ((i % 3) == 0) { yi[k+1] = x; xi[k] = rawAngle; Serial.print(" | | Real ang: "); Serial.print(x); Serial.print(" -> Servo ang: "); Serial.print(calibrationAngle); Serial.print(" Enc: "); Serial.println(rawAngle); k++; } if (i >= stp) { swing = false; } i++; } } swing = true; i = 0; while (swing == true) { // moving unsigned long currentMicros = micros(); if (currentMicros - previousMicros >= 10000) { // save the last time you blinked the LED previousMicros = currentMicros; x = x2[motor] + float(i) * (x1[motor] - x2[motor]) / stp; calibrationAngle = a[motor] * x + b[motor]; servoWrite(motorPin , calibrationAngle); rawAngle , motorPin = motorInfo(motor); if ((i % 6) == 0) { yi[k+1] = x; xi[k] = rawAngle; Serial.print(" | | Real ang: "); Serial.print(x); Serial.print(" -> Servo ang: "); Serial.print(calibrationAngle); Serial.print(" Enc: "); Serial.println(rawAngle); k++; } if (i >= stp) { swing = false; } i++; } } swing = true; i = 0; while (swing == true) { // SECOND unsigned long currentMicros = micros(); if (currentMicros - previousMicros >= 10000) { // save the last time you blinked the LED previousMicros = currentMicros; x = x1[motor]; calibrationAngle = a[motor] * x + b[motor]; servoWrite(motorPin , calibrationAngle); rawAngle , motorPin = motorInfo(motor); if ((i % 3) == 0) { yi[k+1] = x; xi[k] = rawAngle; Serial.print(" | | Real ang: "); Serial.print(x); Serial.print(" -> Servo ang: "); Serial.print(calibrationAngle); Serial.print(" Enc: "); Serial.println(rawAngle); k++; } if (i >= stp) { swing = false; } i++; } } swing = true; i = 0; while (swing == true) { // moving unsigned long currentMicros = micros(); if (currentMicros - previousMicros >= 10000) { // save the last time you blinked the LED previousMicros = currentMicros; x = x1[motor] + float(i) * (x2[motor] - x1[motor]) / stp; calibrationAngle = a[motor] * x + b[motor]; servoWrite(motorPin , calibrationAngle); rawAngle , motorPin = motorInfo(motor); if ((i % 6) == 0) { yi[k+1] = x; xi[k] = rawAngle; Serial.print(" | | Real ang: "); Serial.print(x); Serial.print(" -> Servo ang: "); Serial.print(calibrationAngle); Serial.print(" Enc: "); Serial.println(rawAngle); k++; } if (i >= stp) { swing = false; } i++; } } swing = true; i = 0; while (swing == true) { // FIRST unsigned long currentMicros = micros(); if (currentMicros - previousMicros >= 10000) { // save the last time you blinked the LED previousMicros = currentMicros; x = x2[motor]; calibrationAngle = a[motor] * x + b[motor]; servoWrite(motorPin , calibrationAngle); rawAngle , motorPin = motorInfo(motor); if ((i % 3) == 0) { yi[k+1] = x; xi[k] = rawAngle; Serial.print(" | | Real ang: "); Serial.print(x); Serial.print(" -> Servo ang: "); Serial.print(calibrationAngle); Serial.print(" Enc: "); Serial.println(rawAngle); k++; } if (i >= stp) { swing = false; } i++; } } swing = true; i = 0; while (swing == true) { // moving unsigned long currentMicros = micros(); if (currentMicros - previousMicros >= 10000) { // save the last time you blinked the LED previousMicros = currentMicros; x = x2[motor] + float(i) * (x1[motor] - x2[motor]) / stp; calibrationAngle = a[motor] * x + b[motor]; servoWrite(motorPin , calibrationAngle); rawAngle , motorPin = motorInfo(motor); if ((i % 6) == 0) { yi[k+1] = x; xi[k] = rawAngle; Serial.print(" | | Real ang: "); Serial.print(x); Serial.print(" -> Servo ang: "); Serial.print(calibrationAngle); Serial.print(" Enc: "); Serial.println(rawAngle); k++; } if (i >= stp) { swing = false; } i++; } } swing = true; i = 0; while (swing == true) { // SECOND unsigned long currentMicros = micros(); if (currentMicros - previousMicros >= 10000) { // save the last time you blinked the LED previousMicros = currentMicros; x = x1[motor]; calibrationAngle = a[motor] * x + b[motor]; servoWrite(motorPin , calibrationAngle); rawAngle , motorPin = motorInfo(motor); if ((i % 3) == 0) { yi[k+1] = x; xi[k] = rawAngle; Serial.print(" | | Real ang: "); Serial.print(x); Serial.print(" -> Servo ang: "); Serial.print(calibrationAngle); Serial.print(" Enc: "); Serial.println(rawAngle); k++; } if (i >= stp) { swing = false; } i++; } } Serial.println(" | | Interpolation finished!"); /*-------Calculate linear interpolation of the encoder from 60 meassures done in swing------*/ double sx = 0; double sy = 0; double sx2 = 0; double sy2 = 0; double sxy = 0; double xmean = 0; double ymean = 0; int n = 300; for (int i = 0 ; i < n ; i++) { sx += xi[i+10]; sy += yi[i+10]; sx2 += xi[i+10] * xi[i+10]; sy2 += yi[i+10] * yi[i+10]; sxy += xi[i+10] * yi[i+10]; } ae[motor] = (n * sxy - sx * sy) / (n * sx2 - sx * sx); //sxy / sx2; // be[motor] = (sy - ae[motor] * sx) / n; //ymean - ae[motor] * xmean; Serial.println(" | | Moving back to ZERO position."); // turn the motor back to middle position swing = true; i = 0; while (swing == true) { unsigned long currentMicros = micros(); if (currentMicros - previousMicros >= 10000) { // save the last time you blinked the LED previousMicros = currentMicros; x = x1[motor] + float(i) * (90 - x1[motor]) / 60; calibrationAngle = a[motor] * x + b[motor]; servoWrite(motorPin , calibrationAngle); rawAngle , motorPin = motorInfo(motor); eang = ae[motor] * rawAngle + be[motor]; if ((i % 4) == 0) { Serial.print(" | | Servo ang: "); Serial.print(calibrationAngle); Serial.print(" -> Real ang: "); Serial.print(x); Serial.print(" -> Encoder ang: "); Serial.println(eang); } if (i >= 60) { swing = false; } i++; } } Serial.println("___|___|"); Serial.println(" | "); Serial.println("___"); Serial.println(" | Calibration finished satisfactory. Results data:"); Serial.print(" | HIGH lim: "); Serial.print(highLim[motor]); Serial.print(" LOW lim: "); Serial.println(lowLim[motor]); Serial.print(" | angle 1: "); Serial.print(ang1[motor]); Serial.print(" angle 2 "); Serial.println(ang2[motor]); Serial.print(" | Regression Motor a: "); Serial.print(a[motor], 5); Serial.print(" b: "); Serial.println(b[motor], 5); Serial.print(" | Regression Encoder a: "); Serial.print(ae[motor], 5); Serial.print(" b: "); Serial.println(be[motor], 5); Serial.println(" |"); Serial.println(" | ______________________________________________________________"); Serial.println(" | | |"); Serial.println(" | | This code won"t be able to save the updated parameters |"); Serial.println(" | | once the robot is shutted down. |"); Serial.println(" | | |"); Serial.println(" | | Please, write down the results |"); Serial.println(" | | and save them in the definition of each variable. |"); Serial.println(" | |_____________________________________________________________|"); Serial.println(" |"); Serial.println("___|"); Serial.println(" Select another motor."); Serial.print("SELECTED MOTOR: "); Serial.print(motorTag[motor]); Serial.print(". SELECTED RESOLUTION: "); Serial.println(res); } interp = false; secuence = false; } } SAFE = false; Serial.println("Calibration killed"); } // END OF CALIBRATION