ブログパーツUL5

「みんなの体操」風のモーション

 当初は「みんなの体操」のモーションを作成しようとしましたが、軸の数が足りないので無理でした。そこで、「みんなの体操」風として公開します。

 条件として、多くの部分で首の回転とハンドの開いたり、閉じたりしていますので、サーボ番号(10番:首、9番、左手、15番:右手)となっています。グリッパーは大きいので足にぶつかるかもしれませんので、注意して再調整してください。また、既存のleft_shiftとright_shiftのサブルーチンを利用してますので、一緒にプログラムあることが条件となります。

 ストレッチのような体操なので、動き事態はゆっくりしたモーションになっております。足の裏のすべり具合に寄っても倒れる箇所があるかもしれませんので、注意してください。参考にしてもらえればということです。

minnano_taisou:
'========== Radio-m-1
SPEED 3
MOVE G24, 90, 65,162, 85,110,100,100, 30, 80,100,100,100,100, 30, 80,100,100,100, 90, 65,162, 85,110,100
FOR i=1 TO 2
MOVE G24, 90, 63,162, 85,110,100,188, 30, 80, 60,100,100,188, 30, 80, 60,100,100, 90, 63,162, 85,110,100
DELAY 400
MOVE G24, 90, 63,162, 85,110,100,188, 30, 80,140,100,100,188, 30, 80,140,100,100, 90, 63,162, 85,110,100
DELAY 400
NEXT i
MOVE G24, 90, 63,162, 85,110,100,188, 30, 80, 60,100,100,188, 30, 80, 60,100,100, 90, 63,162, 85,110,100
SPEED 15
FOR i=1 TO 8
MOVE G24, 90, 63,162, 85,110,100,188, 30, 80,140,100,100,188, 30, 80,140,100,100, 90, 63,162, 85,110,100
DELAY 400
MOVE G24, 90, 63,162, 85,110,100,180, 30, 80, 60,100,100,180, 30, 80, 60,100,100, 90, 63,162, 85,110,100
DELAY 400
NEXT i
SPEED 2
FOR i=1 TO 2
MOVE G24, 90, 65,162, 85,110,100, 90, 30, 80,140,100,100, 90, 30, 80,140,100,100, 90, 65,162, 85,110,100
WAIT
DELAY 1000
MOVE G24, 90, 62,162, 94,110,100,188, 30, 80, 60,100,100,188, 30, 80, 60,100,100, 90, 62,162, 94,110,100
WAIT
DELAY 1000
NEXT i
'========== Radio-m-2
SPEED 5
FOR i=1 TO 4
MOVE G24, 90, 65,162, 85,110,100,188, 30, 80, 60,100,100,188, 30, 80, 60,100,100, 90, 65,162, 85,110,100
WAIT
DELAY 1000
MOVE G24, 90, 65,162, 85,110,100,100,188,100, 60,100,100,100,188,100, 60,100,100, 90, 65,162, 85,110,100
WAIT
DELAY 1000
MOVE G24, 90, 65,162, 94,110,100,140, 17, 46,140,100,100,140, 17, 46,140,100,100, 90, 65,162, 94,110,100
WAIT
DELAY 1000
NEXT i
MOVE G24, 90, 65,162, 85,110,100,140, 30, 80,100,100,100,140, 30, 80,100,100,100, 90, 65,162, 85,110,100
'========== Radio-m-3
SPEED 7
MOVE G24, 90, 65,162, 85,110,100,100, 30, 80,100,100,100,100, 30, 80,100,100,100, 90, 65,162, 85,110,100
MOVE G24, 90, 65,162, 85,110,100,100, 55,188,130,100,100,100, 55,188,130,100,100, 90, 65,162, 85,110,100
MOVE G24, 90, 80,145, 85,110,100,100, 40,188,130,100,100,100, 40,188,130,100,100, 90, 80,145, 85,110,100
WAIT
MOVE G24, 65, 80,145, 85,110,100,100, 20,188,130,100,100,100, 20,188,130,100,100, 65, 80,145, 85,110,100
WAIT
DELAY 500
MOVE G24, 90, 80,145, 85,110,100,100, 40,188,130, 80,100,100, 40,188,130,100,100, 90, 80,145, 85,110,100
DELAY 500
MOVE G24, 90, 80,145, 85,110,100,100, 20,188,130, 80,100,100, 20,188,130,100,100, 90, 80,145, 85,110,100
FOR i=1 TO 2
DELAY 500
MOVE G24,101,101, 99,112,110,100,100, 40,188,130, 80,100,100, 40,188,130,100,100, 81, 80,145, 87,110,100
DELAY 500
MOVE G24,101,101, 99,112,110,100,100, 20,188,130, 80,100,100, 20,188,130,100,100, 81, 80,145, 87,110,100
NEXT i
DELAY 500
MOVE G24, 65, 80,145, 85,110,100,100, 20,188,130,100,100,100, 20,188,130,100,100, 65, 80,145, 85,110,100
WAIT
FOR i=1 TO 2
DELAY 500
MOVE G24, 81, 80,145, 87,110,100,100, 40,188,130,120,100,100, 40,188,130,100,100,101,101, 99,112,110,100
DELAY 500
MOVE G24, 81, 80,145, 87,110,100,100, 20,188,130,120,100,100, 20,188,130,100,100,101,101, 99,112,110,100
NEXT i
DELAY 500
'========== Radio-m-4
SPEED 3
MOVE G24, 90, 65,162, 85,110,100,100, 30, 80,100,100,100,100, 30, 80,100,100,100, 90, 65,162, 85,110,100
MOVE G24, 90, 65,162, 85,110,100, 75, 25, 67,140,100,100, 75, 25, 67,140,100,100, 90, 65,162, 85,110,100
FOR i=1 TO 4
MOVE G24, 90, 65,162, 85,110,100, 75, 25, 67,140,140,100, 75, 25, 67,140,100,100, 90, 65,162, 85,110,100
WAIT
DELAY 800
MOVE G24, 90, 65,162, 85,110,100, 75, 25, 67,140, 60,100, 75, 25, 67,140,100,100, 90, 65,162, 85,110,100
WAIT
DELAY 800
NEXT i
'========== Radio-m-5
SPEED 5
MOVE G24, 90, 80,145, 85,110,100,100, 40,188,130,100,100,100, 40,188,130,100,100, 90, 80,145, 85,110,100
DELAY 500
FOR i=1 TO 2
MOVE G24,101,101, 99,112,110,100,100, 40,188,130, 80,100,100, 40,188,130,100,100, 81, 80,145, 87,110,100
WAIT
MOVE G24,101,101, 99,112,110,100,100, 20,188,130, 80,100,100, 20,188,130,100,100, 81, 80,145, 87,110,100
WAIT
NEXT i
MOVE G24, 65, 48,167, 89,117,100,187, 15, 80,100,140,100,100, 35,188, 50,100,100, 90, 65,162, 85,106,100
WAIT
DELAY 1000
FOR i=1 TO 2
MOVE G24, 81, 80,145, 87,110,100,100, 40,188,130,120,100,100, 40,188,130,100,100,101,101, 99,112,110,100
WAIT
MOVE G24, 81, 80,145, 87,110,100,100, 20,188,130,120,100,100, 20,188,130,100,100,101,101, 99,112,110,100
WAIT
NEXT i
MOVE G24,100, 67,162, 82,100,100,100, 18, 93,100,100,100,100, 18, 93,100,100,100,100, 67,162, 82,100,100
WAIT
DELAY 1000
'========== Radio-m-6
SPEED 5
MOVE G24,100, 67,162, 82,100,100,100, 18, 93,100,100,100,100, 18, 93,100,100,100,100, 67,162, 82,100,100
WAIT
FOR j=1 TO 2
DELAY 500
MOVE G6A, 98, 38, 147, 135, 102, 100
MOVE G6D,100, 116, 106, 98, 102, 100
WAIT
DELAY 200
MOVE G6B,188, 30, 80, 100, 100,
MOVE G6C,188, 30, 80, 100, ,
MOVE G6B,188, 30, 31, 130, 100,
MOVE G6C,188, 30, 31, 130, ,
WAIT
DELAY 400
MOVE G6A, 98, 38, 147, 135, 102, 100
MOVE G6D,100, 116, 106, 98, 102, 100
WAIT
MOVE G6B,188, 22, 100, 130, 100,
MOVE G6C,188, 22, 100, 130, ,
WAIT
MOVE G6A,100, 40, 140, 146, 102, 100
MOVE G6D,100, 120, 112, 81, 102, 100
MOVE G6B,188, 100, 103, 130, 100,
MOVE G6C,188, 100, 102, 130, ,
DELAY 1000
MOVE G24,100, 64,162, 82,100,100,100, 18, 93,100,100,100,100, 18, 93,100,100,100,100, 67,162, 82,100,100
MOVE G24,100, 67,162, 82,100,100,100, 18, 93,100,100,100,100, 18, 93,100,100,100,100, 67,162, 82,100,100
WAIT
DELAY 1000
FOR i=1 TO 2
MOVE G6A,100, 116, 56, 140, 100, 100
MOVE G6B,155, 45, 40, 130, 100,
MOVE G6C,155, 45, 40, 130, ,
MOVE G6D,100, 116, 56, 140, 100, 100
WAIT
DELAY 400
MOVE G6A,100, 116, 56, 150, 100, 100
MOVE G6D,100, 116, 56, 150, 100, 100
MOVE G6B,155, 50, 45, 130, 100,
MOVE G6C,155, 50, 45, 130, ,
WAIT
DELAY 400
NEXT i
NEXT j
MOVE G6B,100, 30, 80, 100, ,
MOVE G6C,100, 30, 80, 100, ,
DELAY 1000
MOVE G24,100, 67,162, 82,100,100,100, 18, 93,100,100,100,100, 18, 93,100,100,100,100, 67,162, 82,100,100
DELAY 500
'========== Radio-m-7
SPEED 6
MOVE G24,100, 67,162, 82,100,100,100, 18, 93,100,100,100,100, 18, 93,100,100,100,100, 67,162, 82,100,100
DELAY 200
FOR i=1 TO 2
MOVE G24,100, 67,162, 82,100,100, 60, 18, 93,100,100,100,140, 18, 93,100,100,100,100, 67,162, 82,100,100
DELAY 200
MOVE G24,100, 67,162, 82,100,100,140, 18, 93,100,100,100, 60, 18, 93,100,100,100,100, 67,162, 82,100,100
DELAY 200
MOVE G24, 90, 67,162, 82,100,100, 60, 18, 93,100,100,100,140, 18, 93,100,100,100,100, 67,162, 82,100,100
DELAY 200
MOVE G24, 90, 67,162, 82,100,100,140, 18, 93,100,100,100, 60, 18, 93,100,100,100,100, 67,162, 82,100,100
DELAY 200
NEXT i
GOSUB left_shift
DELAY 600
MOVE G24,100, 67,162, 82,100,100, 60, 18, 93,100,100,100,140, 18, 93,100,100,100,100, 67,162, 82,100,100
DELAY 200
MOVE G24,100, 67,162, 82,100,100,140, 18, 93,100,100,100, 60, 18, 93,100,100,100,100, 67,162, 82,100,100
DELAY 500
GOSUB left_shift
DELAY 600
FOR i=1 TO 2
MOVE G24,100, 67,162, 82,100,100, 60, 18, 93,100,100,100,140, 18, 93,100,100,100,100, 67,162, 82,100,100
DELAY 200
MOVE G24,100, 67,162, 82,100,100,140, 18, 93,100,100,100, 60, 18, 93,100,100,100,100, 67,162, 82,100,100
DELAY 200
MOVE G24, 90, 67,162, 82,100,100, 60, 18, 93,100,100,100,140, 18, 93,100,100,100,100, 67,162, 82,100,100
DELAY 200
MOVE G24, 90, 67,162, 82,100,100,140, 18, 93,100,100,100, 60, 18, 93,100,100,100,100, 67,162, 82,100,100
DELAY 200
NEXT i
GOSUB right_shift
DELAY 600
MOVE G24,100, 67,162, 82,100,100, 60, 18, 93,100,100,100,140, 18, 93,100,100,100,100, 67,162, 82,100,100
DELAY 200
MOVE G24,100, 67,162, 82,100,100,140, 18, 93,100,100,100, 60, 18, 93,100,100,100,100, 67,162, 82,100,100
DELAY 200
GOSUB right_shift
DELAY 600
'========== Radio-m-8
MOVE G24,100, 67,162, 82,100,100,100, 18, 93,100,100,100,100, 18, 93,100,100,100,100, 67,162, 82,100,100
DELAY 200
FOR i = 1 TO 2
MOVE G24,100, 67,162, 82,100,100,100, 18, 93,100,100,100,100, 18, 93,100,100,100,100, 67,162, 82,100,100
DELAY 200
SPEED 6
MOVE G24,100, 67,162, 82,100,100,180, 14,100,100,100,100,179, 14,100,100,100,100,100, 67,162, 82,100,100
MOVE G24,100, 67,162, 82,100,100,180,100,100,100,100,100,180,100,100,100,100,100,100, 67,162, 82,100,100
SPEED 5
MOVE G24, 92, 67,162, 82, 97,100,105,180,100,100,100,100,105,180,100,100,100,100, 92, 65,162, 82, 97,100
MOVE G24,100, 67,162, 82,100,100,105, 20,100,100,100,100,105, 20,100,100,100,100,100, 67,162, 82,100,100
DELAY 200
MOVE G24,100, 67,162, 82,100,100,100, 20, 93,100,100,100,100, 20, 93,100,100,100,100, 67,162, 82,100,100
DELAY 200
SPEED 3
MOVE G24,100, 62,162, 82,100,100,140, 18,100,100,100,100,140, 20,100,100,100,100,100, 62,162, 82,100,100
MOVE G24,100, 62,162, 82,100,100,140, 10, 55,100,100,100,140, 10, 55,100,100,100,100, 62,162, 82,100,100
MOVE G24,100, 62,162, 82,100,100,140, 18,100,100,100,100,140, 18,100,100,100,100,100, 62,162, 82,100,100
MOVE G24,100, 67,162, 82,100,100, 70, 20, 93, 70,100,100, 70, 20, 93, 70,100,100,100, 67,162, 82,100,100
WAIT
DELAY 800
MOVE G24,100, 67,162, 82,100,100,100, 18, 93,100,100,100,100, 18, 93,100,100,100,100, 67,162, 82,100,100
DELAY 200
NEXT i
'==========rei
DELAY 1500
SPEED 7
MOVE G24,100, 60,135,145,100,100,100, 18, 93,100,100,100,100, 18, 93,100,100,100,100, 60,135,145,100,100
WAIT
DELAY 800
MOVE G24,100, 67,162, 86,100,100,102, 18, 93,100,100,100,102, 18, 93,100,100,100,100, 67,162, 86,100,100
RETURN
0

    コメント
    はじめまして。やまちゃんといいます。

    いまだroboBASICも使いこなせませんが、ここに掲示されているプログラムは20関節用のものでしょうか?
    ロボザック製作のどの時点で利用可能なのか教えていただけると嬉しいです。

    全くの素人の質問で申し訳ありません。
    • やまちゃん
    • 2009/09/16 11:05 PM
    やまちゃん、はじめまして。

    ご覧頂き、有難う御座います。

    >いまだroboBASICも使いこなせませんが、ここに掲示されているプログラムは20関節用のものでしょうか?
    >ロボザック製作のどの時点で利用可能なのか教えていただけると嬉しいです。

    基本形は16関節用です(20関節用はバランスが難しい)。
    ハンドの部分がプラスされていますが、無視されます。

    roboBASICを使いこなしていろいろな動作を動かすと
    我が子のようにかわいくなりますよ(苦労も多いが)

    頑張ってください。
    • takuo
    • 2009/09/17 7:55 PM
    素人相手に回答頂ありがとうございました。
    以前、ROBONOVAを製作したのですが、プログラムが全く分からず放置していました。
    ROBOZAKはROBONOVAのOEM製品と聞いていたので、こちらを一から製作しつつ、プログラムも学習できればと深く考えもせず思い思い切って全巻手に入れたのですが、ROBOZAKは既に終末を迎えておりました。あせって情報収集していると、付属のプログラムもいろいろと不備があるようだし、パーツも不備が多そうな情報が多々あり製作前から不安になっておりました。
    でも、皆さんがROBOZAKを楽しんでおられる様子が見えてきて、一歩でも近づきたい思いで頑張ります。

    また、面白いモーションが出来ましたら是非ご開示願えればと思います。
    • やまちゃん
    • 2009/09/20 7:03 PM
    コメントする








       
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