Robosapien w/ Bluetooth remote control — MakeHackVoid https://makehackvoid.

com/projects/robosapien-w-bluetooth-remote/

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void loop()
{
unsigned char val = 0;
unsigned long start, ts, dur;

while(digitalRead(irPin)) {
start = micros();
}

while(!digitalRead(irPin)) { // preamble is 8ts spent low,

use to sync clocks
ts = (micros() - start) / 8;
}

for(char b = 7; b >= 0; b--) {

start = micros();
while(digitalRead(irPin)) {
dur = micros() - start;
}
if(dur > ts*2)
val |= 1<<b;
while(!digitalRead(irPin)) { }
}

Serial.println(val, HEX);
}

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void loop()
{
writeCommand(leftArmUp);
delay(2000);
writeCommand(walkForward);
delay(3000);
writeCommand(rightArmUp);
delay(2000);
writeCommand(turnLeft);
delay(3000);
writeCommand(stopMoving);
delay(500);
writeCommand(burp);
delay(3000);
}

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enum roboCommand {
// only a very small subset of commands
turnRight = 0x80,
rightArmUp = 0x81,
rightArmOut = 0x82,
tiltBodyRight = 0x83,
rightArmDown = 0x84,
rightArmIn = 0x85,
walkForward = 0x86,
walkBackward = 0x87,
turnLeft = 0x88,
leftArmUp = 0x89,
leftArmOut = 0x8A,
tiltBodyLeft = 0x8B,
leftArmDown = 0x8C,
leftArmIn = 0x8D,
stopMoving = 0x8E,

// noises
whistle = 0xCA,
roar = 0xCE,
burp = 0xC2
};

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void delayTs(unsigned int slices) {

delayMicroseconds(tsDelay * slices);
}

void writeCommand(unsigned char cmd)

{
pinMode(irPin, OUTPUT);

// preamble
digitalWrite(irPin, LOW);
delayTs(8);

for(char b = 7; b>=0; b--) {

digitalWrite(irPin, HIGH);
delayTs( (cmd & 1<<b) ? 4 : 1 );
digitalWrite(irPin, LOW);
delayTs(1);
}

digitalWrite(irPin, HIGH);
pinMode(irPin, INPUT);
}

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**Using Arduino Mega 2560**

*sanyaade — Thu, 28/06/2012 - 10:06am*
Hello, Great hack!

Can I use Arduino Mega 1260 or 2560?

God blesses!!!

Best regards,

Sanyaade

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