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Arduino UNO Emotion Robot with TFT LCD Display and Servo Motors

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Circuit Documentation

Summary

This circuit is designed to control an emotion robot using an Arduino UNO microcontroller. The robot can display different emotions on a TFT LCD screen, respond to touch and vibration sensors, and control three servo motors to perform various movements. The robot can also enter a sleep mode based on inactivity and has a dance mode activated by a toggle switch.

Component List

  1. Arduino UNO

    • Description: Microcontroller board based on the ATmega328P.
    • Pins: UNUSED, IOREF, Reset, 3.3V, 5V, GND, Vin, A0, A1, A2, A3, A4, A5, SCL, SDA, AREF, D13, D12, D11, D10, D9, D8, D7, D6, D5, D4, D3, D2, D1, D0

  2. Servo (x3)

    • Description: Standard servo motor.
    • Pins: gnd, vcc, pulse

  3. SW-420 Vibration Sensor

    • Description: Vibration sensor module.
    • Pins: vcc, Ground, Digital output

  4. Toggle Switch

    • Description: Simple toggle switch.
    • Pins: Vcc, Sig, Gnd

  5. TFT LCD Display ST7735S

    • Description: TFT LCD display module.
    • Pins: Vcc, GND, CS, RESET, A0, SDA, SCK, LED

  6. Touch Sensor

    • Description: Capacitive touch sensor.
    • Pins: IO, VCC, GND

Wiring Details

Arduino UNO

Servo (x3)

SW-420 Vibration Sensor

Toggle Switch

TFT LCD Display ST7735S

Touch Sensor

Documented Code

#include <SPI.h>
#include <SD.h>
#include <TFT.h>  // Arduino LCD library
#include <Servo.h>

// Pin definitions
#define sd_cs 4
#define tft_cs 10
#define tft_AO 9
#define tft_rst 8
#define TOUCH_SENSOR_PIN 2        // Pin for touch sensor (digital)
#define VIBRATION_SENSOR_PIN 3    // Pin for vibration sensor (digital)
#define TOGGLE_PIN A0             // Pin for toggle switch (analog)

// Servo motor pins
#define handServo1Pin 6           // Left hand servo
#define handServo2Pin 7           // Right hand servo
#define bodyServoPin 5            // Body servo

TFT TFTscreen = TFT(tft_cs, tft_AO, tft_rst);

PImage happyImage;
PImage angryImage;
PImage dizzyImage;
PImage sadImage;
PImage sleepImage;

Servo handServo1, handServo2, bodyServo;

const int handMin = 0;
const int handMax = 180;
const int bodyMin = 90;
const int bodyMax = 180;

int hitCount = 0;
unsigned long lastActivityTime = 0;  // To track inactivity
bool isSleeping = false;  // Flag to check if the robot is in sleep mode
bool isDancing = false;   // Flag to check if the robot is in dance mode

void setup() {
  Serial.begin(9600);

  // Initialize TFT screen
  TFTscreen.begin();
  TFTscreen.background(255, 255, 255);
  TFTscreen.stroke(0, 0, 255);
  TFTscreen.println("Emotion Robot Ready!");

  // Initialize SD card
  if (!SD.begin(sd_cs)) {
    Serial.println("SD card initialization failed!");
    return;
  }

  // Load images
  happyImage = TFTscreen.loadImage("happy.bmp");
  angryImage = TFTscreen.loadImage("angry.bmp");
  dizzyImage = TFTscreen.loadImage("dizzy.bmp");
  sadImage = TFTscreen.loadImage("sad.bmp");
  sleepImage = TFTscreen.loadImage("sleep.bmp");

  if (!happyImage.isValid() || !angryImage.isValid() || !dizzyImage.isValid() || !sadImage.isValid() || !sleepImage.isValid()) {
    Serial.println("Error loading images!");
  }

  // Attach servos
  handServo1.attach(handServo1Pin);
  handServo2.attach(handServo2Pin);
  bodyServo.attach(bodyServoPin);

  // Initialize servo positions
  resetServos();

  // Initialize sensor pins
  pinMode(TOUCH_SENSOR_PIN, INPUT);
  pinMode(VIBRATION_SENSOR_PIN, INPUT);
  pinMode(TOGGLE_PIN, INPUT);

  Serial.println("Setup complete. Toggle switch to start/stop dancing.");
}

void loop() {
  // Sleep mode based on inactivity
  if (millis() - lastActivityTime > 16000 && !isSleeping) {
    showImage(sleepImage);
    isSleeping = true;
    resetServos();
  }

  // Check touch sensor for Happy behavior
  if (digitalRead(TOUCH_SENSOR_PIN) == HIGH) {
    performHappyBehavior();
    lastActivityTime = millis();
    isSleeping = false;
    delay(1000); // Debounce
    return;
  }

  // Check vibration sensor for hits
  if (digitalRead(VIBRATION_SENSOR_PIN) == HIGH) {
    countHits();
    lastActivityTime = millis();
    isSleeping = false;
  }

  // Check toggle switch for dance mode
  int toggleState = analogRead(TOGGLE_PIN) > 512 ? HIGH : LOW;

  if (toggleState == HIGH && !isDancing) {
    Serial.println("Dance mode activated!");
    isDancing = true;
    lastActivityTime = millis();
  }

  if (toggleState == LOW && isDancing) {
    Serial.println("Dance mode deactivated!");
    isDancing = false;
    resetServos();
  }

  if (isDancing) {
    performDance();
    return; // Skip other behaviors while dancing
  }
}

// -----------------------------------
// HANDLING HITS
// -----------------------------------
void countHits() {
  unsigned long startTime = millis();
  hitCount = 0;

  // Wait 2 seconds to count hits
  while (millis() - startTime < 2000) {
    if (digitalRead(VIBRATION_SENSOR_PIN) == HIGH) {
      hitCount++;
      delay(138); // Debounce
    }
  }

  Serial.print("Total hits: ");
  Serial.println(hitCount);

  // Determine behavior based on hit count
  if (hitCount >= 1 && hitCount <= 5) {
    performAngryBehavior();
  } else if (hitCount > 5 && hitCount <= 12) {
    performDizzyBehavior();
  }