Page 223 - Robot Design Handbook ROBOCON Malaysia 2019

The Arduino Mega 2560 is programmed using the Arduino Software (IDE) that runs

both online and offline. It is used to write and upload programs to the Arduino board. The
Arduino IDE supports the languages of C and C++ using special rules of code structuring.

User-written code only requires two basic functions, for starting the sketch and the main
programme loop, that are compiled and linked with a programme stub main() into an

executable cyclic executive program with the GNU toolchain, also included with the IDE

distribution.

For the smooth and steady locomotion of the MR2, a sequence of leg and body

motions must be generated. A general programming for a sequence of leg is shown in Figure
3,4 and 5.

2.3.2 Movement for the MR2 Flow-chart

START

LEG_1_UP
LEG_2_UP

MOTOR_1_FORWARD
MOTOR_2_FORWARD

LEG_1_DOWN
LEG_2_DOWN

MOTOR_1_BACKWARD
MOTOR_2_BACKWARD
MOTOR_3_FORWARD
MOTOR_4_FORWARD

LEG_3_UP
LEG_4_UP

MOTOR_3_BACKWARD
MOTOR_4_BACKWARD

LEG_3_DOWN
LEG_4_DOWN

Figure 3: Movement for the MR2 flow-chart

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