Thymios as a flower
This page presents a construction with several Thymio II robots working together. The result is a flower with a 75 cm diameter. It is made of 6 petals, each of which is moved by a Thymio II robot.
The Thymio II robots are mounted on a wooden structure which holds them in a star-shaped form. The wooden pieces are held together by means of specially machined slots:
The wheels are fixed to the wooden structure with plastic pins. The wheels cannot move relative to the structure.
Finally the petals are fixed to the Thymios. To make it look better, two layers of tissue are used. The centre of the flower is a polystyrene hemisphere painted yellow.
Once this construction is completed, there is some programming needed to make all the petals move simultaneously. This is achieved with an infrared remote control and this special program for the Thmyio II:
#################################################
# Thymio Fleur
# version 2.2
#################################################
##############
# Variable #
##############
var i = 0
var temp = 0
var count = 0
var startRegul = 0
var withLED = 0
var LEDval = 0
var slowDown = 0
var accTamponPos = 0
var accTampon[TAILLE_TAMPON]
var accTampon2[TAILLE_TAMPON]
var sumacc1 = 0
var sumacc2 = 0
var TOPVALUE = -4
var BOTVALUE = -160
var projacc = 0
var consigne = 0
var ecart = 0
##############
# init #
##############
call leds.rc(0)
call leds.sound(0)
call leds.temperature(0, 0)
call leds.buttons(0,0,0,0)
call leds.circle(0,0,0,0,0,0,0,0)
#call leds.prox.h(32,32,32,32,32,32,0,0)
#call leds.prox.v(32,32)
motor.left.target = 0
motor.right.target = 0
timer.period[0] = 100
################################
sub refreshLEDs
temp = 32*startRegul
call leds.temperature(0, temp)
call leds.sound(temp)
################################
sub ledDimup
if withLED == 0 then
call leds.rc(0)
call leds.sound(0)
call leds.temperature(0, 0)
call leds.buttons(0,0,0,0)
call leds.prox.h(0,0,0,0,0,0,0,0)
call leds.prox.v(0,0)
call leds.top(0, 0, 0)
call leds.bottom.left(0, 0, 0)
call leds.bottom.right(0, 0, 0)
else
call leds.rc(LEDval)
call leds.temperature(LEDval, 0)
call leds.buttons(LEDval,LEDval,LEDval,LEDval)
call leds.prox.h(LEDval,LEDval,LEDval,LEDval,LEDval,LEDval,LEDval,LEDval)
call leds.prox.v(LEDval,LEDval)
call leds.top(LEDval, 0, 0)
call leds.bottom.left(LEDval, 0, 0)
call leds.bottom.right(LEDval, 0, 0)
end
###############################
onevent acc
accTampon2[accTamponPos] = acc[1]
accTampon[accTamponPos] = acc[2]
accTamponPos = (accTamponPos + 1) % TAILLE_TAMPON
sumacc1 = 0
sumacc2 = 0
for i in 1:TAILLE_TAMPON do
sumacc1 += accTampon[TAILLE_TAMPON-1]
sumacc2 += accTampon2[TAILLE_TAMPON-1]
end
call math.atan2(projacc, sumacc1, sumacc2)
projacc /= 100
ecart = projacc - consigne
if startRegul == 1 and (abs(ecart) > ECART_MIN) then
motor.left.target = ecart*AMPLI #- prox.horizontal[6]/200 +10
motor.right.target = ecart*AMPLI #- prox.horizontal[6]/200 +10
else
motor.left.target = 0
motor.right.target = 0
end
if withLED == 1 then
if projacc < 0 then
LEDval = (projacc/20)^2
else
projacc = 0
end
LEDval = -projacc/10
callsub ledDimup
end
###############################
# initialisation des valeur top et bottom
onevent button.forward
TOPVALUE = projacc-4
call leds.prox.h(0,0,0,0,0,0,0,0)
onevent button.backward
BOTVALUE = projacc+4
call leds.prox.v(0,0)
consigne = BOTVALUE
###############################
# Telecommande
onevent rc5
if rc5.command == 50 then #play
startRegul = 1
elseif rc5.command == 54 or rc5.command == 12 then #stop
motor.left.target = 0
motor.right.target = 0
startRegul = 0
elseif rc5.command == 52 then #fwd
consigne = BOTVALUE
elseif rc5.command == 55 then #rew
consigne = TOPVALUE
elseif rc5.command == 32 then #chan+
if consigne <= TOPVALUE then
consigne += 8
end
elseif rc5.command == 33 then #chan-
if consigne >= BOTVALUE then
consigne -= 8
end
elseif rc5.command == 16 then #Vol+
withLED = 2
LEDval +=1
callsub ledDimup
elseif rc5.command == 17 then #vol-
withLED = 2
LEDval -=1
callsub ledDimup
elseif rc5.command == 1 then #1 -> slowUP
slowDown = -1
startRegul = 1
withLED = 1
callsub ledDimup
elseif rc5.command == 2 then #2 -> stop LED stop regul
startRegul = 0
withLED = 0
callsub ledDimup
elseif rc5.command == 3 then #3 -> slow down
slowDown = 1
startRegul = 1
withLED = 1
elseif rc5.command == 4 then #4 -> Start LEDS, stop regul
startRegul = 0
withLED = 2
LEDval = 32
callsub ledDimup
elseif rc5.command == 56 then #TV -> very slow down
slowDown = 2
startRegul = 1
withLED = 1
elseif rc5.command == 14 then #rec
withLED = abs(withLED-1)
end
###############################
# Consigne en rampe.
onevent timer0
if slowDown == 1 then
consigne -= MICRO_STEP
if consigne < BOTVALUE then
consigne = BOTVALUE
slowDown = 0
end
elseif slowDown == -1 then
consigne += MICRO_STEP
if consigne >TOPVALUE then
consigne = TOPVALUE
slowDown = 0
end
end
###############################
# Rampe très lente
onevent temperature # chaque seconde
if slowDown == 2 then
count++
if count == SLOOOWCOUNT then
count = 0
consigne -= MICRO_STEP
if consigne < BOTVALUE then
consigne = BOTVALUE
slowDown = 0
end
end
end
This code uses constants, so download it here: CODE
All together this gives the following effect:
If it is all correctly set up, one can get the result show in this video: