Stap 10: Code Test
Hier is de definitieve code die ik trachten opwaarts using. Dit was mijn eerste avontuur in naar het programmeren van de Arduino, zodat feedback wordt toegejuicht. Ik zal ook proberen om te updaten met een uitstekend artikel dat ik gebruikte om gladde servo bewegingen.
/* * Smooth servo rotation using a sinus square function. * ATTENTION: THIS SKETCH USES THE DELAY FUNCTION * More infos: http://letsmakerobots.com/node/31697 * created by NilsB */#include int blinkTimerInMillies = 5; const int blinkTableEntries = 21; const int blinkTable[] = { 60, 60, 60, 60, 61, 61, 62, 63, 64, 66, 67, 69, 71, 73, 75, 77, 79, 80, 80, 80, 80 }; const int eyeTimerInMillies = 8; const int eyeTableEntries = 77; const int eyeTable[] = { 45, 45, 45, 46, 46, 46, 47, 47, 48, 49, 50, 51, 52, 54, 55, 57, 59, 61, 63, 65, 67, 68, 70, 72, 74, 76, 78, 80, 81, 83, 84, 85, 86, 87, 88, 88, 89, 89, 90, 90, 91, 91, 92, 92, 93, 94, 95, 96, 97, 99, 100, 102, 104, 106, 108, 110, 112, 113, 115, 117, 119, 121, 123, 125, 126, 128, 129, 130, 131, 132, 133, 133, 134, 134, 135, 135, 135 };const int button = 2;Servo blinkServo; Servo shiftServo; Servo xServo; Servo yServo;void setup(){ setupBlinkServo(); setupShiftServo(); setupEyeServo(); pinMode(button, INPUT); digitalWrite(button, HIGH); }void loop(){ if (digitalRead(button) == LOW) { attach(); delay(600); open(); close(); open(); delay(200); lookUp(); delay(200); lookUpDown(); delay(200); neutral(); delay(200); lookLeft(); delay(200); lookLeftRight(); delay(200); neutral(); delay(200); blinkTimerInMillies = 20; close(); blinkTimerInMillies = 5; delay(200); } else{ } detach(); }/*********************************** ********* Stop/Start Function ****** ***********************************/ void detach(){ stopXMove(); stopYMove(); stopBlinkMove(); stopShiftMove(); }void attach(){ setupEyeServo(); setupBlinkServo(); setupShiftServo(); }/*********************************** ********* Blink Functions ********** ***********************************/ void open() { for(int angleIndex = 0; angleIndex < blinkTableEntries; angleIndex++){ moveBlinkServoTo(angleBlink(angleIndex)); waitBlink(); } waitLongBlink();}void close() { for(int angleIndex = blinkTableEntries-1; angleIndex >= 0; angleIndex--){ moveBlinkServoTo(angleBlink(angleIndex)); waitBlink(); } waitLongBlink();}void moveBlinkServoTo(int angle){ Serial.println(angle); blinkServo.write(angle); }int angleBlink(int index){ return blinkTable[index]; }void stopBlinkMove(){ blinkServo.detach(); }void setupBlinkServo(){ blinkServo.attach(11); blinkServo.write(60); }void waitBlink(){ delay(blinkTimerInMillies); }void waitLongBlink(){ delay(5*blinkTimerInMillies); }/*********************************** ********* Shift Functions ********** ***********************************/void up() { shiftServo.write(90); }void down() { shiftServo.write(130); }void neutral() { shiftServo.write(110); xServo.write(90); yServo.write(90); }void setupShiftServo(){ shiftServo.attach(10); shiftServo.write(110); }void stopShiftMove(){ shiftServo.detach(); }/*********************************** ********** Eye Functions *********** ***********************************/ void lookDown() { down(); for(int angleIndex = 38; angleIndex < eyeTableEntries-1; angleIndex++){ moveYEyeServoTo(angleEye(angleIndex)); waitEye(); } waitLongEye(); }void lookUp() { up(); for(int angleIndex = 38; angleIndex >= 0; angleIndex--){ moveYEyeServoTo(angleEye(angleIndex)); waitEye(); } waitLongEye();}void lookUpDown() { up(); for(int angleIndex = 0; angleIndex < eyeTableEntries-1; angleIndex++){ moveYEyeServoTo(angleEye(angleIndex)); waitEye(); down(); } waitLongEye(); }void lookDownUp() { for(int angleIndex = eyeTableEntries-1; angleIndex >= 0; angleIndex--){ moveYEyeServoTo(angleEye(angleIndex)); waitEye(); } waitLongEye(); }void lookLeft() { for(int angleIndex = 38; angleIndex < eyeTableEntries-1; angleIndex++){ moveXEyeServoTo(angleEye(angleIndex)); waitEye(); } waitLongEye(); }void lookRight() { for(int angleIndex = 38; angleIndex >= 0; angleIndex--){ moveXEyeServoTo(angleEye(angleIndex)); waitEye(); } waitLongEye();}void lookLeftRight() { for(int angleIndex = 0; angleIndex < eyeTableEntries-1; angleIndex++){ moveXEyeServoTo(angleEye(angleIndex)); waitEye(); } waitLongEye(); }void lookRightLeft() { for(int angleIndex = eyeTableEntries-1; angleIndex >= 0; angleIndex--){ moveXEyeServoTo(angleEye(angleIndex)); waitEye(); } waitLongEye(); }void moveYEyeServoTo(int angle){ Serial.println(angle); yServo.write(angle); }void moveXEyeServoTo(int angle){ Serial.println(angle); xServo.write(angle); }int angleEye(int index){ return eyeTable[index]; }void stopYMove(){ yServo.detach(); }void stopXMove(){ xServo.detach(); }void setupEyeServo(){ yServo.attach(9); yServo.write(90); xServo.attach(6); xServo.write(90); }void waitEye(){ delay(eyeTimerInMillies); }void waitLongEye(){ delay(5*eyeTimerInMillies); }
