JAC 101 at 02:34, 28 March 2016

2016-03-28T02:34:59Z

← Older revision		Revision as of 22:34, 27 March 2016
Line 297:		Line 297:

	}		}

			* [[Office Supplies Hexapod]]

JAC 101 at 02:33, 28 March 2016

2016-03-28T02:33:46Z

← Older revision		Revision as of 22:33, 27 March 2016
Line 70:		Line 70:
	RR.write(MAX_DEGREE);		RR.write(MAX_DEGREE);
	}		}


	void Right_Position_Backward()		void Right_Position_Backward()
Line 223:		Line 222:
	Left_Position_Stand();		Left_Position_Stand();
	delay(BASIC_DELAY);		delay(BASIC_DELAY);

	}		}

JAC 101 at 02:32, 28 March 2016

2016-03-28T02:32:53Z

← Older revision		Revision as of 22:32, 27 March 2016
Line 292:		Line 292:

	}		}

	delay(2000);		delay(2000);

	// put your main code here, to run repeatedly:		// put your main code here, to run repeatedly:

	}		}

JAC 101 at 02:32, 28 March 2016

2016-03-28T02:32:10Z

Show changes

JAC 101: Created page with "#include #define MAX_DEGREE 145 #define MIN_DEGREE 35 #define MID_DEGREE 90 #define BASIC_DELAY 250 Servo FL; // create servo object to control a servo Servo FR..."

2016-03-28T02:29:29Z

Created page with "#include <Servo.h> #define MAX_DEGREE 145 #define MIN_DEGREE 35 #define MID_DEGREE 90 #define BASIC_DELAY 250 Servo FL; // create servo object to control a servo Servo FR..."

New page

#include <Servo.h>

#define MAX_DEGREE 145
#define MIN_DEGREE 35
#define MID_DEGREE 90
#define BASIC_DELAY 250

Servo FL; // create servo object to control a servo
Servo FR;
Servo ML;
Servo MR;
Servo RL;
Servo RR;

void setup()
{
// put your setup code here, to run once:
FL.attach(3);
FR.attach(5);
ML.attach(6);
MR.attach(9);
RL.attach(10);
RR.attach(11);
}

void Stand()
{
FL.write(MID_DEGREE);
FR.write(MID_DEGREE);
ML.write(MID_DEGREE);
MR.write(MID_DEGREE);
RL.write(MID_DEGREE);
RR.write(MID_DEGREE);
}

void Left_Position_Forward()
{
FL.write(MIN_DEGREE);
RL.write(MIN_DEGREE);
}

void Left_Position_Backward()
{
FL.write(MAX_DEGREE);
RL.write(MAX_DEGREE);
}

void Left_Position_Outward()
{
FL.write(MIN_DEGREE);
RL.write(MAX_DEGREE);
}

void Left_Position_Inward()
{
FL.write(MAX_DEGREE);
RL.write(MIN_DEGREE);
}

void Left_Position_Stand()
{
FL.write(MID_DEGREE);
RL.write(MID_DEGREE);
}

void Right_Position_Forward()
{
FR.write(MAX_DEGREE);
RR.write(MAX_DEGREE);
}

void Right_Position_Backward()
{
FR.write(MIN_DEGREE);
RR.write(MIN_DEGREE);
}

void Right_Position_Outward()
{
FR.write(MAX_DEGREE);
RR.write(MIN_DEGREE);
}

void Right_Position_Inward()
{
FR.write(MIN_DEGREE);
RR.write(MAX_DEGREE);
}

void Right_Position_Stand()
{
FR.write(MID_DEGREE);
RR.write(MID_DEGREE);
}

void Middle_Position_Left()
{
ML.write(MAX_DEGREE);
MR.write(MAX_DEGREE);
}

void Middle_Position_Right()
{
ML.write(MIN_DEGREE);
MR.write(MIN_DEGREE);
}

void Middle_Position_Stand()
{
ML.write(MID_DEGREE);
MR.write(MID_DEGREE);
}

void Middle_Position_Outward()
{
ML.write(MAX_DEGREE);
MR.write(MIN_DEGREE);
}

void Middle_Position_Inward()
{
ML.write(MIN_DEGREE);
MR.write(MAX_DEGREE);
}

void Middle_Lean_Left()
{
ML.write(MIN_DEGREE);
MR.write(MID_DEGREE);
Left_Position_Outward();
}

void Middle_Lean_Right()
{
ML.write(MID_DEGREE);
MR.write(MAX_DEGREE);
Right_Position_Outward();
}

void Step_Forward()
{
Stand();
delay(BASIC_DELAY);
Left_Position_Forward();
delay(BASIC_DELAY);
Middle_Position_Inward();
delay(BASIC_DELAY);
Left_Position_Backward();
delay(BASIC_DELAY);
Middle_Position_Stand();
delay(BASIC_DELAY);
Left_Position_Stand();
delay(BASIC_DELAY);
Right_Position_Forward();
delay(BASIC_DELAY);
Middle_Position_Inward();
delay(BASIC_DELAY);
Right_Position_Backward();
delay(BASIC_DELAY);
Middle_Position_Stand();
delay(BASIC_DELAY);
Right_Position_Stand();
delay(BASIC_DELAY);
}

void Step_Backward()
{
Stand();
delay(BASIC_DELAY);
Left_Position_Backward();
delay(BASIC_DELAY);
Middle_Position_Inward();
delay(BASIC_DELAY);
Left_Position_Forward();
delay(BASIC_DELAY);
Middle_Position_Stand();
delay(BASIC_DELAY);
Left_Position_Stand();
delay(BASIC_DELAY);
Right_Position_Backward();
delay(BASIC_DELAY);
Middle_Position_Inward();
delay(BASIC_DELAY);
Right_Position_Forward();
delay(BASIC_DELAY);
Middle_Position_Stand();
delay(BASIC_DELAY);
Right_Position_Stand();
delay(BASIC_DELAY);
}

void Step_Left()
{
Stand();
delay(BASIC_DELAY);
Right_Position_Forward();
delay(BASIC_DELAY);
Middle_Position_Inward();
delay(BASIC_DELAY);
Right_Position_Backward();
delay(BASIC_DELAY);
Middle_Position_Stand();
delay(BASIC_DELAY);
Right_Position_Stand();
delay(BASIC_DELAY);

}

void Step_Right()
{
Stand();
delay(BASIC_DELAY);
Left_Position_Forward();
delay(BASIC_DELAY);
Middle_Position_Inward();
delay(BASIC_DELAY);
Left_Position_Backward();
delay(BASIC_DELAY);
Middle_Position_Stand();
delay(BASIC_DELAY);
Left_Position_Stand();
delay(BASIC_DELAY);

}

int Left_Sensor;
int Right_Sensor;
int Front_Sensor;
int Rear_Sensor;

void Set_Sensors()
{
Left_Sensor = analogRead(2);
Right_Sensor = analogRead(1);
Front_Sensor = analogRead(3);
Rear_Sensor = analogRead(0);
}

int Sensor_Approximation(int S, int V)
{
if (V > S * 1.2)
return (1);
if (V < S * 0.8)
return(0);
return(0);
}

int Dark_Direction()
{

}

void loop()
{
int x;

Stand();
delay(2000);

Set_Sensors();

while(1)
{
if (Sensor_Approximation(Left_Sensor, analogRead(2)))
{
for(x=0;x<5;++x)
Step_Right();
Set_Sensors();
}
if (Sensor_Approximation(Right_Sensor, analogRead(1)))
{
for(x=0;x<5;++x)
Step_Left();
Set_Sensors();
}
if (Sensor_Approximation(Front_Sensor, analogRead(3)))
{
for(x=0;x<5;++x)
Step_Backward();
Set_Sensors();
}
if (Sensor_Approximation(Rear_Sensor, analogRead(0)))
{
for(x=0;x<5;++x)
Step_Forward();
Set_Sensors();
}

}

delay(2000);

// put your main code here, to run repeatedly:

}

*Office Supplies HEXAPOD Code - Revision history

JAC 101 at 02:34, 28 March 2016

JAC 101 at 02:33, 28 March 2016

JAC 101 at 02:32, 28 March 2016

JAC 101 at 02:32, 28 March 2016

JAC 101: Created page with "#include #define MAX_DEGREE 145 #define MIN_DEGREE 35 #define MID_DEGREE 90 #define BASIC_DELAY 250 Servo FL; // create servo object to control a servo Servo FR..."