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roboDance.ino
132 lines (122 loc) · 2.55 KB
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roboDance.ino
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#include<Wire.h>
#include<Adafruit_PWMServoDriver.h>
Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();
#define ServoMin 150
#define ServoMax 510
int flag = 0;
void servowrite(int servonum, int angle){
int tick = map(angle,0,180,ServoMin,ServoMax);
pwm.setPWM(servonum,0,tick);
}
void zeroset(){
for (int i=0;i<6;i++){
servowrite(2*i,90);
delay(100);
}
}
void setup() {
// put your setup code here, to run once:
Serial.begin(9600);
pwm.begin();
pwm.setPWMFreq(60);
delay(100);
pinMode(8, INPUT_PULLUP);
zeroset();
delay(1000);
}
void loop() {
if(digitalRead(8) == LOW){
for (int i=0; i<4; i++){
servowrite(0,90-15*i);
delay(100);
if(i<3){
servowrite(10,90-10*i);
delay(100);
}
}
if (flag=0){
for (int i=0; i<4; i++){
servowrite(4,90+5*i);
servowrite(2,90+5*i);
servowrite(6,90+5*i);
servowrite(8,90+5*i);
delay(100);
}
}
else{
for (int i=0; i<7; i++){
servowrite(4,75+5*i);
servowrite(2,75+5*i);
servowrite(6,75+5*i);
servowrite(8,75+5*i);
delay(100);
}
}
for (int i=0; i<4; i++){
servowrite(0,45+15*i);
delay(100);
if(i<3){
servowrite(10,70+10*i);
delay(100);
}
}
for (int i=0; i<4; i++){
servowrite(10,90+15*i);
delay(100);
if(i<3){
servowrite(0,90+10*i);
delay(100);
}
}
for (int i=0; i<7; i++){
servowrite(4,105-5*i);
servowrite(2,105-5*i);
servowrite(6,105-5*i);
servowrite(8,105-5*i);
delay(100);
}
for (int i=0; i<4; i++){
servowrite(10,135-15*i);
delay(100);
if(i<3){
servowrite(0,110-10*i);
delay(100);
}
}
flag++;
}
else{
for (int i=0; i<4; i++){
servowrite(4,90+15*i);
servowrite(2,90+15*i);
servowrite(6,90+15*i);
servowrite(8,90+15*i);
delay(100);
}
delay(100);
for (int i=0; i<4; i++){
servowrite(4,135-15*i);
servowrite(2,135-15*i);
servowrite(6,135-15*i);
servowrite(8,135-15*i);
delay(100);
}
delay(100);
for (int i=0; i<4; i++){
servowrite(4,90-15*i);
servowrite(2,90-15*i);
servowrite(6,90-15*i);
servowrite(8,90-15*i);
delay(100);
}
delay(100);
for (int i=0; i<4; i++){
servowrite(4,45+15*i);
servowrite(2,45+15*i);
servowrite(6,45+15*i);
servowrite(8,45+15*i);
delay(100);
}
delay(100);
}
}