Paso 10: Análisis de código
Aquí está el código final que terminó con. Esta fue mi primera aventura en a la programación de Arduino, por lo que la retroalimentación se da la bienvenida. También voy a intentar actualizar esto con un excelente artículo que solía tener movimientos servo suave.
/* * 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); }
