[Из песочницы] Усовершенствование 3D MC3 Мастер v1.1 и автоматизация ушек24.06.2015 11:22

#include

Servo LeftVer;
Servo LeftAng;

Servo RightVer;
Servo RightAng;

const byte LeftVerPin = 2;
const byte LeftAngPin = 3;
const byte RightVerPin = 4;
const byte RightAngPin = 5;
const int SensorPin = 9; //микрофон
int ledPin = 13; // светодиод

const byte Button_1 = 6;
const byte Button_2 = 7;
const byte Button_3 = 8;
const byte Button_4 = 11;
const byte Button_5 = 10;

int i=0;
int pos = 0;
int SensorState = 0;
boolean BowFlag = 0;
boolean RearBowFlag = 0;

void setup ()
{
pinMode (ledPin, OUTPUT); // initialize the Sensor pin as an input:
pinMode (SensorPin, INPUT); // разъем ушей устанавливаем, как вход

LeftVer.attach (LeftVerPin);
LeftAng.attach (LeftAngPin);

RightVer.attach (RightVerPin);
RightAng.attach (RightAngPin);

pinMode (Button_1, INPUT);
pinMode (Button_2, INPUT);
pinMode (Button_3, INPUT);
pinMode (Button_4, INPUT);
pinMode (Button_5, INPUT);

digitalWrite (Button_1, HIGH);
digitalWrite (Button_2, HIGH);
digitalWrite (Button_3, HIGH);
digitalWrite (Button_4, HIGH);
digitalWrite (Button_5, HIGH);

InitState ();
delay (1000);
}

//------------------------------------------------------
void loop ()
{
SensorState = digitalRead (SensorPin); // check if the Sensor is close. // if it is, the SensorState is HIGH:
if (SensorState == HIGH)
{
digitalWrite (ledPin, HIGH);
i=i++;
}

if (i==6)
{
i=1;
}

if (i=1)
{
if (! BowFlag)
{
FrontBow ();
BowFlag = 1;
}

else
{
InitState ();
BowFlag = 0;
delay (200);
}
}

if (i=2)
{
LeftEarBow ();
InitState ();
}

if (i=3)
{
RightEarBow ();
InitState ();
}

if (i=4)
{
TwoEarsBow ();
InitState ();
}

if (i=5)
{
if (! RearBowFlag)
{
RearBow ();
RearBowFlag = 1;
}

else
{
InitState ();
RearBowFlag = 0;
}

delay (200);
}

}
//------------------------------------------------------
void FrontBow ()
{
byte Max = 90;
byte Min = 70;
unsigned int MoveDelay = 5;
unsigned int PosDelay = 500;

for (byte i=0; i <= (Max — Min) + 15; i++)
{
LeftAng.write (Min + i);
RightAng.write (Max — i);
delay (MoveDelay);
}

// delay (PosDelay);

for (byte i=0; i <= 3*(Max — Min) + 17; i++)
{
LeftAng.write (Max — i);
RightAng.write (Min + i);
delay (3*MoveDelay);
}

delay (PosDelay);
}
//------------------------------------------------------
void InitState ()
{
LeftVer.write (90);
LeftAng.write (90);
RightVer.write (90);
RightAng.write (90);
}
//------------------------------------------------------
void RearBow ()
{
byte Max = 90;
byte Min = 70;
unsigned int MoveDelay = 5;
unsigned int PosDelay = 500;

/*
for (byte i=0; i <= (Max — Min) + 10; i++)
{
LeftAng.write (Max — i);
RightAng.write (Min + i);
delay (MoveDelay);
}

delay (PosDelay);
*/
for (byte i=0; i <= (Max — Min) + 15; i++)
{
LeftAng.write (Min + i);
RightAng.write (Max — i);
delay (MoveDelay);
}

for (byte i=0; i <= 10; i++)
{
LeftVer.write (Max + i);
RightVer.write (Max — i);
delay (1);
}

delay (PosDelay);
}
//------------------------------------------------------
void LeftEarBow ()
{
byte Max = 90;
unsigned int MoveDelay = 7;
byte AnglePos = Max;

for (byte i=0; i <= 80; i++)
{
LeftVer.write (Max + i);
delay (1);
}

for (byte i=0; i <= 75; i++)
{
LeftAng.write (AnglePos);
AnglePos = Max — i;
delay (MoveDelay);
}

for (byte i=0; i <= 10; i++)
{
LeftAng.write (AnglePos);
AnglePos += i;
delay (MoveDelay);
}

for (byte j=0; j<5; j++)
{
for (byte i=0; i <= 10; i++)
{
LeftAng.write (AnglePos);
AnglePos -= i;
delay (MoveDelay);
}

for (byte i=0; i <= 10; i++)
{
LeftAng.write (AnglePos);
AnglePos += i;
delay (MoveDelay);
}
}
}
//------------------------------------------------------
void RightEarBow ()
{
byte Max = 90;
unsigned int MoveDelay = 7;
byte AnglePos = Max;

for (byte i=0; i <= 80; i++)
{
RightVer.write (Max — i);
delay (1);
}

for (byte i=0; i <= 75; i++)
{
RightAng.write (AnglePos);
AnglePos = Max + i;
delay (MoveDelay);
}

for (byte i=0; i <= 10; i++)
{
RightAng.write (AnglePos);
AnglePos -= i;
delay (MoveDelay);
}

for (byte j=0; j<5; j++)
{
for (byte i=0; i <= 10; i++)
{
RightAng.write (AnglePos);
AnglePos += i;
delay (MoveDelay);
}

for (byte i=0; i <= 10; i++)
{
RightAng.write (AnglePos);
AnglePos -= i;
delay (MoveDelay);
}
}
}
//------------------------------------------------------
void TwoEarsBow ()
{
byte Max = 90;
unsigned int MoveDelay = 7;
byte AnglePosLeft = Max;
byte AnglePosRight = Max;

for (byte i=0; i <= 80; i++)
{
LeftVer.write (Max + i);
RightVer.write (Max — i);
delay (1);
}

for (byte i=0; i <= 75; i++)
{
LeftAng.write (AnglePosLeft);
RightAng.write (AnglePosRight);
AnglePosLeft = Max — i;
AnglePosRight = Max + i;
delay (MoveDelay);
}

for (byte i=0; i <= 10; i++)
{
LeftAng.write (AnglePosLeft);
RightAng.write (AnglePosRight);
AnglePosLeft += i;
AnglePosRight -= i;
delay (MoveDelay);
}

for (byte j=0; j<5; j++)
{
for (byte i=0; i <= 10; i++)
{
LeftAng.write (AnglePosLeft);
RightAng.write (AnglePosRight);
AnglePosLeft -= i;
AnglePosRight += i;
delay (MoveDelay);
}

for (byte i=0; i <= 10; i++)
{
LeftAng.write (AnglePosLeft);
RightAng.write (AnglePosRight);
AnglePosLeft += i;
AnglePosRight -= i;
delay (MoveDelay);
}
}
}

© Geektimes