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/* Copyright 2011 Christopher Baines <cbaines8@gmail.com>
Copyright 2011 Adam "Insert other details here if wished"
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.*/
#include <math.h>
#include <Servo.h>
const int debugLevel = 2; // 0 = No debug output 1 = main debug output 2 = low level movement debug output
const int numberOfServos=1;
Servo servo[numberOfServos];
int servoTargetAngle[numberOfServos];
int servoTargetTime[numberOfServos];
//int servoLastUpdateTime[numberOfServos]; Currently not used
const int servoSpeed = 0.15; // 60 degrees in 0.4 seconds (400 milliseconds)
const int minMovementAmmount = 1;
const int sectionLength = 10; // Length of snake section in centimeters
void setup() {
Serial.begin(9600);
debug("Setup started",1);
//debug("Where in!", 2);
// Setup Servos
servo[0].attach(2);
//debug("Done attaching servos",2);
//pinMode(button, INPUT);
debug("Finish setup",1);
}
void loop() {
debug("----------- Program started ----------------",1);
//boolean state = digitalRead(button);
//while (state != HIGH) {
// debug("Putton not pressed delaying",0);
// delay(10);
//}
debug("Button pressed starting routine",1);
moveServoTo(0,0,0); // Reset servo to zero
debug("Made first movement",1);
snakeDelay(2000);
debug("Finished first movement",1);
moveServoTo(0,180,2000);
debug("Made second movement",1);
snakeDelay(2000);
debug("Finished second movement",1);
moveServoTo(0,0,2000);
debug("Made third movement",1);
snakeDelay(2000);
debug("End of loop going round again",1);
}
/*
- servo The servo to be moved
- smoothMovement Use smooth movement?
- angle The angle to move the servo to 90 = centre
- time The time to spend moving in milliseconds
*/
void moveServoTo(byte servoNum, int angle, int time) {
//debug("Setting servo",0);
servoTargetAngle[servoNum] = angle;
servoTargetTime[servoNum] = time + millis();
}
void moveSectionTo(byte sectionNum, int xAngle, int yAngle, int time) {
//debug("Setting section " + sectionNum + " to move to " + xAngle + " x and " + yAngle + " y in " + time " milliseconds");
moveServoTo((sectionNum*2)-1,xAngle,time);
moveServoTo((sectionNum*2),yAngle,time);
}
/*
- xArcRad
*/
void snakeArc(byte firstSectionNum, byte lastSectionNum, int xArcRadius, int yArcRadius, int time) {
snakeBend(firstSectionNum,lastSectionNum, (((lastSectionNum-firstSectionNum)*sectionLength)/xArcRadius), (((lastSectionNum-firstSectionNum)*sectionLength)/yArcRadius), time);
}
/*
- xArcRad
*/
void snakeBend(byte firstSectionNum, byte lastSectionNum, int xAngle, int yAngle, int time) {
int xAnglePerSection = xAngle/(lastSectionNum - firstSectionNum);
int yAnglePerSection = yAngle/(lastSectionNum - firstSectionNum);
for (int i=firstSectionNum; i<=lastSectionNum; i++) {
moveSectionTo(i,xAnglePerSection,yAnglePerSection, time);
}
}
/*
- startAngle/endAngle = right=0 working round anticlockwise
*/
void snakeDrawCircle(byte firstSectionNum, byte lastSectionNum, int arcRadius, int startAngle, int endAngle, boolean reverseDirection, int time) {
int arcAngle = asin(arcRadius/(sectionLength*(lastSectionNum-firstSectionNum)));
if (!reverseDirection) {
for (int angle=startAngle; angle<endAngle; angle++) {
snakeBend(firstSectionNum, lastSectionNum, cos(angle)*arcAngle, sin(angle)*arcAngle, time/(endAngle-startAngle));
}
}
else {
for (int angle=startAngle; angle<endAngle; angle--) {
snakeBend(firstSectionNum, lastSectionNum, cos(angle)*arcAngle, sin(angle)*arcAngle, time/(endAngle-startAngle));
}
}
}
// Regulator and Delay Stuff
// This MUST be used instead of delay() or the regulator will not work!
void snakeDelay(int time) {
int endTime = (millis() + time);
while (millis() < endTime) regulator();
}
void regulator() {
for (byte servoNum=0; servoNum<=0; servoNum++) { // servoNum<=8 needs correcting
debug("Regulating ",2);
debugln(servoNum, 2);
int remainingMovement = servoTargetAngle[servoNum] - servo[servoNum].read();
if (remainingMovement != 0) {
debug("Remaining movement ",2);
debugln(remainingMovement,2);
debug("Servo angle ",2);
debug(servo[servoNum].read(),2);
debug(" Servo target angle ",2);
debugln(servoTargetAngle[servoNum],2);
int delayAmount = (servoTargetTime[servoNum] - millis()) - (abs(servo[servoNum].read() - servoTargetAngle[servoNum])/ servoSpeed);
debug("Delay Ammount",2);
debugln(delayAmount,2);
if (delayAmount > 0) {
if (abs(remainingMovement) < minMovementAmmount) {
debug("Remaining movement less than min ammount",2);
delay(delayAmount);
servo[servoNum].write(remainingMovement);
}
else {
debug("Remaining movement greater than min ammount delaying",2);
debugln(delayAmount/(abs(remainingMovement)/minMovementAmmount),2);
delay(delayAmount/(abs(remainingMovement)/minMovementAmmount));
if (remainingMovement < 0) {
servo[servoNum].write(servo[servoNum].read() - minMovementAmmount);
}
else {
servo[servoNum].write(servo[servoNum].read() + minMovementAmmount);
}
}
}
else {
servo[servoNum].write(servoTargetAngle[servoNum]);
}
}
}
}
// Debug Stuff
void debugln(String message, int messageDebugLevel) {
if (messageDebugLevel <= debugLevel) {
if (messageDebugLevel == 1) {
Serial.println(" "+message);
}
else if (messageDebugLevel == 2) {
Serial.println(" "+message);
}
else {
Serial.println(message);
}
}
}
void debugln(int message, int messageDebugLevel) {
if (messageDebugLevel <= debugLevel) {
if (messageDebugLevel == 1) {
Serial.println(" "+message);
}
else if (messageDebugLevel == 2) {
Serial.println(" "+message);
}
else {
Serial.println(message);
}
}
}
void debug(String message, int messageDebugLevel) {
if (messageDebugLevel <= debugLevel) {
if (messageDebugLevel == 1) {
Serial.print(" "+message);
}
else if (messageDebugLevel == 2) {
Serial.print(" "+message);
}
else {
Serial.print(message);
}
}
}
void debug(int message, int messageDebugLevel) {
if (messageDebugLevel <= debugLevel) {
if (messageDebugLevel == 1) {
Serial.print(" "+message);
}
else if (messageDebugLevel == 2) {
Serial.print(" "+message);
}
else {
Serial.print(message);
}
}
}
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