For dancing to a song at a live concert

BraccioDance.ino

#include <Servo.h>
#include <Braccio2.h>

Servo base;
Servo shoulder;
Servo elbow;
Servo wrist;
Servo rotate;
Servo gripper;

Braccio2 robot(base, shoulder, elbow, wrist, rotate, gripper);

const uint8_t btn = 10;
const uint8_t PRESSED_VAL = LOW;

void setup()
{
  randomSeed(analogRead(0));

  base.attach(11);
  shoulder.attach(10);
  elbow.attach(9);
  wrist.attach(6);
  rotate.attach(5);
  gripper.attach(3);

  robot.home(3000);

  pinMode(btn, INPUT_PULLUP);

  moveRandomlyUntilPress()
}

void moveRandomlyUntilPress(){
  while (digitalRead(btn) != PRESSED_VAL){
    goRandomAndLeft(-1); // fully random
    robot.move(3000);
  }
}

void goRandomAndLeft(int left){
  robot.base(left==0 ? 0 : (left==1 ? 180 : random(0,181))); //go left right or random
  robot.shoulder(random(10,171));
  robot.elbow(random(0,181));
  robot.wrist(random(0,181));
  robot.rotate(random(0,181));
  robot.gripper(left<0 ? random(20,96) : 20); //random or clap while dancing
}

void waitTillPressed(){while (digitalRead(btn) != PRESSED_VAL);}

void loop()
{
  for (int i=0; i<2; i++){
    waitTillPressed();
    goRandomAndLeft(i%2==0);
    robot.move(100);

    waitTillPressed();
    robot.home(100);
  }
}