Quadruped_Robot_ArduinoCodeforChat

Quadruped_Robot_ArduinoCodeforChat.ino

// Include the Servo library
#include <Servo.h>
// Declare ultrasonic sensor pins
const int trigPin = 8;
const int echoPin = 10;
// Declare the Servo pin

int servoPin1 = 0;
int servoPin2 = 1;
int servoPin3 = 2;
int servoPin4 = 3;
int servoPin5 = 4;
int servoPin6 = 5;
int servoPin7 = 6;
int servoPin8 = 7;
int servoPinu = 11;
// servo objects
Servo Servo1,Servo2,Servo3,Servo4,Servo5,Servo6,Servo7,Servo8,Servou; 
char Incoming_value ;     //Variable for storing Incoming_value
void setup() 
{
    Serial.begin(9600);         //Sets the data rate in bits per second (baud) for serial data transmission
  pinMode(trigPin, OUTPUT);
  pinMode(echoPin, INPUT);
  //Servo1.attach(servoPin1);
  Servo2.attach(servoPin3);
 // Servo3.attach(servoPin5);
  Servo4.attach(servoPin7);
  Servo5.attach(servoPin2);
  Servo6.attach(servoPin4);
  Servo7.attach(servoPin6);
  Servo8.attach(servoPin8);
  Servou.attach(servoPinu);
}
void loop()
{
  Serial.flush();
  //Serial.println("i am talking");
  if(Serial.available() > 0)  
  {
    Incoming_value = Serial.read();      //Read the incoming data and store it into variable Incoming_value
    //Serial.print(Incoming_value);   
    if(Incoming_value == 'h')            //Checks whether value of Incoming_value 
    {
       //Serial.print("connected");   
      waveHello();
    }
    else if(Incoming_value == 'c')// navigation
    {
      checkDistance();
    }
      else if(Incoming_value == 'p') ///fly
    {
     tellNo();
    }
  }   
  delay(1000);                         
 
}   

//code to nod the head
void tellNo()
 {
  int cc=5;
  while(cc>0)
  {
    Servou.write(20);
  delay(350);
    Servou.write(160);
  delay(350);
cc--;
  }
   Servou.write(90);
  delay(200);
 }
//checks the distance of an object with the help of ultrasonic sensor
void checkDistance()
 {
  Servou.write(170);
  delay(200);
    long duration, inches, cm;
      pinMode(trigPin, OUTPUT);
  digitalWrite(trigPin, LOW);
  delayMicroseconds(10000);
  digitalWrite(trigPin, HIGH);
  delayMicroseconds(10000);
  digitalWrite(trigPin, LOW);
  // Read the signal from the sensor: a HIGH pulse whose
  // duration is the time (in microseconds) from the sending
  // of the ping to the reception of its echo off of an object.
  pinMode(echoPin, INPUT);
  duration = pulseIn(echoPin, HIGH);
  // convert the time into a distance
  inches = microsecondsToInches(duration);
  cm = microsecondsToCentimeters(duration);
  Serial.println(cm);
  Servou.write(90);
  delay(200);
  }   
//code to wave hello
 void waveHello()
 {
  int i=2;
  while(i>0)
  {
    i--;
    
   Servo8.write(50);
    Servo7.write(50);
    delay(1000);
      Servo8.write(150);
    Servo7.write(150);
     delay(1000);
     Servo8.write(30);
     Servo4.write(30);
     delay(200);
     Servo4.write(120);
      delay(200);
     Servo4.write(30);
     delay(200);
     Servo4.write(120);

      Servo4.write(30);
     delay(200);
     Servo4.write(120);
      delay(200);
     Servo4.write(30);
     delay(200);
     Servo4.write(90);
      Servo8.write(150);
      delay(1000);
      Servo8.write(90);
    Servo7.write(90);
  
     delay(1000);
    
  }
  
 }
long microsecondsToInches(long microseconds)
{
  // According to Parallax's datasheet for the PING))), there are
  // 73.746 microseconds per inch (i.e. sound travels at 1130 feet per
  // second).  This gives the distance travelled by the ping, outbound
  // and return, so we divide by 2 to get the distance of the obstacle.
  // See: http://www.parallax.com/dl/docs/prod/acc/28015-PING-v1.3.pdf
  return microseconds / 74 / 2;
}

long microsecondsToCentimeters(long microseconds)
{
  // The speed of sound is 340 m/s or 29 microseconds per centimeter.
  // The ping travels out and back, so to find the distance of the
  // object we take half of the distance travelled.
  return microseconds / 29 / 2;
}