project 1 box

MattLukeBmo.ino

/*
 * BMO
 * 
 * A BMO inspired robot asks for hugs! Through the use of a ping sensor, our robot raises arms (connected to servos), and flashes its LED eyes 
 * in accordance to the distance of the user.
 * 
 * Created by Matt Crans and Luke Garwood with code adapted from
   https://www.arduino.cc/en/Tutorial/Ping
   https://www.arduino.cc/en/Tutorial/Sweep
   https://learn.adafruit.com/adafruit-neopixel-uberguide/overview
   
*/



//---Libraries
#include <Servo.h> // servo library
#include <Adafruit_NeoPixel.h> //RGB LED library

//----Pin Setup
int pingPin = 7; //setting up pin 7 for Ping Sensor (orange)
int servoPin = 9; // setting up pins 9 and 11 for servos (blue)
int servoTwoPin = 11; //(yellow)
int neoPin = 5; //setting up pin 5 for our RGB LED (grey)


//--Output Setup
Servo myservo; //setting up two servos as myservo and myservoTwo
Servo myservoTwo;
int neoTotal = 2; // number of LEDs
Adafruit_NeoPixel neoPixels = Adafruit_NeoPixel(neoTotal, neoPin);//creating a new neoPixel object

//--Boolean Setup
boolean HugHasHappened = false; // boolean to tell us whether a hug has occurred
// when "true" and hugger has put down BMO, a little dance occurs


void setup() {
  neoPixels.begin(); // set rate of communication to default for RGB LED
  Serial.begin(9600); // set Baud rate to 9600 for serial communication

  neoPixels.setBrightness(100); //Set Brightness of LED

  myservo.attach(servoPin); // set myservo on pin ServoPin
  myservoTwo.attach(servoTwoPin); //set up myservoTwo on pin servoTwoPin

}

void loop() {


  long duration, inches; // long sets up extended size variables for numbers and in this case duration and inches for our ping sensor

  pinMode(pingPin, OUTPUT); //setting up the ping sensor as an Output (done in the loop() because this is changed further down)
  digitalWrite(pingPin, LOW);//ping sensor sends out signal (LOW first to ensure a "clean" HIGH signal)
  delayMicroseconds(2); //slight delay
  digitalWrite(pingPin, HIGH);// send out ping
  delayMicroseconds(5);
  digitalWrite(pingPin, LOW);

  pinMode(pingPin, INPUT); //switch pingPin to Input to read returning ping
  duration = pulseIn(pingPin, HIGH);// amount of time that passed between ping being sent and recieved

  inches = microsecondsToInches(duration); //turning the amount of time into distance in inches

  Serial.print(inches); // print out distance
  Serial.println("in, ");
 
  //  Serial.println(HugHasHappened); //print out state of HugHasHappened
  //  delay(100);



  if (HugHasHappened == false) { //if the hug hasn't happened yet
    // move servo positions according to the distance picked up by the ping sensor
    if ((inches >= 30) && (inches <= 50)) { //if Hugger is between 30 and 50 inches, have arms at sides and change eye colour
      myservo.write(0); //myservo.write(angle of position)
      myservoTwo.write(180);// arms to a neutral position if not already

      neoPixels.setPixelColor(0, 200, 0, 255); //change LED eye to purple
      neoPixels.setPixelColor(1, 200, 0, 255); //change second LED eye to purple
      neoPixels.show();//update LEDs

      delay(100); //delay between checking distance changes so that switches don't happen too quickly
      
    } else if ((inches < 30) && (inches >= 15)) { //or if Hugger is between 15 and 30 inches, raise arms and change eye colour
      myservo.write(90); //since both servos are positioned differently they need different angles
      myservoTwo.write(90);

      neoPixels.setPixelColor(0, 0, 255, 0); //change LED eye to green
      neoPixels.setPixelColor(1, 0, 255, 0); //change second LED eye to green
      neoPixels.show(); //update LEDs

      delay(100);
    } else if (inches < 15) {//or if Hugger is less than 15 inches
      myservo.write(0);//lower one arm
      if (inches <= 8) { //and if Hugger is less than 8 inches (keep the first arm lowered)
        myservoTwo.write(180);//and lower the second arm
      }
      if (inches <= 3) { //if Hugger is very close to the sensor, it's safe to say a hug has occured
        neoPixels.setPixelColor(0, 0, 10, 255); //change LED eye colour to blue
        neoPixels.setPixelColor(1, 0, 10, 255);//change second LED eye colour to blue
        neoPixels.show();//update LEDs

        HugHasHappened = true; // a hug has occured, set boolean to true
      }
      delay(100);
    } else { // at any other distance
      neoPixels.setPixelColor(0, 255, 10, 10);// set LED eyes to red
      neoPixels.setPixelColor(1, 255, 10, 10);
      neoPixels.show();//update LEDs


      delay(100);
    }

  };

  if (HugHasHappened == true) { //if a hug has happened
    int lastInches = inches; //capture value of inches for debugging condition below 
    delay(1000);

    boolean dance = false; //set up dance boolean
    if ((inches >= 45) && ((lastInches - inches) == 0 )) { // if hugger has now moved away, and the values of distance read the same as last read (to avoid spikes)
      dance = true; // dance happens
                    //the reason for using the boolean is so that the dance only occurs once and then resets
    }

    if (dance == true) { // dance happens by rotating servos and flashing eyes in quick succession

      for (int i = 0; i <= 150 ; i += 15) { //for loop to create a gradual change of eye color
        neoPixels.setPixelColor(0, 0 + i, 10, 255 - i); // set LED eyes to gradually turn red
        neoPixels.setPixelColor(1, 0 + i, 10, 255 - i); // set second LED eyes to gradually turn red
        neoPixels.show();
        delay(100);

        if (i < 75) { // this allows the lights to flash up until i is 74
          neoPixels.setPixelColor(0, 0, 0, 0);// switching LEDs to "black" though its not really black to create a flash between colours
          neoPixels.setPixelColor(1, 0, 0, 0); 
          neoPixels.show();
          delay(50);
        }
      }
      
      //----servos are rotated for a rhythmical "dance" while the eyes flash in various colours
      myservo.write(180);
      neoPixels.setPixelColor(0, 50, 0, 200);
      neoPixels.setPixelColor(1, 50, 0, 200);
      neoPixels.show();
      delay(500);
      
      neoPixels.setPixelColor(0, 0, 0, 0);
      neoPixels.setPixelColor(1, 0, 0, 0);
      neoPixels.show();
      delay(50);
      
      myservo.write(0);
      neoPixels.setPixelColor(0, 100, 0, 150);
      neoPixels.setPixelColor(1, 100, 0, 150);
      neoPixels.show();
      delay(500);
      
      neoPixels.setPixelColor(0, 0, 0, 0);
      neoPixels.setPixelColor(1, 0, 0, 0);
      neoPixels.show();
      delay(50);
      
      myservoTwo.write(0);
      neoPixels.setPixelColor(0, 200, 0, 100);
      neoPixels.setPixelColor(1, 200, 0, 100);
      neoPixels.show();
      delay(200);
      //-----still dancing
      neoPixels.setPixelColor(0, 0, 0, 0);
      neoPixels.setPixelColor(1, 0, 0, 0);
      neoPixels.show();
      delay(50);
      
      myservo.write(90);
      myservoTwo.write(180);
      neoPixels.setPixelColor(0, 210, 0, 50);
      neoPixels.setPixelColor(1, 210, 0, 50);
      neoPixels.show();
      delay(500);
      
      neoPixels.setPixelColor(0, 0, 0, 0);
      neoPixels.setPixelColor(1, 0, 0, 0);
      neoPixels.show();
      delay(50);
      
      myservoTwo.write(0);
      neoPixels.setPixelColor(0, 240, 0, 10);
      neoPixels.setPixelColor(1, 240, 0, 10);
      neoPixels.show();
      delay(600);
      //---almost done
      neoPixels.setPixelColor(0, 0, 0, 0);
      neoPixels.setPixelColor(1, 0, 0, 0);
      neoPixels.show();
      delay(50);
      
      myservo.write(180);
      neoPixels.setPixelColor(0, 255, 0, 0);
      neoPixels.setPixelColor(1, 255, 0, 0);
      neoPixels.show();
      delay(600);
      //---almost..
      myservoTwo.write(180);
      delay(200);
      myservo.write(0);
      //--Dance done

      HugHasHappened = false; // reset booleans back to their original state at the end of dance
      dance = false;
    }

  }


}//---end of loop function


long microsecondsToInches(long microseconds) { //conversion of microseconds to inches
  return microseconds / 74 / 2;
}