SFC2017年度秋学期 電子工作 最終課題 Wild Computing / 自然の中で機能するシステム-「世界の繁栄のために」

forProsperityOfTheWorld.ino

#include <Servo.h>

//motor A connected between A01 and A02
//motor B connected between B01 and B02

int STBY = 9; //standby

//Motor A
const int PWMA = 3; //Speed control
const int AIN1 = 4; //Direction
const int AIN2 = 5; //Direction

//Motor B
const int PWMB = 6; //Speed control
const int BIN1 = 7; //Direction
const int BIN2 = 8; //Direction

//surbo
Servo myServo;
const int SERPIN = 11;
int theta;

void setup(){
pinMode(STBY, OUTPUT);

pinMode(PWMA, OUTPUT);
pinMode(AIN1, OUTPUT);
pinMode(AIN2, OUTPUT);

pinMode(PWMB, OUTPUT);
pinMode(BIN1, OUTPUT);
pinMode(BIN2, OUTPUT);

myServo.attach(SERPIN);
}

void loop(){

  for(int i = 0; i < 16; i++){
    int mode = int(random(0, 5));
    int sp = 64 * int(random(1, 3));

    moveMode(mode, sp);
    delay(500);
  }

  stop();
  delay(1000);

for(theta = 90; theta >= 50; theta--){
    myServo.write(theta);
    delay(25);
  }
  for(theta = 50; theta <= 90; theta++){
    myServo.write(theta);
    delay(25);
  }

  delay(1000);

  
}

void move(int motor, int speed, int direction){
//Move specific motor at speed and direction
//motor: 0 for B 1 for A
//speed: 0 is off, and 255 is full speed
//direction: 0 clockwise, 1 counter-clockwise

digitalWrite(STBY, HIGH); //disable standby

boolean inPin1 = LOW;
boolean inPin2 = HIGH;

if(direction == 1){
inPin1 = HIGH;
inPin2 = LOW;
}

if(motor == 1){
digitalWrite(AIN1, inPin1);
digitalWrite(AIN2, inPin2);
analogWrite(PWMA, speed);
}else{
digitalWrite(BIN1, inPin1);
digitalWrite(BIN2, inPin2);
analogWrite(PWMB, speed);
}
}

void moveMode(int mode, int sp){
  switch(mode){
    case 0:
      move(1, sp, 1);
      move(2, sp, 0);
      break;
    case 1:
      move(1, sp * 0.5, 1);
      move(2, sp, 0);
      break;
    case 2:
      move(1, sp, 0);
      move(2, sp, 0);
      break;
    case 3:
      move(1, sp, 0);
      move(2, sp * 0.5, 1);
      break;
    case 4:
      move(1, sp, 0);
      move(2, sp, 1);
      break;
  }
}

void stop(){
//enable standby
digitalWrite(STBY, LOW);
}