test mearm

mearm.ino

#include <Servo.h>

class Sweeper {
    Servo servo;
    int pos;
    int inc;
    int  interval;
    unsigned long lastUpdate;
    int maximum;
    int minimum;

  public:
    Sweeper(int updateInterval, int increment, int sMin, int sMax) {
      interval = updateInterval;
      inc = increment;
      minimum = sMin;
      maximum = sMax;
      pos = minimum;
    }

    void sync(int pin){
      servo.attach(pin);
      servo.write(pos);
    }

    int pose(){
      return pos;
    }

    boolean itsTimeToMove() {
      return (millis() - lastUpdate) > interval;
    }

    void forward() {
      if (itsTimeToMove()) {
        lastUpdate = millis();
        if (pos <= maximum) {
          servo.write(pos);
          pos += inc;
        }
      }
    }
    
    void reverse() {
      if (itsTimeToMove()) {
        lastUpdate = millis();
        if (pos >= minimum) {
          servo.write(pos);
          pos -= inc;
        }
      }
    }
};

Sweeper Hip(15, 1, 0, 180);
Sweeper Shoulder(15, 1, 30, 100);
//Sweeper Elbow(10, 1, 0, 180);
//Sweeper Gripper(10, 5, 0, 90);

void setup() {
  Hip.sync(9);
  Shoulder.sync(10);
}

void loop() {
   while (Hip.pose() <= 180){
     Hip.forward();
     Shoulder.forward();
   }

   while (Hip.pose() >= 0){
     Hip.reverse();
     Shoulder.reverse();
   }
}