A program that tests the gripper, servo and wheels of Arcbotic's Sparki robot. For the wheels, the Robot will write the letter M and you can specify its proportions (1, 2, 3, 4, 5)

session1.ino

#include <Sparki.h>

void beepx(int x, int d){
  for (int i = 0; i < x; i++){
    delay(d);
    sparki.beep();
  }
}

void writeM(int s){
  
  sparki.moveForward(6*s);
  sparki.moveRight(90);
  sparki.moveForward(1*s);
  sparki.moveRight(45);
  sparki.moveForward(2.5*s);
  sparki.moveLeft(90);
  sparki.moveForward(2.5*s);
  sparki.moveRight(45);
  sparki.moveForward(1*s);
  sparki.moveRight(90);
  sparki.moveForward(6*s);
  sparki.moveRight(90);
  sparki.moveForward(1*s);
  sparki.moveRight(90);
  sparki.moveForward(4*s);
  sparki.moveLeft(135);
  sparki.moveForward(2.5*s);
  sparki.moveRight(90);
  sparki.moveForward(2.5*s);
  sparki.moveLeft(135);
  sparki.moveForward(4*s);
  sparki.moveRight(90);
  sparki.moveForward(1*s);
}

void wheelTest(){
  beepx(3, 200);
  writeM(4);
  beepx(3, 200);
}

void servoLeftToRight(int degree, int d){
  for (int angle = -90; angle < 90; angle += degree){
    sparki.servo(angle);
    delay(d);
  }
}

void servoRightToLeft(int degree, int d){
  for (int angle = 90; angle > -90; angle -= degree){
    sparki.servo(angle);
    delay(d);
  }
}

void servoNodsNo(int xTimes, int d){
  for (int x = 0; x < xTimes; x++){
    sparki.servo(-90);
    delay(d);
    sparki.servo(90);
    delay(d);
  }
}

void servoNodsNoTest(){
  
  for (int interval = 1000; interval > 0; interval -= 200){
    servoNodsNo(4, interval);
    beepx(1, 200);
  }
}

void servoTest(){
  servoNodsNoTest();
  servoLeftToRight(45, 1000);
  servoRightToLeft(45, 1000);
}

void gripperTestA(){
  
  int interval;
  
  for (int cm = 1; cm < 7; cm++){          
    
    interval = cm*1000 + 1500;
    
    sparki.gripperOpen(cm);
    beepx(1, interval);
    sparki.gripperClose(cm);
    beepx(1, interval);
  }
}

void gripperTestB(){

    for (int interval = 1; interval < 7; interval++){          
        
      sparki.gripperOpen();    
      beepx(1, interval*1000);

      sparki.gripperStop();
      beepx(1, 1500);
    
      sparki.gripperClose(interval*1000);
      beepx(1, interval*1000);

      sparki.gripperStop();
      beepx(1, 1500);
    }
}

void gripperTestC(){
  
    for (int interval = 1; interval < 7; interval++){                  
      sparki.gripperOpen();    
      beepx(1, interval*1000);    
      sparki.gripperClose(interval*1000);
      beepx(1, interval*1000);
    }
}

void setup(){
  
  wheelTest();
  
  gripperTestA();
  gripperTestB();
  gripperTestC();
  
  servoTest();
  
} 


void loop(){
}