uSpiderbot Code

gistfile1.txt

#include <Wire.h>
#include <Adafruit_PWMServoDriver.h>
Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver(0x40);
Adafruit_PWMServoDriver pwm1 = Adafruit_PWMServoDriver(0x41);
void setup() {
  Serial.begin(9600);
  pwm.begin();
  pwm.setPWMFreq(50);
  pwm1.begin();
  pwm1.setPWMFreq(50);
}
void loop() {
walkfwd();
}
void stand(){
  //Front Left
  pwm1.setPWM(0,0,200);
  pwm1.setPWM(1,0,300);
  pwm1.setPWM(2,0,480);
  
 // Back Left 
 pwm1.setPWM(3,0,175);
 pwm1.setPWM(4,0,300);
 pwm1.setPWM(5,0,450);
 
 //Middle Right
 pwm1.setPWM(6,0,200);
 pwm1.setPWM(7,0,350);
 pwm1.setPWM(8,0,125);
 
 //Front Right
 pwm1.setPWM(9,0,175);
 pwm1.setPWM(10,0,350);
 pwm1.setPWM(11,0,150);
 
 //Back Right
 pwm1.setPWM(12,0,225);
 pwm1.setPWM(13,0,350);
 pwm1.setPWM(14,0,150);
 
 //Middle Left
 pwm.setPWM(0,0,200);
 pwm.setPWM(1,0,300);
 pwm.setPWM(2,0,475);
}
void walkfwd(){
 tri1();
 tri2();
 tri3();
 tri4();
}

void walkbwd(){
  tri4();
  tri3();
  tri2();
  tri1();
}
void tibia(){
    //TIBIA 90
  //LEFT SIDE
  pwm1.setPWM(2,0,450);
  pwm1.setPWM(5,0,450);
  pwm1.setPWM(8,0,125);
  //RIGHT SIDE
  pwm1.setPWM(11,0,150);
  pwm1.setPWM(14,0,125);
  pwm.setPWM(2,0,450);
}
void tri1(){
  tibia();
  //FEMUR UP
  pwm1.setPWM(1,0,350);
  pwm1.setPWM(4,0,350);
  pwm1.setPWM(7,0,300);
  
  pwm1.setPWM(10,0,350);
  pwm1.setPWM(13,0,350);
  pwm.setPWM(1,0,300);
  delay(500);
}
void tri2(){
  tibia();
  //HIP FORWARD
  pwm1.setPWM(0,0,150);
  pwm1.setPWM(3,0,150);
  pwm1.setPWM(6,0,275);
  
  pwm1.setPWM(9,0,150);
  pwm1.setPWM(12,0,200);
  pwm.setPWM(0,0,225);
  delay(500);
}
void tri3(){
  tibia();
  //FEMUR DOWN
  pwm1.setPWM(1,0,300);
  pwm1.setPWM(4,0,300);
  pwm1.setPWM(7,0,350);
  
  pwm1.setPWM(10,0,300);
  pwm1.setPWM(13,0,300);
  pwm.setPWM(1,0,350);
  delay(500);
}
void tri4(){
  tibia();
  //HIP BACK
  pwm1.setPWM(0,0,225);
  pwm1.setPWM(3,0,225);
  pwm1.setPWM(6,0,200);
  
  pwm1.setPWM(9,0,225);
  pwm1.setPWM(12,0,275);
  pwm.setPWM(0,0,150);
  delay(500);
}