animation_test.ino

/********* animation test *************
 * tested with an Arduino Mega
 **************************************/
#include <Servo.h>
#include <animationTools.h>

// ********** definitions ************************
// total number of servos
#define SERVO_TOTAL 6
// enumerate the servos from 0 to SERVO_TOTAL-1
#define SERVO_COW 0
#define SERVO_SHEEP 1
#define SERVO_PIG 2
#define SERVO_CHICKEN 3
#define SERVO_DOG 4
#define SERVO_CAT 5

// total number of events, set to 20 or less (20 is the limit of the arduinoAnimation library)
#define EVENT_TOTAL 10

// ******* global variables **********************
// Arduino pins for the servos
const int servoPin[SERVO_TOTAL] = {2, 3, 4, 5, 6, 7};
// animation defined in terms of event time, position(angle), and travel time
// Times are in milliseconds, positions are in degrees
const int eventTime[SERVO_TOTAL][EVENT_TOTAL] = {
  {0, 1000, 2000, 3000, 4000, 5000, 6000, 7000, 8000, 9000}, /* servo 0 */
  {5000, 5500, 6000, 6500, 7000, 7500, 8000, 8500, 9000, 9500}, /* servo 1 */
  {0, 2000, 2001, 2002, 2003, 2004, 2005, 2006, 2007, 4000}, /* servo 2 */
  {0, 1000, 2000, 3000, 4000, 5000, 6000, 7000, 8000, 9000}, /* servo 3 */
  {0, 1000, 2000, 3000, 4000, 5000, 6000, 7000, 8000, 9000}, /* servo 4 */
  {0, 1000, 2000, 3000, 4000, 5000, 6000, 7000, 8000, 9000}, /* servo 5 */
};
const int eventPosition[SERVO_TOTAL][EVENT_TOTAL] = {
  {0, 30, 60, 30, 90, 120, 150, 180, 180, 180}, /* servo 0 */
  {0, 90, 100, 110, 120, 140, 120, 110, 100, 90}, /* servo 1 */
  {0, 90, 90, 90, 90, 90, 90, 90, 90, 0}, /* servo 2 */
  {0, 90, 0, 90, 0, 90, 0, 90, 0, 90}, /* servo 3 */
  {0, 90, 0, 90, 0, 90, 0, 90, 0, 90}, /* servo 4 */
  {0, 90, 0, 90, 0, 90, 0, 90, 0, 90}, /* servo 5 */
};
const int travelTime[SERVO_TOTAL] = {
  1000, /* servo 0 */
  500, /* servo 1 */
  1000, /* servo 2 */
  1000, /* servo 3 */
  1000, /* servo 4 */
  1000, /* servo 5 */
};

Servo servo[SERVO_TOTAL];
Timeline timeline[SERVO_TOTAL];

// ********** setup function *********************
void setup() {
  int i, j;
  Serial.begin(9600);
  // initialize the servos
  for (i = 0; i < SERVO_TOTAL; i++) {
    servo[i].attach(servoPin[i]);
  }  
  // initialize the timelines
  for (i = 0; i < SERVO_TOTAL; i++) {
    timeline[i].totalKeys = EVENT_TOTAL;
    timeline[i].travelTime = travelTime[i];
    timeline[i].loop = true;
    for (j = 0; j < EVENT_TOTAL; j++) {
      timeline[i].timeKey[j] = eventTime[i][j];
      timeline[i].valKey[j] = eventPosition[i][j];
    }
  }
  // set all the servos to the start value
  for (i = 0; i < SERVO_TOTAL; i++) {
    servo[i].write(timeline[i].valKey[0]);
    delay(100); // give the servo time to get there
  }
}

void loop() {
  int i;
  int angle;
  for (i=0; i<SERVO_TOTAL; i++) {
    angle = getTimelineValue(timeline[i]);
    servo[i].write(angle);
  }
}