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@streetalchemist streetalchemist/arfding.ino Secret
Created Dec 15, 2015

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Corgibot control program
int wagit(String command); //declare the wagit function so Particle can call it via API
// This #include statement was automatically added by the Particle IDE.
#include "PhotonWaveOut/PhotonWaveOut.h"
// connect a 8Ohm speaker to pin D1 and d2
// using two pins, we can output PWM on both pins D1 for positive wave parts and D2 for the
// negative parts (AC DDS)
// if we run out of pins, we can also connect the speaker to GND and D1 and only write to D1
// this will be quiter and put more stress onto the speaker (DC DDS)
// add a capacitor between both pins and add a resist on one pin to form a low-pass filter
const int pwm_p = D1;
const int pwm_n = D2;
WaveOut *wave;
#include "wave_data.h"
Servo myservo; // create servo object to control a servo
// a maximum of eight servo objects can be created
int pos = 60; // variable to store the servo position
bool playing = false;
void setup()
// register the Particle function
Particle.function("wagit", wagit);
myservo.attach(D0); // attaches the servo on the D0 pin to the servo object
wave = new WaveOut(pwm_p, pwm_n); //setup the pins to output sound to
void wag () {
for(pos = 60; pos > 45; pos -= 1) // goes from 60 degrees to 45 degrees
{ // in steps of 1 degree
myservo.write(pos); // tell servo to go to position in variable 'pos'
delay(5); // waits 5ms for the servo to reach the position
for(pos = 45; pos<=60; pos+=1) // go back to the starting position, with a 9ms delay between steps
{ //to slow this motion down slightly
int wagit (String command) {
//Start sound
wave->play(wave_data, sizeof(wave_data), true);
//Wag head twice
//Wait until sound is done then stop it
return 1;
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