Corgibot control program

arfding.ino

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
        myservo.write(pos);          
        delay(9);                 
    }
}

int wagit (String command) {
    //Start sound
    wave->play(wave_data, sizeof(wave_data), true);

    //Wag head twice
    wag();
    delay(500);
    wag();
    
    //Wait until sound is done then stop it
    delay(400);
    wave->stop();
    
    return 1;
}