doorServo

#include <Servo.h>

Servo myservo; 

const int analogInPin = A0;  // Analog input pin that the potentiometer is attached to
const int servoPin = 9; // Analog output pin that the LED is attached to

int sensorValue = 0;
int sensorBuff[10] = {0,0,0,0,0,0,0,0,0,0};
int aveValue = 0;
int count = 0;

int pos = 0;
int startPos = 80;
int endPos = 0;

int open_flag=0;
int high_flag=0;
int high_flag_buff=0;
int high_time_history[8] = {1,1,1,1,1,1,1,1};
int history_count=0;
int correct_time_history[7] = {103,186,186,192,192,102,189};//逆になっている
int time_error=70;

void setup() {
  Serial.begin(115200);
  myservo.attach(servoPin);
  myservo.write(startPos);
}

void loop() {
  sensorValue = analogRead(analogInPin);
  sensorValue = abs(sensorValue -512);
  sensorBuff[count%10]=sensorValue;
  aveValue = 0;
  for(int i = 0; i < 10; i++){
    aveValue+=sensorBuff[i];
  }
  aveValue/=10;
  //Serial.println(aveValue);
  if(aveValue > 100){
    high_flag=1;
  }else{
    high_flag=0;
  }

  //立ち上がり
  if(high_flag==1 && high_flag_buff==0){
    high_time_history[history_count%8]=count;
    for(int n = 0; n < 7; n++){
      int diff =high_time_history[(history_count-n)%8]- high_time_history[(history_count-n-1)%8];
       Serial.println(diff);
      if(correct_time_history[n]-time_error <= diff && diff <= correct_time_history[n]+time_error){ 
        //あってるよ！
        //Serial.print(diff);
        Serial.print(" ");
      }else{
        break;
      }
      //最後までbreakしなかったら鍵を開ける
      if(n == 6){
        open_flag=1;
      }
    }
    Serial.println("----");
    history_count=(history_count+1)%32768;
  }
  

  //鍵を開ける
  if(open_flag==1){
    for (pos = startPos; pos >= endPos; pos -= 1) {
      myservo.write(pos);
      delay(15);
    }
    delay(5000);
    for (pos = endPos; pos <= startPos; pos += 1) {
      myservo.write(pos);
      delay(15);
    }
    for(int i = 0; i < 10; i++){
      sensorBuff[i]=0;
    }
  }
  
  open_flag=0;
  high_flag_buff=high_flag;
  count=(count+1)%32768;
  delay(2);
}