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Add default hull pixelbot dance script

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Starbeamrainbowlabs 2016-07-23 15:09:08 +01:00
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commit 5fc0a74263
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HullPixelBotDance/HullPixelBotDance.ino Normal file
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// This example drives the stepper motors directly
// It makes the robot perform the "HullPixelBot Dance"
// See if you can change the moves.
// www.robmiles.com/hullpixelbot
////////////////////////////////////////////////
//declare variables for the motor pins
int rmotorPin1 = 0; // Blue - 28BYJ48 pin 1
int rmotorPin2 = 1; // Pink - 28BYJ48 pin 2
int rmotorPin3 = 2; // Yellow - 28BYJ48 pin 3
int rmotorPin4 = 3; // Orange - 28BYJ48 pin 4
// Red - 28BYJ48 pin 5 (VCC)
int lmotorPin1 = 4; // Blue - 28BYJ48 pin 1
int lmotorPin2 = 5; // Pink - 28BYJ48 pin 2
int lmotorPin3 = 6; // Yellow - 28BYJ48 pin 3
int lmotorPin4 = 7; // Orange - 28BYJ48 pin 4
// Red - 28BYJ48 pin 5 (VCC)
int motorSpeed = 1200; //variable to set stepper speed
int count = 0; // count of steps made
int countsperrev = 512; // number of steps per full revolution
int lookup[8] = {B01000, B01100, B00100, B00110, B00010, B00011, B00001, B01001};
//////////////////////////////////////////////////////////////////////////////
void setup() {
//declare the motor pins as outputs
pinMode(lmotorPin1, OUTPUT);
pinMode(lmotorPin2, OUTPUT);
pinMode(lmotorPin3, OUTPUT);
pinMode(lmotorPin4, OUTPUT);
pinMode(rmotorPin1, OUTPUT);
pinMode(rmotorPin2, OUTPUT);
pinMode(rmotorPin3, OUTPUT);
pinMode(rmotorPin4, OUTPUT);
Serial.begin(9600);
}
const int STOP = 0;
const int FORWARD = 1;
const int BACK = 2;
const int LEFT = 3;
const int RIGHT = 4;
int moveState = FORWARD;
void loop(){
if(count < countsperrev ) {
moveStep();
}
else
{
moveState++;
if(moveState > RIGHT)
moveState = FORWARD;
count=0;
}
count++;
}
void moveStep()
{
for(int i = 0; i < 8; i++)
{
switch(moveState)
{
case STOP:
return;
case FORWARD:
setOutputDir(i,7-i);
break;
case BACK:
setOutputDir(7-i,i);
break;
case LEFT:
setOutputDir(7-i,7-i);
break;
case RIGHT:
setOutputDir(i,i);
break;
}
delayMicroseconds(motorSpeed);
}
}
void setOutputDir(int leftOut, int rightOut)
{
digitalWrite(lmotorPin1, bitRead(lookup[leftOut], 0));
digitalWrite(lmotorPin2, bitRead(lookup[leftOut], 1));
digitalWrite(lmotorPin3, bitRead(lookup[leftOut], 2));
digitalWrite(lmotorPin4, bitRead(lookup[leftOut], 3));
digitalWrite(rmotorPin1, bitRead(lookup[rightOut], 0));
digitalWrite(rmotorPin2, bitRead(lookup[rightOut], 1));
digitalWrite(rmotorPin3, bitRead(lookup[rightOut], 2));
digitalWrite(rmotorPin4, bitRead(lookup[rightOut], 3));
}