Assignment: Servo Motor: Actuation Assignment 2

Collaborators:

I ended up creating a simple crawler, though it looked cute eventually! :)

The code was the same as the servo motor controlled by pot code:

/*

* Servo with Potentiometer control

* Theory and Practice of Tangible User Interfaces

* October 11 2007

*/

int servoPin = 7;      // Control pin for servo motor

int potPin   = 0;      // select the input pin for the potentiometer

int pulseWidth = 0;    // Amount to pulse the servo

long lastPulse = 0;    // the time in millisecs of the last pulse

int refreshTime = 20;  // the time in millisecs needed in between pulses

int val;               // variable used to store data from potentiometer

int minPulse = 500;   // minimum pulse width

void setup() {

pinMode(servoPin, OUTPUT);  // Set servo pin as an output pin

pulseWidth = minPulse;      // Set the motor position to the minimum

Serial.begin(9600);         // connect to the serial port

Serial.println("servo_serial_better ready");

}

void loop() {

val = analogRead(potPin);    // read the value from the sensor, between 0 - 1024

if (val > 0 && val <= 999 ) {

pulseWidth = val*2 + minPulse;  // convert angle to microseconds

Serial.print("moving servo to ");

Serial.println(pulseWidth,DEC);

}

updateServo();   // update servo position

}

// called every loop().

void updateServo() {

// pulse the servo again if the refresh time (20 ms) has passed:

if (millis() - lastPulse >= refreshTime) {

digitalWrite(servoPin, HIGH);   // Turn the motor on

delayMicroseconds(pulseWidth);  // Length of the pulse sets the motor position

digitalWrite(servoPin, LOW);    // Turn the motor off

lastPulse = millis();           // save the time of the last pulse

}

}

Attaching a bigger pedal worked out to be a good idea.

Here is a video:

http://www.youtube.com/watch?v=d-K5cEGUpcw