Walk

Description: The assignment was to famiarise ourselves with the servo motor by attaching it to something and making that object go in a straight line using the servo motor's motion. I used the code that was given to us which allowed me to control the servo motor with the potentiometer. For the moving aspect, my 'robot' was constructed from an eraser 'leg/foot', as I felt the eraser rubber would give it better grip, and from a lightweight small lotion container I found which would prop up the motor itself without weighing the whole thing down.
Materials:
1-Arduino Uno
1-Servo Motor
1-Potentiometer
1-Breadboard
Tape, scissors, various craft supplies, container, eraser.
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
}
}