Dancing Arduino

Description
 
This lab was a joint effort by Naya Loumou and Olivia Bigazzi.  They manipulated the 180O motion of the servo motors to make a dancing robot. 
 
It was a complicated task involving weights and counterweights to make sure the robot did not fall and did in fact dance.
 
See it dance here (http://youtu.be/xdQ-evNzr_4).
 
Components Used
 
1 – Arduino Uno
1 – Breadboard
2 – Servos
2 – Wooden Sticks
1 – Tennis Ball Holder
 
Code
 
/*
 * The dancing android
 * Created 29 October 2013
 * by Olivia and Naya
 * adapted from "http://itp.nyu.edu/physcomp/Labs/Servo"
 */

int servoPin1 = 7;      // Control pin for 1st servo motor
int servoPin2 = 8;      // Control pin for 2nd servo motor

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 serial port

int minPulse = 500;   // minimum pulse width
int maxPulse = 2250;  // maximum pulse width

void setup() {
  pinMode(servoPin1, OUTPUT);  // Set servo pin as an output pin
  pinMode(servoPin2, 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 control program ready");
}

void loop() {
  val = Serial.read();      // read the serial port
  if (val >= '1' && val <= '9' ) {
    val = val - '0';        // convert val from character variable to number variable
    val = val - 1;          // make val go from 0-8
    pulseWidth = (val * (maxPulse-minPulse) / 8) + minPulse;  // convert val to microseconds
    Serial.print("Moving servo to position ");
    Serial.println(pulseWidth,DEC);
  }
  updateServo1();   // update servo position
  updateServo2();
}

// called every loop(). 
// uses global variables servoPi, pulsewidth, lastPulse, & refreshTime
void updateServo1() {
  // pulse the servo again if rhe refresh time (20 ms) have passed:
  if (millis() - lastPulse >= refreshTime) {
    digitalWrite(servoPin1, HIGH);   // Turn the motor on
    delayMicroseconds(pulseWidth);  // Length of the pulse sets the motor position
    digitalWrite(servoPin1, LOW);    // Turn the motor off   
    lastPulse = millis();  
    // save the time of the last pulse 
  }
}
void updateServo2() {
  // pulse the servo again if rhe refresh time (20 ms) have passed:
  if (millis() - lastPulse >= refreshTime) {
    digitalWrite(servoPin2, HIGH);   // Turn the motor on
    delayMicroseconds(pulseWidth);  // Length of the pulse sets the motor position
    digitalWrite(servoPin2, LOW);    // Turn the motor off   
    lastPulse = millis();  
    // save the time of the last pulse 
  }
}