robot crawl

Description: I created a simple robot which crawls forward using some basic appendages. The exercise utilized a servo motor create motion.
Components:
1 Arduino Uno
1 Servo motor
1 breadboard
various wires
 
Code:

/*

 * Servo Control Serial

 * modified for TUI October 2007

 * Servo Serial Better

 * -------------------

 *

 * Created 18 October 2006

 * copyleft 2006 Tod E. Kurt <tod@todbot.com>

 * http://todbot.com/

 *

 * adapted from "http://itp.nyu.edu/physcomp/Labs/Servo"

 */

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

int potPin = 0;

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(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 control program ready");

}

void loop() {

  val = analogRead(potPin);      // 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);

  }*/

  Serial.println(val);

  pulseWidth = (val * (maxPulse-minPulse))+minPulse;

  updateServo();   // update servo position

}

// called every loop(). 

// uses global variables servoPi, pulsewidth, lastPulse, & refreshTime

void updateServo() {

  // pulse the servo again if rhe refresh time (20 ms) have 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

  }

}