Crawler

Description:
Seema and I tried out two mechanisms. The first one invovled two servo motors. The first one mounted on the second one and moved independently to produce a leg like motion. The second one has a leg like structure which is mooved rapidly using the servo motor to produce a jumping effect.
Componenets Used:
1-servo motor
1-arduino
1-breadboard
1- wooden frame
 
Code:

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 count = 0;

int minPulse = 500;   // minimum pulse width

int maxPulse = 2250;

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() {

  if (count>10)

  {

    count = 0;

      if (pulseWidth == minPulse)

    {

      pulseWidth = maxPulse;

    }else

    {

      pulseWidth = minPulse;

    }

  }else

  {

    count = count +1;

  }

//  Serial.print("moving servo to ");

  Serial.println(pulseWidth,DEC);

//  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

//    

//  }

  updateServo();   // update servo position

  delay(1);

}

// 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

  }

}