The Kitty Crawler

For this lab assignment Christina and I decided to make a a crawler using servo motor and wooden sticks.  The wooden panks were placed such that when the servo motor pulled, it created traction that would pull the entire body forward, We used cello tape rollers to create wheels that drag the crawler.
 
Video:
https://www.facebook.com/photo.php?v=10202449071247751&set=vb.1223220561&type=2&theater
Componenets Used:
1-servo motor
1-arduino
1-breadboard
1- wooden frame
2 - Cello tapes
 
Code:
 

/*

 * Two servos with two potentiometer control

 * Theory and Practice of Tangible User Interfaces

 *

 *

 */

int servoPin1 = 7;      // Control pin for servo motor 1

int servoPin2 = 8;      // Control pin for servo motor 2

int potPin1   = 0;      // select the input pin for the potentiometer 1

int potPin2   = 1;      // select the input pin for the potentiometer 2

int loopvar = -1;

int pulseWidth1 = 0;    // Amount to pulse the servo 1

int pulseWidth2 = 0;    // Amount to pulse the servo 2

long lastPulse1 = 0;    // the time in millisecs of the last pulse of servo 1

long lastPulse2 = 0;    // the time in millisecs of the last pulse of servo 2

int val_1;              // variable used to store data from potentiometer 1

int val_2;              // variable used to store data from potentiometer 2

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

int minPulse = 500;    // minimum pulse width

void setup() {

  pinMode(servoPin1, OUTPUT);  // Set servo pin 1 as an output pin

  pinMode(servoPin2, OUTPUT);  // Set servo pin 2 as an output pin

  pulseWidth1 = minPulse;      // Set the motor position to the minimum

  pulseWidth2 = minPulse;      // Set the motor position to the minimum

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

  Serial.println("Two servos with two potentiometers ready");

}

void loop() {

  loopvar=loopvar+1;

  Serial.println("loopvar = ");

  Serial.println(loopvar);

 /* if (loopvar%2==0)

  {

    val_1=0;

    val_2=0;

  }

  else

  {

    val_1=478;

    val_2=478; 

  }

  */

 val_1 = analogRead(potPin1);    // read the value from the sensor 1, between 0 - 1024

  val_2 = analogRead(potPin1);    // read the value from the sensor 2, between 0 - 1024

//  Serial.println("val1 = ");

//  Serial.println(val_1);

//  Serial.println("val2 = ");

//  Serial.println(val_2);

  if (val_1 > 0 && val_1 <= 999 ) {

    pulseWidth1 = val_1*2 + minPulse;  // convert angle to microseconds

  }

  updateServo1(val_1);   // update servo 1 position

  if (val_2 > 0 && val_2 <= 999 ) {

    pulseWidth2 = (1023-val_2)*2 + minPulse;  // convert angle to microseconds

  }

  updateServo2(val_2);   // update servo 2 position

}

void updateServo1(int val1) {

   Serial.println("servo1");

    Serial.println(pulseWidth1);

    Serial.println("servo1val");

    Serial.println(val1);

  if (millis() - lastPulse1 >= refreshTime) {

    digitalWrite(servoPin1, HIGH); 

    delayMicroseconds(pulseWidth1);  

    digitalWrite(servoPin1, LOW);   

    lastPulse1 = millis();          

  }

}

void updateServo2(int val2) {

  Serial.println("servo2");

    Serial.println(pulseWidth2);

    Serial.println("servo2val");

    Serial.println(val2);

  if (millis() - lastPulse2 >= refreshTime) {

    digitalWrite(servoPin2, HIGH);  

    delayMicroseconds(pulseWidth2);  

    digitalWrite(servoPin2, LOW);   

    lastPulse2 = millis(); 

  }

}