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Walking Monkey

Project Members: 
Eun Kyoung Choe
Kimberly_Lau

Description

A walking monkey/man

Components

Arduino board
Breadboard
2 Potentiometers
2 Servo motors
Arduino Code
Crafts

Arduino Code

/*

 * Two servos with two potentiometer control
* Theory and Practice of Tangible User Interfaces
* October 11 2007
*
*/

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 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() {
val_1 = analogRead(potPin1); // read the value from the sensor 1, between 0 - 1024
val_2 = analogRead(potPin2); // read the value from the sensor 2, between 0 - 1024

if (val_1 > 0 && val_1 <= 999 ) {
pulseWidth1 = val_1*2 + minPulse; // convert angle to microseconds
}
updateServo1(); // update servo 1 position

if (val_2 > 0 && val_2 <= 999 ) {
pulseWidth2 = val_2*2 + minPulse; // convert angle to microseconds
}
updateServo2(); // update servo 2 position
}

void updateServo1() {
if (millis() - lastPulse1 >= refreshTime) {
digitalWrite(servoPin1, HIGH);
delayMicroseconds(pulseWidth1);
digitalWrite(servoPin1, LOW);
lastPulse1 = millis();
}
}

void updateServo2() {
if (millis() - lastPulse2 >= refreshTime) {
digitalWrite(servoPin2, HIGH);
delayMicroseconds(pulseWidth2);
digitalWrite(servoPin2, LOW);
lastPulse2 = millis();
}
}

Pictures

mon1mon1

mon2mon2
mon3mon3 

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