November 24, 2007
Reading for November 27th, are now posted. Enjoy!

October 2, 2007
To upload your thoughtless acts, create a new assignment page like any other lab. You'll see "Thoughtless Acts" listed as one of the assignment options.

May 24, 2008
This site has been archived and is no longer editable. Stay tuned for the next version, coming in the fall!

Halloween Special : Crawling Mummy

Project Members: 
Seung Wan Hong

Through wire arms and Servo motor, I made crawling mummy. Adjusting angles of elbow is the most challenging. (Motion is still unnatural, but effect is not to bad.)Happy Halloween.


A Servo motor, wires(a body structure), a phing-pong ball(a head). toilet paper, Potentiometer, Arduino board, Bread board, wires, diodes  

Arduino Codes

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 minPulse = 500;   // minimum 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_serial_better ready");

void loop() {
  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
    Serial.print("moving servo to ");
  updateServo();   // update servo position

// called every loop().
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


Crawling mummy01.jpg48.77 KB
Crawling mummy02.jpg55.16 KB
Crawling mummy03.jpg57.23 KB

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