Dancing Servo Animal

Description

This project consists of two servo motors attached together with legs and a wheel guide coming off the front of the animal.  Unfortunately, we have not been able to get the animal to actually use his legs to move forward as of yet.  Right now, he sort of waddles in place!

Materials

2 servo motors, Arduino board, cardboard legs, paper clip and cork wheel.

Arduino 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 servoPin2 = 8;

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
  pinMode(servoPin2, OUTPUT);
  pulseWidth = minPulse;      // Set the motor position to the minimum
  Serial.begin(9600);         // connect to the serial port
  Serial.println("Servo control program ready");
      digitalWrite(servoPin, HIGH);   // Turn the motor on
    delayMicroseconds(1840);  //Left Increase
    digitalWrite(servoPin, LOW);    // Turn the motor off
    digitalWrite(servoPin2, HIGH);
    delayMicroseconds(800); //Right Reduce
    digitalWrite(servoPin2, LOW);
    lastPulse = millis();           // save the time of the last pulse

}

void loop() {
  Serial.print("walk Loop");
/*  val = Serial.read();      // 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);
  }
  updateServo();   // update servo position
*/
  digitalWrite(servoPin, HIGH);
  delayMicroseconds(2140);
  digitalWrite(servoPin, LOW);
  delay(200);
  digitalWrite(servoPin, HIGH);
  delayMicroseconds(1540); //Mid= 1840
  digitalWrite(servoPin, LOW);
  //delay(1000);
  digitalWrite(servoPin2, HIGH);
  delayMicroseconds(500);
  digitalWrite(servoPin2, LOW);
  delay(200);
  digitalWrite(servoPin2, HIGH);
  delayMicroseconds(1300); //Mid =800
  digitalWrite(servoPin2, LOW);
  //delay(1000);
}

Photos