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\f0\fs24 \cf0 /*\
 * Servo with Potentiometer control\
 * Theory and Practice of Tangible User Interfaces\
 * October 11 2007\
 */\
\
int servoPin1 = 7;      // Control pin for servo motor\
int servoPin2 = 8;\
\
int potPin   = 0;      // select the input pin for the potentiometer\
int potPin2 = 1;\
\
int pulseWidth1 = 0;    // Amount to pulse the servo\
int pulseWidth2 = 0;\
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 val2;\
\
int minPulse = 500;   // minimum pulse width\
\
void setup() \{\
  pinMode(servoPin1, OUTPUT);  // Set servo pin as an output pin\
  pinMode(servoPin2, OUTPUT);\
  pulseWidth1 = minPulse;      // Set the motor position to the minimum\
  pulseWidth2 = minPulse;\
  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\
  val2 = analogRead(potPin2);\
  \
  if (val > 0 && val <= 999) \
  \{\
    pulseWidth1 = val * 2 + minPulse;  // convert angle to microseconds\
    \
    Serial.print("moving servo to 1");\
    Serial.println(pulseWidth1,DEC);\
    updateServo(servoPin1, pulseWidth1);   // update servo position\
  \}\
  \
  if (val2 > 0 && val2 <= 999)\
  \{\
    pulseWidth2 = val2 * 2 + minPulse;\
    Serial.print("moving servo to 2");\
    Serial.println(pulseWidth2, DEC);  \
    updateServo(servoPin2, pulseWidth2);\
  \}\
\}\
\
// called every loop(). \
void updateServo(int servoPin, int pulseWidth) \{\
  // 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\
    \
  \}\
\}\
\
}