Assignment: Servo Motor: Actuation Assignment 2
Collaborators: sohyeong
Description
I created a "Crawling Bug" for this lab using a single servo motor. I tried with different things from baby shoes, playdo, small rubber ball, and so on. I found the paper clips worked quite well when I attached them to servo motor to mimic a bug's two legs. I had 6 legs originally, but it didn't work well. So, I went through few iterations and found out 2 legs work fine. Since paper clips are quite thin, it is not that stable but it shows crawling motion enough.
Components Used
- Servo motor (1)
- Paper Clips (2)
- Wires
- Arduino board (1)
Codes
/*
* Servo with Potentiometer control
* Theory and Practice of Tangible User Interfaces
* October 11 2007
*/
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 ");
Serial.println(pulseWidth,DEC);
}
updateServo(); // update servo position
}
// called every loop().
void updateServo() {
// pulse the servo again if the refresh time (20 ms) has 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
}
}
