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berend [2019/03/26 19:11] – inne | berend [2019/03/26 23:04] – wrusman | ||
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==== Drivers : ==== | ==== Drivers : ==== | ||
Er is een grote kans dat Mac en Windows gebruikers extra [[https:// | Er is een grote kans dat Mac en Windows gebruikers extra [[https:// | ||
+ | |||
+ | === Code === | ||
+ | basis code voor lopen : | ||
+ | < | ||
+ | #include < | ||
+ | |||
+ | Servo lefthip; | ||
+ | Servo leftfoot; | ||
+ | Servo righthip; | ||
+ | Servo rightfoot; | ||
+ | |||
+ | |||
+ | void setup() { | ||
+ | lefthip.attach(2); | ||
+ | leftfoot.attach(3); | ||
+ | righthip.attach(5); | ||
+ | rightfoot.attach(4); | ||
+ | lefthip.write(90); | ||
+ | leftfoot.write(90); | ||
+ | righthip.write(90); | ||
+ | rightfoot.write(90); | ||
+ | } | ||
+ | |||
+ | |||
+ | void loop() { | ||
+ | stepforward(10); | ||
+ | delay(10000); | ||
+ | } | ||
+ | |||
+ | void stepforward(int steps) | ||
+ | { | ||
+ | moveServo(rightfoot, | ||
+ | moveServo(leftfoot, | ||
+ | |||
+ | moveServo(lefthip, | ||
+ | moveServo(righthip, | ||
+ | |||
+ | for (int x=0; x <= steps; x++){ | ||
+ | |||
+ | moveServo(leftfoot, | ||
+ | moveServo(rightfoot, | ||
+ | moveServo(leftfoot, | ||
+ | moveServo(rightfoot, | ||
+ | | ||
+ | moveServo(righthip, | ||
+ | moveServo(lefthip, | ||
+ | | ||
+ | moveServo(rightfoot, | ||
+ | moveServo(leftfoot, | ||
+ | moveServo(rightfoot, | ||
+ | moveServo(leftfoot, | ||
+ | |||
+ | moveServo(lefthip, | ||
+ | moveServo(righthip, | ||
+ | } | ||
+ | |||
+ | moveServo(leftfoot, | ||
+ | moveServo(righthip, | ||
+ | moveServo(lefthip, | ||
+ | moveServo(rightfoot, | ||
+ | |||
+ | } | ||
+ | |||
+ | |||
+ | void moveServo(Servo servoName, int oldAngle, int newAngle) | ||
+ | { | ||
+ | if (newAngle > oldAngle){ | ||
+ | for (int x=oldAngle; x <= newAngle; x++) | ||
+ | { | ||
+ | servoName.write(x); | ||
+ | delay(10); | ||
+ | } | ||
+ | } | ||
+ | if (newAngle < oldAngle){ | ||
+ | for (int x=oldAngle; x >= newAngle; x--) | ||
+ | { | ||
+ | servoName.write(x); | ||
+ | delay(10); | ||
+ | } | ||
+ | } | ||
+ | | ||
+ | } | ||
+ | </ | ||