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berend [2019/03/26 19:11] – inneberend [2019/03/26 23:04] – wrusman
Line 39: Line 39:
 ==== Drivers : ==== ==== Drivers : ====
 Er is een grote kans dat Mac en Windows gebruikers extra [[https://sparks.gogo.co.nz/ch340.html|drivers]] moeten installeren zodat de Arduino door hun computers herkent wordt. Op Linux zouden de drivers standaard beschikbaar moeten zijn.  Er is een grote kans dat Mac en Windows gebruikers extra [[https://sparks.gogo.co.nz/ch340.html|drivers]] moeten installeren zodat de Arduino door hun computers herkent wordt. Op Linux zouden de drivers standaard beschikbaar moeten zijn. 
 +
 +=== Code ===
 +basis code voor lopen :
 +<code>
 +#include <Servo.h>
 +
 +Servo lefthip;    // create servo object to control the left hip servo
 +Servo leftfoot;   // create servo object to control the left foot servo
 +Servo righthip;   // create servo object to control the right hip servo
 +Servo rightfoot;  // create servo object to control the right foot servo
 +
 +
 +void setup() {
 +  lefthip.attach(2);    // attaches the servo on pin 2 to the left hip servo object
 +  leftfoot.attach(3);   // attaches the servo on pin 3 to the left foot servo object
 +  righthip.attach(5);  // attaches the servo on pin 5 to the right hip servo object
 +  rightfoot.attach(4);  // attaches the servo on pin 4 to the right foot servo object
 +  lefthip.write(90);    // center the servo
 +  leftfoot.write(90);    // center the servo
 +  righthip.write(90);    // center the servo
 +  rightfoot.write(90);    // center the servo
 +}
 +
 +
 +void loop() {
 +  stepforward(10);
 +  delay(10000);
 +}
 +
 +void stepforward(int steps)
 +{
 +  moveServo(rightfoot,90,60);
 +  moveServo(leftfoot,90,50);
 +
 +  moveServo(lefthip,90,60);
 +  moveServo(righthip,90,60);
 +
 +  for (int x=0; x <= steps; x++){
 +
 +  moveServo(leftfoot,50,90);
 +  moveServo(rightfoot,60,90);
 +  moveServo(leftfoot,90,120);
 +  moveServo(rightfoot,90,130);
 +  
 +  moveServo(righthip,60,120);
 +  moveServo(lefthip,60,120);
 +    
 +  moveServo(rightfoot,130,90);
 +  moveServo(leftfoot,120,90);
 +  moveServo(rightfoot,90,60);
 +  moveServo(leftfoot,90,50);
 +
 +  moveServo(lefthip,120,60);
 +  moveServo(righthip,120,60);
 +  }
 +
 +  moveServo(leftfoot,50,90);
 +  moveServo(righthip,60,90);
 +  moveServo(lefthip,60,90);
 +  moveServo(rightfoot,60,90);
 +
 +}
 +
 +
 +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); 
 +    }
 +  }
 +  
 +}
 +</code>
  
berend.txt · Last modified: 2019/06/28 12:37 by wrusman

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