CARDBOARD ROBOT --- DANCE, DANCE, DANCE!!

Step 42: Test code - Control from PC via USB

We are quickly using up the pins on the first arduino. We will have to use multiple boards and then communicate between them. To get this started I have added serial inputs to the test code. A switch case control structure calls the function based on serial input.

The code is below:
Now the following commands control the motions. They are sent using the serial monitor.  Using all lower case (it is actually the ascii codes for the letters that are sent, so case matters)

f = forward
b = backward
r = right arm up
t = right arm down
w = left arm up
e = left arm down
z = waist bend down
x = waist bend up

/////////////////////////////Arduino Code //////////////////////////////

 ////// Robot test with little routines made into functions////// ////// Added serial control  /////VARIABLES///////// // Direction low = towards body or Foward //Direction High = away from body or Backward int RightArmDir     =  2; int RightArmSpeed   =  3; int LeftArmDir      =  4; int LeftArmSpeed    =  5; int WaistDir        =  7; int WaistSpeed      =  6; int RightWheelDir   =  8; int RightWheelSpeed =  9; int LeftWheelDir    = 12; int LeftWheelSpeed  = 10;  int Slow = 100; int Fast = 200; int t1 = 200; int t2 = 1000; int WheelSpeed =75;  int incomingByte; ///////// SETUP  /////////  void setup() { pinMode(RightArmDir, OUTPUT); pinMode(RightArmSpeed, OUTPUT); pinMode(LeftArmDir, OUTPUT); pinMode(LeftArmSpeed, OUTPUT); pinMode(WaistDir, OUTPUT); pinMode(WaistSpeed, OUTPUT); pinMode(RightWheelDir, OUTPUT); pinMode(RightWheelSpeed, OUTPUT); pinMode(LeftWheelDir, OUTPUT); pinMode(LeftWheelSpeed, OUTPUT);  Serial.begin(9600); }  //////// MAIN LOOP /////// void loop() {   Serial.println("...."); delay(2000);    if(Serial.available()>0){     incomingByte = Serial.read();    switch(incomingByte){      case 'f':        Foward();        break;       case 'b':         Backward();         break;        case 'r':          RightArmUp();          break;         case 't':           RightArmDown();           break;          case 'w':            LeftArmUp();            break;           case 'e':             LeftArmDown();             break;            case 'z':              WaistBendDown();              break;             case 'x':               WaistBendUp();               break;    }   } }  /////////////////////////////////////////////// /////////   BASIC FUNCTIONS /////////////////// ///////////////////////////////////////////////   void RightArmUp(){ // Test Right Arm    Serial.println("Right Arm");   //Right Arm Up   Serial.println("Up");   digitalWrite(RightArmDir, HIGH);   analogWrite(RightArmSpeed, Slow);   delay (t1);   analogWrite(RightArmSpeed,Fast);   delay (2*t2);   analogWrite(RightArmSpeed,Slow);   delay(t1);   analogWrite(RightArmSpeed, 0);   delay(t1);  }    void RightArmDown(){   //Right Arm Down   Serial.println("Right Arm Down");   digitalWrite(RightArmDir, LOW);   analogWrite(RightArmSpeed, Slow);   delay (t1);   analogWrite(RightArmSpeed, Fast);   delay (2*t2);   analogWrite(RightArmSpeed, Slow);   delay(t1);   analogWrite(RightArmSpeed, 0);   delay(2*t1);  }    void LeftArmUp(){ // Test Left Arm   Serial.println("Left Arm Up");   //Left Arm Up   digitalWrite(LeftArmDir, HIGH);   analogWrite(LeftArmSpeed, Slow);   delay (t1);   analogWrite(LeftArmSpeed, Fast);   delay (2*t2);   analogWrite(LeftArmSpeed, Slow);   delay (t1);   analogWrite(LeftArmSpeed, 0);   delay(t1);  }    void LeftArmDown(){   //Left Arm Down   Serial.println("Left Arm Down");   digitalWrite(LeftArmDir, LOW);   analogWrite(LeftArmSpeed, Slow);   delay (t1);   analogWrite(LeftArmSpeed, Fast);   delay (2*t2);   analogWrite(LeftArmSpeed,Slow);   delay(t1);   analogWrite(LeftArmSpeed, 0);   delay(2*t1);  }    void WaistBendDown(){ // Test Waist   Serial.println("Waist Bend Down");   digitalWrite(WaistDir, HIGH);   analogWrite(WaistSpeed, Slow);   delay (t1);   analogWrite(WaistSpeed, Fast);   delay (2*t2);   analogWrite(WaistSpeed, Slow);   delay(t1);   analogWrite(WaistSpeed, 0);   delay(t1);  }    void WaistBendUp(){   //Bend Up   Serial.println("Up");   digitalWrite(WaistDir, LOW);   analogWrite(WaistSpeed, Slow);   delay (t1);   analogWrite(WaistSpeed, Fast);   delay (2*t2);   analogWrite(WaistSpeed, Slow);   delay(t1);   analogWrite(WaistSpeed, 0);   delay(2*t1);  }    void Spin(){   Serial.println("SPIN");   digitalWrite(LeftWheelDir, LOW);   digitalWrite(RightWheelDir,HIGH);   analogWrite(RightWheelSpeed, WheelSpeed/2);   analogWrite(LeftWheelSpeed, WheelSpeed/2);   delay (t1);   analogWrite(RightWheelSpeed, WheelSpeed);   analogWrite(LeftWheelSpeed, WheelSpeed);   delay (t2);   analogWrite(RightWheelSpeed, WheelSpeed/2);   analogWrite(LeftWheelSpeed, WheelSpeed/2);   delay(t1);   analogWrite(LeftWheelSpeed, 0);   analogWrite(RightWheelSpeed, 0);   }         void Spin2(){   Serial.println("SPIN2");   digitalWrite(LeftWheelDir, HIGH);   digitalWrite(RightWheelDir,LOW);   analogWrite(RightWheelSpeed, WheelSpeed/2);   analogWrite(LeftWheelSpeed, WheelSpeed/2);   delay (t1);   analogWrite(RightWheelSpeed, WheelSpeed);   analogWrite(LeftWheelSpeed, WheelSpeed);   delay (t2);   analogWrite(RightWheelSpeed, WheelSpeed/2);   analogWrite(LeftWheelSpeed, WheelSpeed/2);   delay(t1);   analogWrite(LeftWheelSpeed, 0);   analogWrite(RightWheelSpeed, 0);   }          void Foward(){   Serial.println("Go Foward");   digitalWrite(LeftWheelDir, HIGH);   digitalWrite(RightWheelDir,HIGH);   analogWrite(RightWheelSpeed, WheelSpeed/2);   analogWrite(LeftWheelSpeed, WheelSpeed/2);   delay (t1);   analogWrite(RightWheelSpeed, WheelSpeed);   analogWrite(LeftWheelSpeed, WheelSpeed);   delay (t2);   analogWrite(RightWheelSpeed, WheelSpeed/2);   analogWrite(LeftWheelSpeed, WheelSpeed/2);   delay(t1);   analogWrite(LeftWheelSpeed, 0);   analogWrite(RightWheelSpeed, 0);   }      void Backward(){   Serial.println("Go Backward");   digitalWrite(LeftWheelDir, LOW);   digitalWrite(RightWheelDir,LOW);   analogWrite(RightWheelSpeed, WheelSpeed/2);   analogWrite(LeftWheelSpeed, WheelSpeed/2);   delay (t1);   analogWrite(RightWheelSpeed, WheelSpeed);   analogWrite(LeftWheelSpeed, WheelSpeed);   delay (t2);   analogWrite(RightWheelSpeed, WheelSpeed/2);   analogWrite(LeftWheelSpeed, WheelSpeed/2);   delay(t1);   analogWrite(LeftWheelSpeed, 0);   analogWrite(RightWheelSpeed, 0);   }