Wendell the Robot

Step 19 Program

Here is a program that runs all servos and a small speaker:



//////////////////////////  ARDUINO /////////////////////
//tests all servos and sound

#include <Servo.h>

Servo armRight;  // create servo object to control a servo
int pos = 0;    // variable to store the servo position
Servo armLeft;
Servo head;
Servo wheelRight;
Servo wheelLeft;
int soundPin = 3;
int pitch;

void setup()
{
  armRight.attach(11);
  head.attach(10); 
  armLeft.attach(9);
  wheelRight.attach(6);
  wheelLeft.attach(5);
 
}

void loop()
{
  for(pos = 0; pos < 180; pos += 1)  // goes from 0 degrees to 180 degrees
  {                                  // in steps of 1 degree
    armLeft.write(pos);
    armRight.write(pos);              // tell servo to go to position in variable 'pos'
    head.write(pos);
    wheelRight.write(pos);
    wheelLeft.write(pos);
    pitch = map(pos, 0 ,180, 31,4978); //map position to tone
    tone(soundPin, pitch, 200);    // pin, note, time?
    delay(15);                       // waits 15ms for the servo to reach the position
  }
  for(pos = 180; pos>=1; pos-=1)     // goes from 180 degrees to 0 degrees
  {                               
    armLeft.write(pos);
    armRight.write(pos);              // tell servo to go to position in variable 'pos'
    head.write(pos);
    wheelRight.write(pos);
    wheelLeft.write(pos);
    pitch = map(pos, 0 ,180, 31,1000);
    tone(soundPin, pitch, 200);    // pin, note, time?
    delay(15);     
  }    // waits 15ms for the servo to reach the position
}