1. /* Sweep
2.   by BARRAGAN <http://barraganstudio.com>
3.   This example code is in the public domain.
4.  
5.   modified 8 Nov 2013
6.   by Scott Fitzgerald
7.   http://www.arduino.cc/en/Tutorial/Sweep
8. */
9.  
10. #include <Servo.h>
11. unsigned long duration,temp_duration = 0;
12. Servo servo1;  // create servo object to control a servo
13. Servo servo2;
14. Servo servo3;
15. Servo servo4;
16. // twelve servo objects can be created on most boards
17.  
18. int pos = 0;    // variable to store the servo position
19.  
20. void setup() {
21.     Serial.begin(9600);
22.   servo1.attach(9, 0, 180); // attaches the servo on pin 9 to the servo object
23.   servo2.attach(8, 0, 180);
24.   servo3.attach(7, 0, 180);
25.   servo4.attach(6, 0, 180);
26.   pinMode(10, INPUT);
27.  
28.  
29. }
30.  
31. void extend ()
32. {
33.   for (pos = 100; pos <= 180; pos += 1) {
34.     // in steps of 1 degree
35.     servo1.write(pos);
36.     servo2.write(pos);
37.     servo3.write(pos);
38.     servo4.write(pos);
39.     delay(10);
40.   }
41. }
42. void retract ()
43. {
44.   for (pos = 180; pos >= 100; pos -= 1) {
45.     servo1.write(pos);
46.     servo2.write(pos);
47.     servo3.write(pos);
48.     servo4.write(pos);
49.     delay(10);
50.   }
51. }
52.  
53.  
54.  
55. void loop() {
56.  
57. temp_duration = duration;  
58. duration = pulseIn(10, HIGH);
59.  
60. if ((temp_duration/100) != (duration/100) and (duration - temp_duration > 50  )
61. {
62.   Serial.println(duration);
63.   if(((duration/100)==12) or ((duration/100)==13) )
64.   {
65.     extend();
66.   }
67.   else
68.   {
69.     retract();
70.   }
71. }
72.  
73. //Serial.println(duration);
74.   //extend();
75.   //retract();
76.  
77. }