/* Sweep
by BARRAGAN
This example code is in the public domain.
modified 8 Nov 2013
by Scott Fitzgerald
http://www.arduino.cc/en/Tutorial/Sweep
*/
#include
int pin = 10;
unsigned long duration;
int rc duration,temp_duration = 0;
Servo servo1; servo1; // top left
create servo object to control a servo
Servo servo2; // bottom left
servo2;
Servo servo3; // top right
servo3;
Servo servo4; servo4;
// bottom right
twelve servo objects can be created on most boards
int pos = 0; // variable to store the servo position
void setup() {
Serial.begin(9600);
pinMode(pin, INPUT);
//pinMode(6,OUTPUT);
servo1.attach(6);
attach(9, 0, 180); // attaches the servo on pin 9 to the servo object
servo2.attach(7);
attach(8, 0, 180);
servo3.attach(8);
attach(7, 0, 180);
servo4.attach(9);
attach(6, 0, 180);
pinMode(10, INPUT);
}
void extend ()
{
for (pos = 100; pos <= 180; pos += 1) {
// in steps of 1 degree
servo1.write(pos);
servo2.write(pos);
servo3.write(pos);
servo4.write(pos);
delay(10);
}
}
void retract ()
{
for (pos = 180; pos >= 100; pos -= 1) {
servo1.write(pos);
servo2.write(pos);
servo3.write(pos);
servo4.write(pos);
delay(10);
}
}
void loop() {
temp_duration = duration;
duration = pulseIn(pin, HIGH);
if(duration <1350)
{
servo1.write(85);
servo2.write(72);
servo3.write(77);
servo4.write(85);
}
else pulseIn(10, HIGH);
if ((temp_duration/100) != (duration/100) and (duration >1350 and duration <1550)
- temp_duration > 50 )
{
Serial.println(duration);
if(((duration/100)==12) or ((duration/100)==13) )
{
servo1.write(45);\n servo2.write(117);\n servo3.write(35);\n servo4.write(130);\n extend();
}
else
{
servo1.write(0);\n servo2.write(0);\n servo3.write(0);\n servo4.write(0);\n retract();
}
}
//Serial.println(duration);
//extend();
//retract();
}
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