robotti

// Sweep
// by BARRAGAN <http://barraganstudio.com>
// This example code is in the public domain.


#include <Servo.h>

Servo leftservo;
Servo rightservo;  // create servo object to control a servo

int pos = 0;    // variable to store the servo position

const int  leftbuttonPin      = 2; //ihokarvan etuvasen
const int  rightbuttonPin     = 3; //ihokarvan etuoikea
const int  backleftbuttonPin  = 4; //ihokarvan takavasen
const int  backrightbuttonPin = 5; //ihokarvan takaoikea


int leftbuttonState      = 0;
int rightbuttonState     = 0;
int backleftbuttonState  = 0;   //jotain mitä piti tehä kaikille karvoille
int backrightbuttonState = 0;



void setup()
{
  leftservo.attach(9);  // attaches the servo on pin 9 to the servo object
  rightservo.attach(10);  // attaches the servo on pin 10 to the servo object

  pinMode(leftbuttonPin, INPUT);  //buttonpinni inputiksi  jotai mitä kaikille piti tehdä
  pinMode(rightbuttonPin, INPUT);
  pinMode(backleftbuttonPin, INPUT);
  pinMode(backrightbuttonPin, INPUT);

  digitalWrite(leftbuttonPin, HIGH);  //jotai mitä karvoille piti tehä
  digitalWrite(rightbuttonPin, HIGH);
  digitalWrite(backleftbuttonPin, HIGH);
  digitalWrite(backrightbuttonPin, HIGH);
}

// jos etukarvat osaa niin peruttaa+kääntyy jos silloin osuu takakarvat tapahtuu tämä eikä käänny
boolean back(){
  backleftbuttonState  = digitalRead(backleftbuttonPin);
  backrightbuttonState = digitalRead(backrightbuttonPin);

  if (backleftbuttonState == HIGH and backrightbuttonState == LOW) {
    rightservo.write(110);
    leftservo.write(90);
    delay(1000);
    return true;
  }
  else if(backleftbuttonState == LOW and backrightbuttonState == HIGH) {
    rightservo.write(90);
    leftservo.write(110);
    delay(1000);
    return true;
  }
  else return false;

}


void loop(){
  // read the state of the pushbutton value:
  leftbuttonState      = digitalRead(leftbuttonPin);
  rightbuttonState     = digitalRead(rightbuttonPin);



    if (leftbuttonState == HIGH and rightbuttonState == LOW) {


      rightservo.write(80);
      leftservo.write(100);
      delay(2000);
      if (!back()) {
        rightservo.write(70);
        leftservo.write(90);
        delay(1000);
      }
    }

    if (leftbuttonState == LOW and rightbuttonState == HIGH) {

      rightservo.write(80);
      leftservo.write(100);
      delay(2000);
       if (!back()){
        rightservo.write(90);
        leftservo.write(70);
        delay(1000);
       }
    }

    if (leftbuttonState == LOW and rightbuttonState == LOW) {

      rightservo.write(80);
      leftservo.write(100);
      delay(2000);
      if (!back()) {
        rightservo.write(random(70,110));
        leftservo.write(random(70,110));
        delay(1000);
      }
    }



   rightservo.write(110);
   leftservo.write(70);
   delay(100);



   }


















 // for(pos = 0; pos < 180; pos += 1)  // goes from 0 degrees to 180 degrees
  //{                                  // in steps of 1 degree
    //rightservo.write(pos);              // tell servo to go to position in variable 'pos'
   // 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
 // {
  //rightservo.write(pos);              // tell servo to go to position in variable 'pos'
   // delay(15);                       // waits 15ms for the servo to reach the position