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a guest Jun 17th, 2019 65 Never
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  1. #include <Servo.h>
  2. #include <ALLBOT.h>
  3.  
  4. ALLBOT AURA(8);  //number of motors
  5.  
  6. enum MotorName {
  7.   hipFrontLeft,
  8.   hipFrontRight,
  9.   hipRearLeft,
  10.   hipRearRight,
  11.   kneeFrontLeft,
  12.   kneeFrontRight,
  13.   kneeRearLeft,
  14.   kneeRearRight
  15. };
  16.  
  17. // where is this pin??
  18. int sounderPin = 13;  
  19.  
  20. void chirp(int beeps, int speedms){
  21.   for (int i = 0; i < beeps; i++){
  22.     for (int i = 0; i < 255; i++){
  23.       digitalWrite(sounderPin, HIGH);
  24.       delayMicroseconds((355-i) +  (speedms*2));
  25.       digitalWrite(sounderPin, LOW);
  26.       delayMicroseconds((355-i) +  (speedms*2));
  27.     }
  28.      delay(30);
  29.   }
  30. }
  31.  
  32. void chorp(int beeps, int speedms){
  33.   for (int i = 0; i < beeps; i++){
  34.     for (int i = 100; i < 255; i++){
  35.       digitalWrite(sounderPin, HIGH);
  36.       delayMicroseconds((355-i) +  (speedms));
  37.       digitalWrite(sounderPin, LOW);
  38.       delayMicroseconds((355-i) +  (speedms));
  39.     }
  40.     for (int i = 510; i > 0; i--){
  41.       digitalWrite(sounderPin, HIGH);
  42.       delayMicroseconds((710-i) +  (speedms*2));
  43.       digitalWrite(sounderPin, LOW);
  44.       delayMicroseconds((710-i) +  (speedms*20));
  45.     }
  46.      delay(30);
  47.   }
  48. }
  49.  
  50. void setup() {
  51.  
  52.   Serial.begin(9600);
  53.  
  54.   // NAME.attach(motorname, pin, init-angle, flipped, offset-angle);
  55.   AURA.attach(hipFrontLeft,   A1,  45, 0, 0);
  56.   AURA.attach(hipFrontRight,  A0,  45, 1, 0);
  57.   AURA.attach(hipRearLeft,     9,  45, 1, 0);
  58.   AURA.attach(hipRearRight,    4,  45, 0, 0);
  59. //
  60.   AURA.attach(kneeFrontLeft,  11,  45, 1, 0);
  61.   AURA.attach(kneeFrontRight,  2,  45, 0, 0);
  62.   AURA.attach(kneeRearLeft,   10,  45, 1, 0);
  63.   AURA.attach(kneeRearRight,   3,  45, 0, 0);
  64.  
  65.   // what is OUTPUT ??
  66.   // INIT sounder
  67.   pinMode(sounderPin, OUTPUT);
  68.  
  69.   delay(500);
  70.  
  71.   chirp(1, 0);
  72.   chorp(1, 35);
  73.   // chirp(1, 255);
  74.   // chirp(3, 0);
  75. }
  76.  
  77. void loop() {
  78.   // put your main code here, to run repeatedly:
  79.  
  80. }
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