OPEN_ARM

#include <Servo.h>
#include <compat/deprecated.h>
#include <FlexiTimer2.h>

#define SAMPFREQ 256 // ADC sampling rate 256
#define TIMER2VAL (1024/(SAMPFREQ)) // Set 256Hz sampling frequency
volatile unsigned char CurrentCh=0; //Current channel being sampled.
volatile unsigned int ADC_Value = 0; //ADC current value
volatile unsigned int ADC_Value1 = 0; //ADC current value
Servo myServo1;
Servo myServo2;
Servo myServo3;
Servo myServo4;
Servo myServo5;
Servo myServo6;int pos = 0; // variable to store the servo position
int modo = 0;
int oscMsg[12]; // buffer for incoming OSc packet
int inByte = 0; // incomming serial byte
int inbyteIndex=0; // incomming bytes counter
float msgVal=0; // resulting message value

void setup()
{
Serial.begin(57600); // debug port
myServo1.attach(13); // pulso
myServo2.attach(8); //dedo mindinho
myServo3.attach(9); //dedo2
myServo4.attach(10); //dedo3
myServo5.attach(11, 576, 2384); //indicador
myServo6.attach(12); //poegar
}

void loop(){
int value99 = 0; //contador de numero de vezes
int value98 = 0; //contador de ups
while (value99 &lt; 500) { //Here finds the muscle pattern.
if (Serial.available()) { // if we have new byte from LAN
if (getOscMsg()==1){ // add it to message while is is not ready
if (byte(oscMsg[1]) != 32){ //para evitar o envio de mensagem vazia Serial.print(oscMsg[1]); // or print the OSC message name Serial.print(" / "); Serial.println(msgVal); // and vaule int value = msgVal; switch(oscMsg[1]){ case'a': if(value &gt; 0 &amp;&amp; value &lt;= 180){ modo = 1; //variavel para determinar o movimento Serial.print("MODO "); Serial.println(modo); value = 0; break; } case'b': if(value &gt; 0 &amp;&amp; value &lt;= 180){ modo = 2; //variavel para determinar o movimento Serial.print("MODO "); Serial.println(modo); value = 0; break; } case'c': if(value &gt; 0 &amp;&amp; value &lt;= 180){ modo = 3; //variavel para determinar o movimento Serial.print("MODO "); Serial.println(modo); value = 0; break; } case'd': if(value &gt; 0 &amp;&amp; value &lt;= 180){ modo = 4; //variavel para determinar o movimento Serial.print("MODO "); Serial.println(modo); value = 0; break; } case'e': if(value &gt; 0 &amp;&amp; value &lt;= 180){ modo = 5; //variavel para determinar o movimento Serial.print("MODO "); Serial.println(modo); value = 0; break; } case'f': if(value &gt; 0 &amp;&amp; value &lt;= 180){ modo = 6; //variavel para determinar o movimento Serial.print("MODO "); Serial.println(modo); value = 0; break; } } } } } delay(1); ADC_Value = analogRead(CurrentCh); value99 = value99+1; if(ADC_Value &gt; 400){
value98 = value98 + 1; //caso tenha o valor alto, adiciona um no contador
}
if(ADC_Value &lt; 250){
value98 = value98 + 1; //caso tenha o valor alto, adiciona um no contador
}
}
if (value98 &lt; 25){ //off Serial.print("off"); //this is packet header for my application Serial.println(ADC_Value); myServo1.write(90); myServo2.write(10); myServo3.write(10); myServo4.write(10); myServo5.write(10); myServo6.write(10); delay(1); } else if (value98 &gt;= 45){ //on
Serial.print("on"); //this is packet header for my application
Serial.println(ADC_Value);
Serial.println(value98);
if(modo &lt;= 1){
Serial.print("MODO ");
Serial.println(modo);
myServo1.write(90);
myServo2.write(150); // fechado
myServo3.write(150);
myServo4.write(150);
myServo5.write(150);
myServo6.write(150);
delay(1);
}
if(modo ==2){
Serial.print("MODO ");
Serial.println(modo);
myServo1.write(90);
myServo2.write(10); // pinca
myServo3.write(10);
myServo4.write(10);
myServo5.write(140);
myServo6.write(150);
delay(1);
}
if(modo ==3){
Serial.print("MODO ");
Serial.println(modo);
myServo1.write(90);
myServo2.write(150); // aponta
myServo3.write(150);
myServo4.write(150);
myServo5.write(15);
myServo6.write(20);
delay(1);
}
if(modo ==4){
Serial.print("MODO ");
Serial.println(modo);
myServo1.write(90);
myServo2.write(15); // Spider
myServo3.write(150);
myServo4.write(150);
myServo5.write(15);
myServo6.write(20);
delay(1);
}
if(modo ==5){
Serial.print("MODO ");
Serial.println(modo);
myServo1.write(90);
myServo2.write(150); // Joia
myServo3.write(150);
myServo4.write(150);
myServo5.write(150);
myServo6.write(20);
delay(1);
}
if(modo ==6){
Serial.print("MODO ");
Serial.println(modo);
myServo1.write(90);
myServo2.write(15); // hang
myServo3.write(150);
myServo4.write(150);
myServo5.write(150);
myServo6.write(20);
delay(1);
}
}
}

// function to process simple OSC message sent by TouchOSC for iphone / ipad
float getOscMsg(){
inByte=Serial.read(); // read next serial byte

if (inByte == 47){ // if byte = slash it's message start
inbyteIndex=0; // and we set array pointer to 0
}

if ((inbyteIndex &lt;= 11) &amp;&amp; (inbyteIndex &gt;= 0)){ // is it time to finish or can we start?
oscMsg[inbyteIndex]=inByte; // we add the byte to the array
inbyteIndex++; // increase array counter
}

if (inbyteIndex == 11){ // end of the message
inbyteIndex=-1; // set the pointer to -1 so we stop processing

union u_tag { // this is array to float conversation routine
byte bytes[4]; // I copied from Arduino.cc forum
float buffer;
}

u;
u.bytes[0]=oscMsg[11]; // to decode we have to supply bytes inr everse order
u.bytes[1]=oscMsg[10];
u.bytes[2]=oscMsg[9];
u.bytes[3]=oscMsg[8];
msgVal = u.buffer; // byte array to float
return 1; // signal we are ready to display value
}
return 0; // in this case the message is not ready yet
}