ADJUSTING MOTOR TO 90:
#include <Servo.h>
Servo myservo;
void setup()
{
myservo.attach(9); }
void loop()
{
myservo.write(90);
}
my first biped with 6motors .
'
Testing program :
/* for the motors as shown above , each are
connected as shown in 123456 and now we assign qwerty,asdfgh
to fwd and backward respectively. */
#include <Servo.h>
char a;
int p1=90;// initially all the motors are configured to 90.
int p2=90;
int p3=90;
int p4=90;
int p5=90;
int p6=90;
int p7=90;
Servo s1;
Servo s2;
Servo s3;
Servo s4;
Servo s5;
Servo s6;
Servo s7;
void setup()
{
s1.attach(8);
s2.attach(9);
s3.attach(10);
s4.attach(11);
s5.attach(12);
s6.attach(13);
s7.attach(7);
s1.write(p1);
s2.write(p2);
s3.write(p3);
s4.write(p4);
s5.write(p5);
s6.write(p6);
s7.write(p7);
Serial.begin(9600);
}
void loop()
{
if (Serial.available() > 0) {
a = Serial.read();
Serial.print("1.");
Serial.println(a);
}
switch(a)
{
//1 f
case 'q':
Serial.println("q");
if (p1>=0 && p1<180)
{
p1=p1+1;
s1.write(p1);
Serial.print("p1=");
Serial.println(p1);
}
else
Serial.println("INVALID");
break ;
//1 B
case 'a':
if (p1<=180 && p1>0)
{
p1=p1-1;
s1.write(p1);
Serial.print("p1=");
Serial.println(p1);
}
else
Serial.println("INVALID");
break;
//2.f
case 'w':
Serial.println("w");
if (p2>=0 && p2<180)
{
p2=p2+1;
s2.write(p2);
Serial.print("p2=");
Serial.println(p2);
}
else
Serial.println("INVALID");
break ;
//2 B
case 's':
if (p2<=180 && p2>0)
{
p2=p2-1;
s2.write(p2);
Serial.print("p2=");
Serial.println(p2);
}
else
Serial.println("INVALID");
break;
//3.f
case 'e':
Serial.println("e");
if (p3>=0 && p3<180)
{
p3=p3+1;
s3.write(p3);
Serial.print("p3=");
Serial.println(p3);
}
else
Serial.println("INVALID");
break ;
//3 B
case 'd':
if (p3<=180 && p3>0)
{
p3=p3-1;
s3.write(p3);
Serial.print("p3=");
Serial.println(p3);
}
else
Serial.println("INVALID");
;
break;
//4.f
case 'r':
Serial.println("r");
if (p4>=0 && p4<180)
{
p4=p4+1;
s4.write(p4);
Serial.print("p4=");
Serial.println(p4);
}
else
Serial.println("INVALID");
break ;
//4 B
case 'f':
if (p4<=180 && p4>0)
{
p4=p4-1;
s4.write(p4);
Serial.print("p4=");
Serial.println(p4);
}
else
Serial.println("INVALID");
break;
//5.f
case 't':
Serial.println("t");
if (p5>=0 && p5<180)
{
p5=p5+1;
s5.write(p5);
Serial.print("p5=");
Serial.println(p5);
}
else
Serial.println("INVALID");
break ;
//5 B
case 'g':
if (p5<=180 && p5>0)
{
p5=p5-1;
s5.write(p5);
Serial.print("p5=");
Serial.println(p5);
}
else
Serial.println("INVALID");
break;
//6.f
case 'y':
Serial.println("y");
if (p6>=0 && p6<180)
{
p6=p6+1;
s6.write(p6);
Serial.print("p6=");
Serial.println(p6);
}
else
Serial.println("INVALID");
Serial.print("p6=");
Serial.println(p6);
break ;
//6 B
case 'h':
if (p6<=180 && p6>0)
{
p6=p6-1;
s6.write(p6);
Serial.print("p6=");
Serial.println(p6);
}
else
Serial.println("INVALID");
break;
//torso
case 'p':
Serial.println("p");
if (p7>=0 && p7<180)
{
p7=p7+1;
s7.write(p7);
Serial.print("p7=");
Serial.println(p7);
}
else
Serial.println("INVALID");
Serial.print("p6=");
Serial.println(p6);
break ;
case 'l':
if (p7<=180 && p7>0)
{
p7=p7-1;
s7.write(p7);
Serial.print("p7=");
Serial.println(p7);
}
else
Serial.println("INVALID");
break;
}
a='\0';
}
