Here is my code for a 4 legged robot with an ultra sonic sensor. I have removed the else statement for debugging purposes but I still couldnt figure out my issues. My servo1 will not move after it initiates. When i copy the walking file it works but when i add it into this loop, it wont move servo1. Please help.
/* Sweep
by BARRAGAN <http://barraganstudio.com>
This example code is in the public domain.
modified 8 Nov 2013
by Scott Fitzgerald
http://www.arduino.cc/en/Tutorial/Sweep
*/
#include <Servo.h>
Servo servo1;// create servo object to control a servo
Servo servo2;
Servo servo3;
Servo servo4;
Servo servo5;
Servo servo6;
Servo servo7;
Servo servo8;
const int pingPin = 12;
long duration, inches;
int pos = 0;// variable to store the servo position
void setup() {
servo1.attach(0);
servo1.write(120);
servo2.write(40);
servo2.attach(2);
servo3.write(130);
servo3.attach(3);
servo4.write(40);
servo4.attach(4);
servo5.write(110);
servo5.attach(5);
servo6.write(40);
servo6.attach(6);
servo7.write(130);
servo7.attach(7);
servo8.write(30);
servo8.attach(8);
Serial.begin(9600);
delay(1000);
}
void loop() {
distance_calc();
delay(10);
if ( inches >= 5 )
{
servo1.write(135);
servo8.write(45);
servo4.write(55);
servo5.write(115);
delay(15);
for (pos = 90; pos >= 0; pos -= 2.3) {
servo2.write(pos);
servo7.write(150 - pos);
servo3.write(75 + pos);
servo6.write(90 - pos);
delay(10);
}
servo1.write(120);
servo8.write(30);
servo4.write(28);
servo5.write(93);
delay(15);
for (pos = 0; pos <= 90; pos += 2.0) {
servo2.write(pos);
servo7.write(150 - pos);
servo3.write(60 + pos);
servo6.write(90 - pos);
delay(10);
}
}
else
{
}
}
void distance_calc() {
pinMode(pingPin, OUTPUT);
digitalWrite(pingPin, LOW);
delayMicroseconds(2);
digitalWrite(pingPin, HIGH);
delayMicroseconds(5);
digitalWrite(pingPin, LOW);
pinMode(pingPin, INPUT);
duration = pulseIn(pingPin, HIGH);
inches = microsecondsToInches(duration);
Serial.print(inches);
Serial.print("in, ");
Serial.println();
delay(10);
}
long microsecondsToInches(long microseconds) {
return microseconds / 74 / 2;
}
