#define CONTROL0 5 //MUX control pins
#define CONTROL1 4
#define CONTROL2 3
#define CONTROL3 2

#include <Servo.h>

Servo myservo;  // 4 servo ojbects
Servo myservo2;
Servo myservo3;
Servo myservo4;

float pos = 0; // servo position
float inc = 5; // increment
boolean go_down;

void setup()
{

pinMode(CONTROL0, OUTPUT); //set MUX to output
pinMode(CONTROL1, OUTPUT);
pinMode(CONTROL2, OUTPUT);
pinMode(CONTROL3, OUTPUT);

digitalWrite(CONTROL0, LOW); //set MUX pins to low
digitalWrite(CONTROL1, LOW);
digitalWrite(CONTROL2, LOW);
digitalWrite(CONTROL3, LOW);

pinMode(14, OUTPUT); //set MUX M1 (14), M2 (15), M3 (16) to output
pinMode(15, OUTPUT);
pinMode(16, OUTPUT);

digitalWrite(14, LOW); //set MUX M1 (14), M2 (15), M3 (16) to low
digitalWrite(15, LOW);
digitalWrite(16, LOW);

for (int i=0; i<16; i++)
{
digitalWrite(CONTROL0, i & 8 );

myservo.attach(14); //servo on pin 8 in M0
myservo2.attach(15); //servo on pin 8 in M1
myservo3.attach(16);  //servo on pin 8 in M2
}

myservo4.attach(10); //servo on pin 10 on normal arduino

Serial.begin(9600);

}

void loop()
{

if(pos >= 180 || pos <= 0){
if(pos >= 180){
go_down = false;
}else{
go_down = true;
}
}
if(go_down == true){
Serial.println(go_down);
pos += inc;
}else{
Serial.println(go_down);
pos -= inc;
}
Serial.println(pos);
myservo.write(pos);
myservo2.write(pos);
myservo3.write(pos);
myservo4.write(pos);

delay(100);

}

 

/******************************************************************************
* F_RMlab @ Waterloo School of Architecture
* Code for irSensor and servo motor module
* Grow-Op
******************************************************************************/

#define irLedPin PIND // IR Led on this pin
#define irSensorPin 2 // IR sensor on this pin
#include <Servo.h> // servo motor on this pin

Servo servo_1;
int led = 12;

// defined constants:
int halfPeriod = 13; //one period at 38.5khZ is aproximately 26 microseconds
int cycles = 38; //26 microseconds * 38 is more or less 1 millisecond

// defined initialization:
float pos = 180; // servo position
float init_inc = 5;
float inc = init_inc; // increment
int dir;

//******************************************************************************/

void setup()
{
Serial.begin(9600);
Serial.println(“Program Starting”);
pinMode(led, OUTPUT);
servo_1.attach(10);
}

void loop(){
irRead(irSensorPin, irLedPin); //display the results
int ir = digitalRead(irSensorPin);
set_direction(ir);

Serial.println(ir);//”IR: ” + ir);
Serial.println(pos);//”POS: ” + pos);
Serial.println(dir);//”DIR: ” + dir);

//delay(100);
}

// irRead: int int -> None
// Consumes int representing pin of infrared sensor pin (irSP) and
// infrared led pin (irLP) and produces None
// Effects: The function bangs a 38.5khZ waveform to an IR led connected to the
// triggerPin for 1 millisecond, and then reads the IR sensor pin to see if the reflected
// IR has been detected
// the irSP returns a zero if something is detected by the sensor, and a 1 otherwise

void irRead(int irSP, int irLP)
{
for (int i=0; i <= cycles; i++)
{
//digital irled signal sent
digitalWrite(irLP, HIGH);
delayMicroseconds(halfPeriod);
digitalWrite(irLP, LOW);
delayMicroseconds(halfPeriod – 1);     // – 1 to make up for digitaWrite overhead
}
}

// motor_inc: None -> None
// Effects: The function increments the servo motor position by iteration based on
// direction of arm

int motor_inc(int irSP, int irLP)
{
if(dir == 3){ // go to bottom
pos += (inc*inc);
}else if (dir == 1){ // go to top
pos -= (inc*inc);
}else{ // stay
// do nothing
}

servo_1.write(pos);
//delay(100);
irRead(irSP, irLP);
//delay(100);
return digitalRead(irSP);
}
// set_direction
// code sets dir variable to 1 – 4 then
// motor_inc changes pos based on dir
// and returns ir variable
void set_direction(int sensor_active){
if(sensor_active != 0){ //if sensor is active
digitalWrite(led,HIGH);//trigger led 13
while(pos > 0){ //go to 0 = top
dir = 1;
sensor_active = motor_inc(irSensorPin, irLedPin);
//delay(100);
}
dir = 2;//stay at top = 0
sensor_active = motor_inc(irSensorPin, irLedPin);
inc = init_inc;
}else{
digitalWrite(led,LOW);//trigger led 13
if(pos < 180){ // go to 180 = bottom
dir = 3;
sensor_active = motor_inc(irSensorPin, irLedPin);
//delay(100);
}
dir = 4;//stay at bottom = 180
sensor_active = motor_inc(irSensorPin, irLedPin);
inc = init_inc;
}
}

/*
data definition:
dir is int where:
1 = arm goes to top; (- pos)
2 = stay at top;
3 = arm goes down; (+ pos)
4 = stay at bottom
*/