版权说明：Copyright 2023 Robottime(Beijing) Technology Co., Ltd. All Rights Reserved.

           Distributed under MIT license.See file LICENSE for detail or copy at

           https://opensource.org/licenses/MIT

           by 机器谱 2023-04-14 https://www.robotway.com/

  ------------------------------*/

#include <Servo.h>

#define servo_speed 20   //servo_speed

#define servo_speed2 45

#define action_delay 350 //action_delay

Servo myServo[4];

int num = 10;

int servo_port[4]={4,11,3,12};   //servo_pin

int servo_num = sizeof(servo_port)/sizeof(servo_port[0]);   //servo_pin length

float value_init[4]={90, 90, 90, 90}; //各个舵机的初始位置  

void setup() {

  // put your setup code here, to run once:

  Serial.begin(9600);

  for(int i=0; i<servo_num; i++)

  {

    ServoGo(i, value_init[i]);

  }

}

void loop() {

  // put your main code here, to run repeatedly:

for(int i=0;i<1;i++)

{

  left_right_bias();

  delay(100);

  forward_back_lie_down();

  delay(100);

}

//while(1)

//{

// walk();

//}

while(1)

{

test();

}

}

void test()

{

  servo_move(90,60,90,90);

  servo_move(120,60,120,90);

  servo_move(120,60,120,120);

  servo_move(90,90,90,120);

}

void walk()

{

  servo_move(90,60,90,90);

  servo_move(110,60,114,90);

  servo_move(110,60,114,130);

  servo_move(60,90,90,130);   

}

void forward_back_lie_down()

{

  servo_move2(90, 90, 90, 90);

  servo_move2(103,29,75,165);

  servo_move2(90, 90, 90, 90);

  servo_move2(90,156,90,20);

  servo_move2(90, 90, 90, 90);  

}

void left_right_bias()

{

  servo_move2(90, 90, 90, 90);

  servo_move2(47,136,57,119);

  servo_move2(90, 90, 90, 90);

  servo_move2(116,54,147,74);

  servo_move2(90, 90, 90, 90);

}

void ServoStart(int which)

{

  if(!myServo[which].attached())myServo[which].attach(servo_port[which]);

  pinMode(servo_port[which], OUTPUT);

}

void ServoStop(int which)

{

  myServo[which].detach();

  digitalWrite(servo_port[which],LOW);

}

void ServoGo(int which , int where)

{

  if(where!=200)

  {

    if(where==201) ServoStop(which);

    else

    {

      ServoStart(which);

      myServo[which].write(where);

    }

  }

}

void servo_move(float value0, float value1, float value2, float value3)

{

  float value_arguments[] = {value0, value1, value2, value3};

  float value_delta[servo_num];

  for(int i=0;i<servo_num;i++)

  {

    value_delta[i] = (value_arguments[i] - value_init[i]) / num;

  }

  for(int i=0;i<num;i++)

  {

    for(int k=0;k<servo_num;k++)

    {

      value_init[k] = value_delta[k] == 0 ? value_arguments[k] : value_init[k] + value_delta[k];

    }

    for(int j=0;j<servo_num;j++)

    {

      ServoGo(j,value_init[j]);

    }

    delay(servo_speed);

  }

}

void servo_move2(float value0, float value1, float value2, float value3)

{

  float value_arguments[] = {value0, value1, value2, value3};

  float value_delta[servo_num];

  for(int i=0;i<servo_num;i++)

  {

    value_delta[i] = (value_arguments[i] - value_init[i]) / num;

  }

  for(int i=0;i<num;i++)

  {

    for(int k=0;k<servo_num;k++)

    {

      value_init[k] = value_delta[k] == 0 ? value_arguments[k] : value_init[k] + value_delta[k];

    }

    for(int j=0;j<servo_num;j++)

    {

      ServoGo(j,value_init[j]);

    }

    delay(servo_speed2);

  }

}