ربات سامورایی سبیلو | چشم هوشمند و ابروهای احساسی با آردوینو

// mxengineer.ir
// Pins: Left Servo = 9 , Right Servo = 10 , Button = 2

#include <Servo.h>

Servo eyebrowLeft;
Servo eyebrowRight;

const int buttonPin = 2;
bool sequencePlaying = false;

const int NEUTRAL = 90;
const int UP = 75;
const int DOWN = 105;
const int UP_EXTREME = 70;
const int DOWN_EXTREME = 110;

void setBoth(int angle) {
  angle = constrain(angle, UP_EXTREME, DOWN_EXTREME);
  eyebrowLeft.write(angle);
  eyebrowRight.write(180 - angle);
  delay(15);
}

void setSeparate(int leftAngle, int rightAngle) {
  leftAngle = constrain(leftAngle, UP_EXTREME, DOWN_EXTREME);
  rightAngle = constrain(rightAngle, UP_EXTREME, DOWN_EXTREME);
  eyebrowLeft.write(leftAngle);
  eyebrowRight.write(180 - rightAngle);
  delay(15);
}

void setup() {
  eyebrowLeft.attach(9);
  eyebrowRight.attach(10);
  pinMode(buttonPin, INPUT_PULLUP);
  setBoth(NEUTRAL);
}

void waveEyebrows() {
  for (int i = 0; i < 3; i++) {
    setSeparate(UP, NEUTRAL);
    delay(150);
    setSeparate(NEUTRAL, UP);
    delay(150);
  }
  setBoth(NEUTRAL);
}

void nervousTwitch() {
  for (int i = 0; i < 8; i++) {
    setBoth(UP);
    delay(40);
    setBoth(NEUTRAL);
    delay(40);
  }
}

void slowDramatic() {
  for (int ang = NEUTRAL; ang >= UP_EXTREME; ang -= 1) {
    setBoth(ang);
    delay(60);
  }
  delay(800);
  for (int ang = UP_EXTREME; ang <= NEUTRAL; ang += 1) {
    setBoth(ang);
    delay(60);
  }
}

void jumpy() {
  for (int i = 0; i < 4; i++) {
    setBoth(UP_EXTREME);
    delay(100);
    setBoth(NEUTRAL);
    delay(200);
    setBoth(UP);
    delay(80);
    setBoth(NEUTRAL);
    delay(150);
  }
}

void circleConfused() {
  for (int i = 0; i < 3; i++) {
    setSeparate(UP, NEUTRAL);
    delay(100);
    setSeparate(UP, UP);
    delay(100);
    setSeparate(NEUTRAL, UP);
    delay(100);
    setSeparate(NEUTRAL, NEUTRAL);
    delay(100);
  }
}

void heartbeatEyebrows() {
  for (int i = 0; i < 5; i++) {
    setBoth(DOWN);
    delay(60);
    setBoth(NEUTRAL);
    delay(60);
    setBoth(DOWN);
    delay(60);
    setBoth(NEUTRAL);
    delay(300);
  }
}

void randomMovements() {
  for (int i = 0; i < 12; i++) {
    int randomAngle = random(UP, DOWN + 1);
    int randomDelay = random(50, 250);
    setBoth(randomAngle);
    delay(randomDelay);
  }
  setBoth(NEUTRAL);
}

void gradualSuspicion() {
  for (int ang = NEUTRAL; ang >= UP; ang -= 2) {
    setSeparate(ang, NEUTRAL);
    delay(30);
  }
  delay(500);
  for (int ang = UP; ang <= NEUTRAL; ang += 2) {
    setSeparate(ang, NEUTRAL);
    delay(30);
  }
  delay(200);
  for (int ang = NEUTRAL; ang >= UP; ang -= 2) {
    setSeparate(NEUTRAL, ang);
    delay(30);
  }
  delay(500);
  setBoth(NEUTRAL);
}

void yawn() {
  setBoth(DOWN_EXTREME);
  delay(1500);
  setBoth(NEUTRAL);
  delay(300);
  setBoth(DOWN_EXTREME);
  delay(1000);
  setBoth(NEUTRAL);
}

void happyDance() {
  for (int beat = 0; beat < 6; beat++) {
    setBoth(UP);
    delay(120);
    setBoth(NEUTRAL);
    delay(120);
    setBoth(DOWN);
    delay(120);
    setBoth(NEUTRAL);
    delay(120);
  }
}

void runCoolMoves() {
  setBoth(NEUTRAL);
  delay(500);
  waveEyebrows();
  delay(400);
  slowDramatic();
  delay(300);
  nervousTwitch();
  delay(400);
  jumpy();
  delay(500);
  circleConfused();
  delay(400);
  heartbeatEyebrows();
  delay(400);
  gradualSuspicion();
  delay(500);
  randomMovements();
  delay(400);
  yawn();
  delay(300);
  happyDance();
  delay(400);
  for (int ang = NEUTRAL; ang <= DOWN_EXTREME; ang += 2) {
    setBoth(ang);
    delay(30);
  }
}

void loop() {
  if (digitalRead(buttonPin) == LOW && !sequencePlaying) {
    sequencePlaying = true;
    runCoolMoves();
    sequencePlaying = false;
    delay(300);
  }
}