Shared:Group 4

Flower_blooming_process_in_reaction_to_people_interaction , by Danny, Boyuan

Code Sample

1. include <Servo.h>

Servo myservo1; Servo myservo2; Servo myservo3; Servo myservo4; Servo myservo5; Servo myservo6; Servo myservo7; // twelve servo objects can be created on most boards

1. define trigPin 10
2. define echoPin 11
3. define PREVIOUS_VALS 25

int potpin = 0; // analog pin used to connect the potentiometer float val; // variable to read the value from the analog pin

float historyVals[PREVIOUS_VALS];

1. define timeScale 6

float averageVals[7 * timeScale];

void setup() {

 pinMode(trigPin, OUTPUT);
 pinMode(echoPin, INPUT);
 Serial.begin (9600);
 myservo1.attach(3);
 myservo2.attach(4);
 myservo3.attach(5);
 myservo4.attach(6);
 myservo5.attach(7);
 myservo6.attach(8);
 myservo7.attach(9);
 float initialVal = 90;
 for (int i = 0; i < PREVIOUS_VALS; i++) {
   historyVals[i] = initialVal;
 }

}

void loop() {

 float duration, distance;

 distance = 9999999;

 digitalWrite(trigPin, LOW);
 delayMicroseconds(2);

 digitalWrite(trigPin, HIGH);
 delayMicroseconds(10);
 digitalWrite(trigPin, LOW);

 duration = pulseIn(echoPin, HIGH);
 distance = (duration / 2) * 0.0344;

 Serial.println(distance);
 delay(30);

 if (distance > 100 || duration > 500000) {
   distance = 50;
 }

 val = mapfloat(distance, 1, 50, 50, 180);   // scale it to use it with the servo (value between 0 and 180)
 //Serial.println(val);
 //Serial.println(val, 10);

 addValToHistory(val);

 float currentAverage = averageVal();

 addAverageToHistory(currentAverage);

 writeServos();

 delay(10);

}

float mapfloat(float x, float in_min, float in_max, float out_min, float out_max) {

 return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;

}

float averageVal() {

 float total = 0;
 for (int i = 0; i < PREVIOUS_VALS; i++) {
   total = total + historyVals[i];
 }
 float average = total / PREVIOUS_VALS;
 return average;

}

void addValToHistory(float v) {

 for (int i = 0; i < PREVIOUS_VALS - 1; i++) {
   historyVals[i] =  historyVals[i + 1];
 }
 historyVals[PREVIOUS_VALS - 1] = v;

}

void addAverageToHistory(float av) {

 for (int i = 0; i < 7 * timeScale - 1; i++) {
   averageVals[i] =  averageVals[i + 1];
 }
 averageVals[7 * timeScale - 1] = av;

}

void writeServos() {

 int i = 7 * timeScale - 1;
 
 myservo1.write(averageVals[i]);
 i = i - timeScale;
 myservo2.write(averageVals[i]);
 i = i - timeScale;
 myservo3.write(averageVals[i]);
 i = i - timeScale;
 myservo4.write(averageVals[i]);
 i = i - timeScale;
 myservo5.write(averageVals[i]);
 i = i - timeScale;
 myservo6.write(averageVals[i]);
 i = i - timeScale;
 myservo7.write(averageVals[i]);

}