#include <Servo.
h>
Servo m1; //Servos are named
Servo m2;
Servo m3;
Servo m4;
const int dugme1 = 12; // we introduced the pins of the buttons
const int dugme2 = 13;
int dugme1state = 0; // we specify the button variables.
bool dugme2state = false;
const int potpin1 = A0; //We introduced the potentiometer pins
const int potpin2 = A1;
const int potpin3 = A2;
const int potpin4 = A3;
int pot1value; // We specified the potentiometer variables.
int pot2value;
int pot3value;
int pot4value;
int pot1aci;
int pot2aci;
int pot3aci;
int pot4aci;
int m1PositionRecord[] = {0,0,0,0,0,0,0,0,0,0};
int m2PositionRecord[] = {0,0,0,0,0,0,0,0,0,0};
int m3PositionRecord[] = {0,0,0,0,0,0,0,0,0,0};
int m4PositionRecord[] = {0,0,0,0,0,0,0,0,0,0};
void setup() {
m1.attach(3); // We introduced which pins we attach the servos
m2.attach(5);
m3.attach(6);
m4.attach(9);
pinMode(dugme1, INPUT); //Record Mode
pinMode(dugme2, INPUT); //Play Mode
Serial.begin(9600);
}
void loop()
{
pot1value = analogRead(potpin1); //Read potentiometer value between 0-1023
pot1aci = map(pot1value, 0, 1023,0, 180); // We mapped the value in the range of
0 -1023 to the range 0-140 on the pwm output.
pot2value = analogRead(potpin2);
pot2aci = map(pot2value, 0, 1023, 0, 180);
pot3value = analogRead(potpin3);
pot3aci = map(pot3value, 0, 1023, 0, 180);
pot4value = analogRead(potpin4);
pot4aci = map(pot4value, 0, 1023, 0, 180);
m1.write(pot1aci); // Values of the potentiometers to be printed to the servos.
m2.write(pot2aci);
m3.write(pot3aci);
m4.write(pot4aci);
if(digitalRead(dugme1) == HIGH) // increment array depend on how many time
button1 pressed
{
delay(250);
dugme1state++;
switch(dugme1state)
{
case 1:
m1PositionRecord[0] = pot1aci;
m2PositionRecord[0] = pot2aci;
m3PositionRecord[0] = pot3aci;
m4PositionRecord[0] = pot4aci;
Serial.println("Position 1 registered.");
break;
case 2:
m1PositionRecord[1] = pot1aci;
m2PositionRecord[1] = pot2aci;
m3PositionRecord[1] = pot3aci;
m4PositionRecord[1] = pot4aci;
Serial.println("Position 2 registered.");
break;
case 3:
m1PositionRecord[2] = pot1aci;
m2PositionRecord[2] = pot2aci;
m3PositionRecord[2] = pot3aci;
m4PositionRecord[2] = pot4aci;
Serial.println("Position 3 registered.");
break;
case 4:
m1PositionRecord[3] = pot1aci;
m2PositionRecord[3] = pot2aci;
m3PositionRecord[3] = pot3aci;
m4PositionRecord[3] = pot4aci;
Serial.println("Position 4 registered.");
break;
case 5:
m1PositionRecord[4] = pot1aci;
m2PositionRecord[4] = pot2aci;
m3PositionRecord[4] = pot3aci;
m4PositionRecord[4] = pot4aci;
Serial.println("Position 5 registered.");
break;
case 6:
m1PositionRecord[5] = pot1aci;
m2PositionRecord[5] = pot2aci;
m3PositionRecord[5] = pot3aci;
m4PositionRecord[5] = pot4aci;
Serial.println("Position 6 saved.");
break;
case 7:
m1PositionRecord[6] = pot1aci;
m2PositionRecord[6] = pot2aci;
m3PositionRecord[6] = pot3aci;
m4PositionRecord[6] = pot4aci;
Serial.println("Position 7 registered.");
break;
case 8:
m1PositionRecord[7] = pot1aci;
m2PositionRecord[7] = pot2aci;
m3PositionRecord[7] = pot3aci;
m4PositionRecord[7] = pot4aci;
Serial.println("Position 8 registered.");
break;
case 9:
m1PositionRecord[8] = pot1aci;
m2PositionRecord[8] = pot2aci;
m3PositionRecord[8] = pot3aci;
m4PositionRecord[8] = pot4aci;
Serial.println("Position 9 registered.");
break;
case 10:
m1PositionRecord[9] = pot1aci;
m2PositionRecord[9] = pot2aci;
m3PositionRecord[9] = pot3aci;
m4PositionRecord[9] = pot4aci;
Serial.println("Position 10 registered.");
break;
}
}
if(digitalRead(dugme2) == HIGH) //Play Mode
{
dugme2state = true;
}
if(dugme2state)
{
for(int i = 0; i < 10; i++)
{
m1.write(m1PositionRecord[i]); // it is 0 for the first time, it brings
the 1st values we have changed from the sequence at the beginning of the code and
prints them to the relevant servo.
delay(350);
m2.write(m2PositionRecord[i]);
delay(350);
m3.write(m3PositionRecord[i]);
delay(350);
m4.write(m4PositionRecord[i]);
Serial.println(" potentiometer values: ");
Serial.println(m1PositionRecord[i]);
Serial.println(m2PositionRecord[i]);
Serial.println(m3PositionRecord[i]);
Serial.println(m4PositionRecord[i]);
delay(350); //
}
}
delay(15);
}
