Makefun Insect-Robot, Инструкция по эксплуатации, Страница: 35 / 38

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35
int sensorPin = A1 ;
// distance value for danger close. Bigger values are greater distance and
smaller values are lower distance
int dangerDistance = 350 ;
/* Setup function */
void setup ()
{
// attach servos
frontServo . attach ( 12 );
rearServo . attach ( 13 );
// assign sensor
pinMode ( sensorPin , INPUT );
// center servos
frontServo . write ( centerPos );
rearServo . write ( centerPos );
// wait 3 seconds for start walking
delay ( 3000 );
//Serial.begin(9600); // serial data setup
}
/* distance check function */
void scan ()
{
// read 5 distance values
for ( i = 0 ; i < 5 ; i = i + 1 ) {
distanceCheck = analogRead ( sensorPin );
collectDistance [ i ] = distanceCheck ;
// serial output for testing
//Serial.print (i);
//Serial.print(" = ");
//Serial.println(collectDistance[i]);
}
// checksum of the 5 distance values for getting an average value.
This will prevent the robot to change behavior by reading one wrong value