鐳射激光逗貓神器

設備

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//https://github.com/robotgeek/desktopRoboTurretV3/tree/master/roboTurret3_lazerDazer

//Includes

#include   <Servo.h>            //include the servo library for working with servo objects

//Defines

const int PAN =   10;         //Pan Servo Digital Pin

const int TILT =   11;        //Tilt Servo Digital Pin

const int LASER =   2;        //Laser Digital Pin

const int PAN_MIN =   40;     // minimum pan servo range, value should be   between 0 and 180 and lower than PAN_MAX

const int PAN_MAX =   140;    // maximum pan servo range, value should be between 0   and 180 and more than PAN_MIN

const int TILT_MIN =   60;    // minimum tilt servo range, value should be between 0   and 180 and lower than TILT_MAX

const int TILT_MAX = 100;   //   maximum tilt servo range, value should be between 0 and 180 and more than   TILT_MIN

const int SPEED_MIN = 10;   //   minimum interpolation speed (less than 5 not recommended)

const int SPEED_MAX = 10;   //   maximum interpolation speed (Lower SPEED_MAX values mean that the program   will cycle more quickly, leading to an increased occurance of pausing. Adjust   ROLL_MAX accordingly)

const int ROLL_MAX =   40;    // Roll the dice for random pause. Lower value = more   frequent pauses, higher value = less frequent pauses

const int PAUSE_MIN = 500;  //   define minimum pause length in mS. 1000 = 1 second

const int PAUSE_MAX = 1500; // define   maximum pause length in mS.

Servo panServo, tiltServo;  //   create servo objects to control the pan and tilt servos

long dazer_speed;

int dazer_pause_roll;

int pause_length = 1;

int panValue = 90;   //current   positional value being sent to the pan servo.

int tiltValue = 90;  //current   positional value being sent to the tilt servo.

byte pan_goal;

byte tilt_goal;

//State Variables

int laserState =   LOW;         //The current state of   the laser module

//Timing variables

long lastDebounceTime = 0;  // the   last time the output pin was toggled. This variable is a 'long' because it   may need to hold many milliseconds, and a 'long' will afford more space than   an 'int'

int debounceDelay = 50;      // the amount of time that that a button must be held, for a reading to   register (in milliseconds)

void setup()

{

  //initialize servos

  panServo.attach(PAN);    // attaches/activates the pan servo on pin PAN

  tiltServo.attach(TILT);    // attaches/activates the tilt servo on pin TILT

  //initalize digital pins

  pinMode(LASER,   OUTPUT);      //set the LASER Pin to an output

  //write initial servo   positions to set the servos to 'home'

  panServo.write(panValue);    //sets the pan servo position to the default 'home' value

  tiltServo.write(tiltValue);//sets   the tilt servo position to the default 'home' value

  randomSeed(analogRead(0));    //set a basis for the random() engine, based off of analog0 which will be a random   number because nothing is attached

  digitalWrite(LASER, HIGH);

}

void loop()

{

  dazer_pause_roll = random(1,   ROLL_MAX);      //pick a random number between 1 and   ROLL_MAX

  pause_length =   random(PAUSE_MIN, PAUSE_MAX); //pick a random number between PAUSE_MIN and   PAUSE_MAX

  delay(pause_length);                           //use the random number to pause for pause_length milliseconds

  pan_goal = random(PAN_MIN,   PAN_MAX);

  tilt_goal = random(TILT_MIN,   TILT_MAX);

  dazer_speed =   random(SPEED_MIN, SPEED_MAX);

  //perfom the loop while the   current positions are different from the goal positions

  //if the pan_goal is larger   than the pan position, move the pan position up

  if (pan_goal > panValue)

  {

    panValue = panValue++;

  }

  //if the pan_goal is smaller   than the pan position, move the pan position down

  else if (pan_goal <   panValue)

  {

    panValue =   panValue--;

  }                

  //if the tilt_goal is larger   than the tilt position, move the pan position up

  if (tilt_goal > tiltValue)

  {

    tiltValue =   tiltValue++;

  }

  //if the tilt_goal is smaller   than the tilt position, move the pan position down

  else if (tilt_goal <   tiltValue)

  {

    tiltValue =   tiltValue--;

  }   

  panServo.write(pan_goal);                      // sets the servo position according to the scaled value

  tiltServo.write(tilt_goal);                    // sets the servo position according to the scaled value

  delay(dazer_speed);                            // waits for a random delay before the next loop

} //end loop()