Super Mario Odyssey IRL

1//Defines the pin variables for the motors
2int posSpinn = 6;
3int  negSpinn = 5;
4int negPulley = 10;
5int posPulley = 9;
6
7//Spinn expansion  and retraction speed parameters
8int expSpeed = 20;
9int retSpeed = 110;
10
11//Defines  state machine variable
12int flag = 0;
13
14//Defines the light sensor variable
15int  sensor;
16
17void setup() {
18  //Motor pin variables in OUTPUT mode
19  pinMode(negSpinn,OUTPUT);
20  pinMode(posSpinn,OUTPUT);
21  pinMode(negPulley,OUTPUT);
22  pinMode(posPulley,OUTPUT);
23
24  //Initial pulley extenction
25      delay(1500);
26      analogWrite(negPulley,60);
27      delay(3800);
28      analogWrite(negPulley,0);
29}
30
31void loop() {
32  //Reads the sensor value and stores it in the "sensor" variable
33  sensor  = analogRead(A0);
34
35  //First state
36  if (flag == 0){
37    if (sensor  > 500){
38      //Next state
39      flag = 1;
40    }
41  }
42
43  //Second  state
44  else if (flag == 1){
45    if (sensor < 500){
46      //Throwing signal
47      delay(3000);
48      analogWrite(posPulley,150);
49      delay(100);
50      analogWrite(posPulley,0);
51
52      //Pulley retraction
53      delay(400);
54      digitalWrite(posPulley,1);
55      delay(1500);
56      digitalWrite(posPulley,0);
57
58      //Next state
59      flag = 2;
60    }
61  }
62
63  //Third state
64  else if (flag == 2){
65    if (sensor > 500){
66
67      //Next state
68      flag  = 3;
69      }
70    }
71    
72  //Fourth state
73  else if (flag == 3){
74    if (sensor < 500){
75      //Starts spinning
76      delay(2000);
77       digitalWrite(posSpinn,0);
78      analogWrite(negSpinn, 220);
79      delay(1000);
80      digitalWrite(negSpinn,1);
81      delay(1000);
82
83      //Spinn expansion
84      digitalWrite(posPulley,0);
85      analogWrite(negPulley,60);
86      delay(100);
87      analogWrite(negPulley,expSpeed);
88      delay(3000);
89      digitalWrite(negPulley,0);
90      delay(1600);
91
92      //Spinn retraction
93      analogWrite(posPulley,retSpeed);
94      delay(2000);
95
96      //Spinn finalization
97      digitalWrite(posPulley, 0);
98      digitalWrite(negSpinn,0);
99
100      //pulley extenction
101      delay(1500);
102      analogWrite(negPulley,60);
103      delay(3800);
104      analogWrite(negPulley,0);
105      
106      //Next  state
107      flag = 0;
108    }   
109  }
110  delay(4000);
111
112}

1//Defines the pin variables for the motors
2int posSpinn = 6;
3int
4  negSpinn = 5;
5int negPulley = 10;
6int posPulley = 9;
7
8//Spinn expansion
9  and retraction speed parameters
10int expSpeed = 20;
11int retSpeed = 110;
12
13//Defines
14  state machine variable
15int flag = 0;
16
17//Defines the light sensor variable
18int
19  sensor;
20
21void setup() {
22  //Motor pin variables in OUTPUT mode
23  pinMode(negSpinn,OUTPUT);
24
25  pinMode(posSpinn,OUTPUT);
26  pinMode(negPulley,OUTPUT);
27  pinMode(posPulley,OUTPUT);
28
29
30  //Initial pulley extenction
31      delay(1500);
32      analogWrite(negPulley,60);
33
34      delay(3800);
35      analogWrite(negPulley,0);
36}
37
38void loop() {
39
40  //Reads the sensor value and stores it in the "sensor" variable
41  sensor
42  = analogRead(A0);
43
44  //First state
45  if (flag == 0){
46    if (sensor
47  > 500){
48      //Next state
49      flag = 1;
50    }
51  }
52
53  //Second
54  state
55  else if (flag == 1){
56    if (sensor < 500){
57      //Throwing signal
58
59      delay(3000);
60      analogWrite(posPulley,150);
61      delay(100);
62
63      analogWrite(posPulley,0);
64
65      //Pulley retraction
66      delay(400);
67
68      digitalWrite(posPulley,1);
69      delay(1500);
70      digitalWrite(posPulley,0);
71
72
73      //Next state
74      flag = 2;
75    }
76  }
77
78  //Third state
79
80  else if (flag == 2){
81    if (sensor > 500){
82
83      //Next state
84      flag
85  = 3;
86      }
87    }
88    
89  //Fourth state
90  else if (flag == 3){
91
92    if (sensor < 500){
93      //Starts spinning
94      delay(2000);
95       digitalWrite(posSpinn,0);
96
97      analogWrite(negSpinn, 220);
98      delay(1000);
99      digitalWrite(negSpinn,1);
100
101      delay(1000);
102
103      //Spinn expansion
104      digitalWrite(posPulley,0);
105
106      analogWrite(negPulley,60);
107      delay(100);
108      analogWrite(negPulley,expSpeed);
109
110      delay(3000);
111      digitalWrite(negPulley,0);
112      delay(1600);
113
114
115      //Spinn retraction
116      analogWrite(posPulley,retSpeed);
117      delay(2000);
118
119
120      //Spinn finalization
121      digitalWrite(posPulley, 0);
122      digitalWrite(negSpinn,0);
123
124
125      //pulley extenction
126      delay(1500);
127      analogWrite(negPulley,60);
128
129      delay(3800);
130      analogWrite(negPulley,0);
131      
132      //Next
133  state
134      flag = 0;
135    }   
136  }
137  delay(4000);
138
139}