Components and supplies
Jumper wires (generic)
Breadboard (generic)
SG90 Micro-servo motor
Arduino UNO
USB-A to Mini-USB Cable
Tools and machines
Scissor, Electrician
Tape, Electrical
Project description
Code
Rangoli Making Robot Code
arduino
1#include <Servo.h> 2 3Servo m1,m2; 4 5float d,h,l,phi; 6float 7 theta1,theta2; 8int i,j; 9 10int dly=80; 11 12void setup() { 13 m1.attach(11); 14 15 m2.attach(10); 16 17 18} 19 20void go(float x, float y){ 21 22 l = 23 8; //length of link, l= 8cm 24 25 d = sqrt((x*x)+(y*y)); //distace between 26 origin left and (x,y) point 27 28 phi = atan2(y,x)*180/3.14; // phi, angle between 29 d and x axis 30 31 h = sqrt((l*l)-((d/2)*(d/2))); //height of the triangle 32 33 34 theta1 = atan2(h,(d/2))*180/3.14; // phi 1, angle between d and axis 35 36 37 theta2 = (90 - theta1)*2; // angle between l and l 38 39 40 theta1+=phi; 41 42 43 if ((theta1>0 && theta2>0) && (theta1<180 && theta2<180)){ 44 m1.writeMicroseconds((int)((theta1/180)*1500+700)); 45 46 m2.writeMicroseconds((int)((theta2/180)*1500+700)); 47 48 } 49 50} 51 52void 53 coverage(){ 54 for (i=0;i<180;i+=1){ 55 m1.write(i); 56 delay(25); 57 58 } 59 60 for (j=10;j<180;j+=1){ 61 m2.write(j); 62 delay(25); 63 64 } 65 66 for (i=180;i>0;i-=1){ 67 m1.write(i); 68 delay(25); 69 70 } 71 72 73 for (j=180;j>10;j-=1){ 74 m2.write(j); 75 delay(25); 76 77 } 78} 79 80void human(){ 81 int l= 100; 82 float x[l]={1.92, 2.33, 2.75, 83 3.17, 2.25, 1.33, 0.83, 0.5, 0.25, 0.25, 0.33, 0.83, 1.25, 1.75, 2.33, 2.92, 3.5, 84 3.25, 3.0, 2.83, 2.75, 2.83, 2.92, 3.25, 3.5, 3.92, 4.33, 4.92, 5.33, 5.83, 6.25, 85 6.5, 6.67, 6.75, 6.75, 6.75, 6.67, 6.5, 6.33, 6.25, 6.67, 7.0, 7.5, 8.0, 8.33, 8.67, 86 9.0, 9.0, 9.0, 9.0, 8.83, 8.5, 8.0, 7.5, 7.0, 6.5, 6.08, 6.25, 6.42, 6.58, 6.75, 87 6.92, 7.17, 7.33, 7.5, 7.67, 8.08, 8.42, 8.83, 8.75, 8.67, 8.42, 8.0, 7.42, 6.92, 88 6.42, 5.92, 5.67, 5.42, 5.17, 4.92, 4.75, 4.5, 4.25, 4.0, 3.67, 3.5, 2.92, 2.25, 89 1.67, 1.25, 0.92, 0.58, 0.5, 0.5, 0.67, 1.0, 1.42, 1.58, 1.92}; 90 float y[l]={8.92, 91 8.33, 7.5, 6.58, 6.67, 6.75, 6.67, 6.33, 5.92, 5.33, 4.83, 4.5, 4.33, 4.25, 4.17, 92 4.17, 4.17, 3.83, 3.5, 3.08, 2.58, 2.0, 1.5, 1.17, 0.83, 0.5, 0.25, 0.25, 0.42, 93 0.58, 0.83, 1.25, 1.58, 2.0, 2.42, 2.92, 3.25, 3.58, 3.92, 4.0, 4.25, 4.25, 4.25, 94 4.42, 4.5, 4.67, 4.92, 5.25, 5.67, 5.92, 6.33, 6.58, 6.67, 6.67, 6.67, 6.5, 6.5, 95 6.83, 7.17, 7.5, 7.92, 8.25, 8.58, 8.92, 9.25, 9.33, 9.42, 9.58, 9.92, 10.33, 10.83, 96 11.25, 11.42, 11.42, 11.58, 11.5, 11.25, 11.0, 10.67, 10.42, 10.17, 9.92, 10.0, 97 10.42, 10.83, 11.0, 11.33, 11.5, 11.5, 11.58, 11.33, 11.08, 10.83, 10.33, 9.92, 98 9.58, 9.42, 9.5, 9.33, 8.92}; 99 100 for(i=0;i<l;i+=1){ 101 go(x[i],y[i]+2); 102 103 delay(dly); 104 } 105 106} 107 108void star(){ 109 int l=99; 110 float 111 x[l] = {3.8333, 3.9167, 4.0, 4.1667, 4.25, 4.3333, 4.4167, 4.5, 4.6667, 4.25, 3.9167, 112 3.5833, 3.25, 2.8333, 2.5833, 2.6667, 2.9167, 3.1667, 3.5, 3.75, 4.0, 4.3333, 4.6667, 113 4.9167, 5.25, 5.25, 5.4167, 5.5, 5.6667, 5.75, 5.8333, 5.9167, 6.0, 6.1667, 6.1667, 114 6.25, 6.3333, 6.4167, 6.4167, 6.5, 6.5833, 6.6667, 6.6667, 6.75, 6.8333, 6.8333, 115 7.0, 7.0833, 7.3333, 7.5, 7.75, 7.9167, 8.0833, 8.25, 8.5, 8.75, 9.0, 9.1667, 9.0833, 116 8.75, 8.5, 8.25, 8.0, 7.8333, 7.6667, 7.4167, 7.25, 7.3333, 7.4167, 7.5833, 7.5833, 117 7.6667, 7.75, 7.8333, 7.9167, 8.0833, 8.1667, 8.0, 7.8333, 7.5, 7.1667, 7.0, 6.8333, 118 6.5, 6.25, 6.0, 5.75, 5.5833, 5.5, 5.1667, 5.0833, 4.8333, 4.6667, 4.5, 4.3333, 119 4.0833, 3.9167, 3.8333, 3.6667}; 120 float y[l] = {8.75, 8.4167, 8.0833, 7.75, 121 7.4167, 7.0833, 6.75, 6.5, 6.1667, 6.0, 5.75, 5.5, 5.25, 5.0833, 4.8333, 4.6667, 122 4.6667, 4.6667, 4.6667, 4.6667, 4.6667, 4.6667, 4.6667, 4.6667, 4.75, 4.4167, 4.0833, 123 3.75, 3.5, 3.1667, 2.8333, 2.5833, 2.3333, 2.5, 2.6667, 2.8333, 3.0833, 3.25, 3.4167, 124 3.5833, 3.75, 4.0, 4.1667, 4.3333, 4.4167, 4.5833, 4.6667, 4.6667, 4.6667, 4.6667, 125 4.6667, 4.6667, 4.6667, 4.6667, 4.6667, 4.6667, 4.6667, 4.6667, 4.8333, 5.0, 5.1667, 126 5.3333, 5.5, 5.75, 5.8333, 6.0, 6.1667, 6.4167, 6.5, 6.8333, 7.0833, 7.3333, 7.5, 127 7.8333, 8.0833, 8.25, 8.5833, 8.3333, 8.1667, 8.0833, 7.9167, 7.6667, 7.5, 7.25, 128 7.0833, 7.0, 7.0833, 7.25, 7.4167, 7.5833, 7.75, 7.9167, 8.0833, 8.1667, 8.25, 8.4167, 129 8.5833, 8.75, 8.8333}; 130 131 for(i=0;i<l;i+=1){ 132 go(x[i],y[i]); 133 delay(dly); 134 135 } 136} 137 138void hand(){ 139 int l=55; 140 float x[l] ={3.5833, 3.5, 3.75, 141 4.1667, 4.25, 4.25, 4.5833, 4.5833, 4.5833, 4.5833, 4.9167, 5.25, 5.3333, 5.3333, 142 5.4167, 5.4167, 5.6667, 5.75, 5.75, 5.6667, 5.9167, 6.25, 6.5833, 6.5833, 6.5833, 143 6.5833, 6.5833, 6.8333, 6.9167, 7.0, 7.0, 7.25, 7.6667, 7.6667, 7.75, 7.75, 7.75, 144 7.75, 8.1667, 8.5, 9.0, 9.3333, 9.0, 8.5, 8.0, 7.5, 6.8333, 6.0833, 5.1667, 4.5833, 145 4.0833, 3.6667, 3.5833, 3.5, 3.5833}; 146 float y[l] ={6.5, 4.1667, 3.9167, 3.9167, 147 4.5, 5.9167, 5.8333, 4.9167, 3.5, 2.9167, 2.5833, 2.5833, 2.8333, 3.3333, 5.25, 148 5.75, 5.6667, 4.9167, 3.9167, 2.5833, 2.1667, 2.25, 2.3333, 2.9167, 3.9167, 5.0, 149 5.5, 5.5833, 4.5833, 3.6667, 3.1667, 2.8333, 2.9167, 3.5, 4.5833, 5.3333, 6.0833, 150 7.1667, 6.5833, 5.9167, 5.8333, 6.1667, 6.6667, 8.0, 8.9167, 9.4167, 9.75, 9.8333, 151 9.8333, 9.5, 9.0, 8.3333, 7.5833, 6.9167, 6.5}; 152 153 for(i=0;i<l;i+=1){ 154 155 go(x[i],y[i]); 156 delay(dly); 157 } 158} 159 160void head(){ 161 int 162 l=128; 163 float x[l] ={7.0, 6.92, 6.92, 7.0, 7.0, 7.08, 7.08, 7.17, 7.17, 7.33, 164 7.5, 7.58, 8.17, 8.25, 8.42, 8.5, 8.67, 8.83, 8.83, 8.75, 8.75, 8.92, 8.92, 8.83, 165 8.75, 8.75, 8.83, 8.92, 9.0, 8.92, 8.92, 9.08, 9.17, 9.25, 9.33, 9.42, 9.25, 9.25, 166 9.08, 9.08, 9.0, 9.0, 8.83, 8.83, 8.75, 8.75, 8.67, 8.67, 8.75, 8.75, 8.67, 8.67, 167 8.58, 8.58, 8.5, 8.5, 8.33, 8.33, 8.17, 8.17, 7.75, 7.67, 7.42, 7.33, 7.25, 7.17, 168 7.08, 7.0, 6.92, 6.75, 6.67, 6.5, 6.42, 6.17, 6.08, 4.67, 4.58, 4.33, 4.25, 4.08, 169 4.0, 3.83, 3.75, 3.67, 3.5, 3.42, 2.92, 2.92, 2.75, 2.75, 2.67, 2.67, 2.58, 2.58, 170 2.5, 2.5, 2.58, 2.58, 2.67, 2.67, 2.75, 2.75, 2.83, 2.83, 2.92, 2.92, 3.08, 3.08, 171 3.17, 3.17, 3.33, 3.33, 3.42, 3.42, 3.5, 3.5, 3.58, 3.58, 3.67, 3.67, 3.58, 3.58, 172 3.5, 3.5, 3.42, 3.42, 3.33, 3.25}; 173 float y[l] ={10.08, 10.0, 9.92, 9.83, 9.5, 174 9.42, 9.25, 9.17, 9.08, 8.92, 8.92, 9.0, 9.0, 9.08, 9.08, 9.0, 9.0, 8.83, 8.33, 175 8.25, 8.08, 7.92, 7.75, 7.75, 7.67, 7.58, 7.5, 7.5, 7.42, 7.33, 6.92, 6.75, 6.75, 176 6.67, 6.67, 6.58, 6.42, 6.33, 6.17, 6.08, 6.0, 5.92, 5.75, 5.67, 5.58, 5.5, 5.42, 177 5.25, 5.17, 4.67, 4.58, 4.25, 4.17, 4.0, 3.92, 3.75, 3.58, 3.5, 3.33, 3.25, 2.83, 178 2.83, 2.58, 2.58, 2.5, 2.5, 2.42, 2.42, 2.33, 2.33, 2.25, 2.25, 2.17, 2.17, 2.08, 179 2.08, 2.17, 2.17, 2.25, 2.25, 2.33, 2.33, 2.42, 2.42, 2.58, 2.58, 3.08, 3.17, 3.33, 180 3.5, 3.58, 3.75, 3.83, 4.17, 4.25, 4.83, 4.92, 5.42, 5.5, 5.75, 5.83, 6.0, 6.08, 181 6.25, 6.33, 6.42, 6.58, 6.67, 6.75, 6.83, 7.0, 7.08, 7.17, 7.25, 7.33, 7.42, 7.5, 182 7.75, 7.83, 9.0, 9.08, 9.42, 9.5, 9.75, 9.83, 9.92, 10.0, 10.0}; 183 184 for(i=0;i<l;i+=1){ 185 186 go(x[i],y[i]+1); 187 delay(dly); 188 } 189} 190 191void heart(){ 192 int 193 l=65; 194 float x[l] ={5.92, 6.25, 6.58, 6.92, 7.17, 7.58, 7.92, 8.42, 9.0, 9.5, 195 10.0, 10.42, 10.83, 11.33, 11.58, 11.83, 11.92, 11.92, 11.75, 11.5, 11.25, 10.83, 196 10.42, 9.83, 9.17, 8.58, 8.0, 7.42, 7.08, 6.67, 6.42, 6.0, 5.5, 5.0, 4.42, 3.92, 197 3.42, 3.0, 2.5, 2.0, 1.67, 1.33, 1.0, 0.58, 0.33, 0.08, 0.08, 0.17, 0.42, 0.75, 198 1.17, 1.58, 2.0, 2.58, 3.08, 3.5, 3.83, 4.33, 4.75, 5.0, 5.25, 5.58, 5.67, 5.83, 199 6.0}; 200 float y[l] ={2.25, 1.92, 1.5, 1.0, 0.67, 0.5, 0.33, 0.25, 0.17, 0.17, 201 0.33, 0.5, 0.83, 1.17, 1.67, 2.42, 3.33, 4.0, 4.58, 5.33, 5.83, 6.5, 7.33, 8.08, 202 8.83, 9.5, 10.17, 10.67, 11.08, 11.33, 11.67, 12.17, 11.58, 11.0, 10.5, 9.92, 9.33, 203 8.92, 8.25, 7.75, 7.17, 6.67, 6.08, 5.42, 4.75, 3.83, 3.0, 2.17, 1.67, 1.25, 0.83, 204 0.5, 0.17, 0.08, 0.08, 0.17, 0.17, 0.25, 0.5, 0.75, 1.08, 1.33, 1.67, 2.0, 2.33}; 205 206 207 for(i=0;i<l;i+=1){ 208 go(x[i],y[i]+2); 209 delay(dly); 210 } 211} 212 213void 214 house(){ 215 int l=112; 216 float x[l] ={1.4167, 1.4167, 1.4167, 1.4167, 1.4167, 217 1.4167, 1.4167, 1.4167, 1.0833, 0.8333, 0.5833, 0.25, 0.25, 0.5833, 0.9167, 1.25, 218 1.6667, 2.0833, 2.5, 2.9167, 3.25, 3.5833, 3.9167, 4.25, 4.5833, 5.0, 5.3333, 5.75, 219 6.0, 6.3333, 6.6667, 7.0, 7.25, 7.5, 7.6667, 7.75, 7.6667, 7.6667, 7.6667, 8.0, 220 8.3333, 8.5833, 8.9167, 9.0, 8.9167, 9.0, 9.0, 9.0, 9.0, 8.9167, 8.9167, 9.1667, 221 9.4167, 9.6667, 10.0, 10.25, 10.5833, 10.8333, 11.0833, 11.4167, 11.5833, 11.5833, 222 11.3333, 11.0833, 10.8333, 10.5833, 10.5833, 10.5833, 10.5833, 10.5833, 10.5833, 223 10.5833, 10.5833, 10.5833, 10.5833, 10.5833, 10.5833, 10.5833, 10.5833, 10.5833, 224 10.5833, 10.3333, 10.0, 9.6667, 9.25, 8.9167, 8.4167, 8.0, 7.5833, 7.25, 6.75, 6.4167, 225 6.0, 5.75, 5.3333, 5.0, 4.5833, 4.0833, 3.8333, 3.5833, 3.25, 2.8333, 2.5833, 2.0833, 226 1.9167, 1.75, 1.4167, 1.4167, 1.4167, 1.4167, 1.4167, 1.4167}; 227 float y[l] ={7.5, 228 7.0, 6.5, 6.0, 5.5833, 5.25, 4.75, 4.4167, 4.4167, 4.4167, 4.4167, 4.4167, 4.0833, 229 3.8333, 3.6667, 3.4167, 3.0833, 2.8333, 2.5833, 2.4167, 2.25, 2.0, 1.6667, 1.5, 230 1.25, 1.0, 0.8333, 0.5833, 0.4167, 0.5833, 0.6667, 0.9167, 1.0, 1.1667, 1.25, 1.0, 231 0.8333, 0.5, 0.3333, 0.3333, 0.3333, 0.3333, 0.3333, 0.5, 0.5833, 0.9167, 1.25, 232 1.5, 1.75, 1.9167, 2.1667, 2.3333, 2.5, 2.6667, 2.8333, 3.0, 3.1667, 3.3333, 3.5, 233 3.6667, 3.75, 4.1667, 4.1667, 4.1667, 4.1667, 4.1667, 4.3333, 4.5, 4.8333, 5.1667, 234 5.5, 5.9167, 6.1667, 6.4167, 6.6667, 6.9167, 7.1667, 7.4167, 7.6667, 7.9167, 8.3333, 235 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 236 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 237 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 8.1667, 8.0, 7.9167, 7.6667, 7.5}; 238 239 240 for(i=0;i<l;i+=1){ 241 go(x[i],y[i]+1); 242 delay(dly); 243 } 244} 245 246void 247 f22(){ 248 int l=102; 249 float x[l] ={1.8333, 2.1667, 2.4167, 2.75, 3.0, 3.3333, 250 3.5, 3.8333, 4.0, 4.0, 4.0, 4.0, 4.25, 4.5, 4.5, 4.5833, 4.5833, 4.6667, 4.75, 4.8333, 251 4.9167, 5.0, 5.0833, 5.1667, 5.1667, 5.25, 5.25, 5.25, 5.25, 5.25, 5.4167, 5.5833, 252 5.75, 5.75, 5.75, 5.8333, 5.8333, 5.8333, 5.9167, 6.0833, 6.25, 6.5, 6.6667, 6.9167, 253 7.1667, 7.3333, 7.5833, 7.8333, 7.8333, 7.8333, 7.8333, 7.8333, 7.6667, 7.5, 7.25, 254 7.0, 6.75, 6.4167, 6.0833, 6.1667, 6.3333, 6.5833, 6.75, 6.8333, 6.8333, 6.8333, 255 6.8333, 6.8333, 6.6667, 6.5, 6.25, 6.0, 5.75, 5.5833, 5.5833, 5.5, 5.1667, 4.8333, 256 4.5833, 4.3333, 4.3333, 4.3333, 4.1667, 4.0, 3.9167, 3.6667, 3.3333, 3.0, 3.0, 3.0, 257 3.1667, 3.4167, 3.6667, 3.3333, 3.0, 2.6667, 2.3333, 2.0, 1.9167, 1.8333, 1.75, 258 1.8333}; 259 float y[l] ={7.5833, 7.25, 7.0, 6.8333, 6.5, 6.25, 5.9167, 5.6667, 260 5.3333, 4.9167, 4.5833, 4.25, 4.0833, 3.9167, 3.5, 3.0833, 2.75, 2.3333, 2.0, 1.75, 261 1.8333, 1.9167, 2.1667, 2.4167, 2.6667, 2.9167, 3.1667, 3.4167, 3.6667, 3.9167, 262 4.0833, 4.1667, 4.25, 4.4167, 4.6667, 4.9167, 5.0833, 5.3333, 5.5833, 5.75, 5.9167, 263 6.0833, 6.25, 6.5, 6.75, 7.0, 7.1667, 7.4167, 7.5833, 7.6667, 7.9167, 8.1667, 8.1667, 264 8.3333, 8.4167, 8.5, 8.5833, 8.6667, 8.75, 9.0, 9.0833, 9.25, 9.5, 9.5, 9.5833, 265 9.75, 9.9167, 10.0833, 10.1667, 10.25, 10.25, 10.0833, 9.9167, 9.75, 9.5, 9.3333, 266 9.25, 9.25, 9.25, 9.25, 9.3333, 9.5833, 9.75, 10.0, 10.0833, 10.25, 10.25, 10.1667, 267 10.0, 9.6667, 9.4167, 9.1667, 8.9167, 8.6667, 8.5833, 8.5, 8.4167, 8.25, 8.0, 7.6667, 268 7.5833, 7.4167}; 269 270 for(i=0;i<l;i+=1){ 271 go(x[i],y[i]+1); 272 delay(dly); 273 274 } 275} 276 277void butterfly(){ 278 int l=133; 279 float x[l] ={3.333, 3.75, 280 4.083, 4.417, 4.75, 5.083, 5.333, 5.667, 5.833, 6.25, 6.583, 6.917, 7.167, 7.333, 281 7.583, 7.75, 8.083, 8.333, 8.667, 9.083, 9.417, 9.75, 10.083, 10.5, 10.917, 11.333, 282 11.667, 11.667, 11.667, 11.667, 11.583, 11.583, 11.417, 11.25, 11.083, 11.0, 10.917, 283 10.833, 10.833, 10.75, 10.5, 10.083, 9.75, 9.417, 9.083, 8.833, 9.0, 9.417, 9.667, 284 9.917, 10.083, 10.25, 10.333, 10.417, 10.417, 10.333, 10.333, 10.083, 10.0, 9.75, 285 9.583, 9.25, 8.917, 8.667, 8.333, 8.083, 7.833, 7.5, 7.333, 7.333, 7.167, 7.0, 6.917, 286 6.75, 6.667, 6.583, 6.5, 6.333, 6.083, 5.917, 5.833, 5.833, 5.667, 5.667, 5.583, 287 5.583, 5.417, 5.25, 5.0, 4.667, 4.417, 4.083, 3.75, 3.417, 3.0, 2.667, 2.417, 2.25, 288 2.083, 2.083, 2.25, 2.333, 2.583, 2.917, 3.167, 3.333, 3.083, 2.917, 2.5, 2.25, 289 2.0, 1.667, 1.583, 1.333, 1.25, 1.083, 1.083, 0.917, 0.667, 0.417, 0.333, 0.25, 290 0.25, 0.583, 0.917, 1.25, 1.75, 2.0, 2.25, 2.583, 2.667, 2.917, 3.083}; 291 float 292 y[l] ={1.667, 1.917, 2.25, 2.5, 2.833, 3.0, 3.25, 3.5, 3.75, 3.833, 3.833, 3.583, 293 3.25, 2.917, 2.75, 2.583, 2.25, 1.917, 1.667, 1.25, 1.167, 0.917, 0.583, 0.583, 294 0.5, 0.417, 0.5, 0.667, 1.0, 1.25, 1.5, 1.833, 2.083, 2.333, 2.583, 2.917, 3.25, 295 3.5, 3.833, 4.083, 4.333, 4.333, 4.333, 4.333, 4.167, 4.25, 4.5, 4.667, 4.833, 5.0, 296 5.167, 5.417, 5.667, 6.0, 6.333, 6.667, 7.0, 7.25, 7.5, 7.667, 7.833, 7.917, 8.167, 297 8.25, 8.333, 8.333, 8.333, 8.167, 7.917, 7.583, 7.333, 7.0, 6.833, 6.667, 6.417, 298 6.167, 6.0, 6.0, 6.0, 6.0, 6.25, 6.5, 6.75, 7.083, 7.417, 7.667, 8.167, 8.25, 8.333, 299 8.5, 8.5, 8.5, 8.5, 8.333, 8.167, 7.917, 7.583, 7.25, 6.833, 6.333, 6.0, 5.583, 300 5.25, 5.0, 4.833, 4.667, 4.583, 4.583, 4.583, 4.583, 4.583, 4.5, 4.083, 3.75, 3.333, 301 3.0, 2.667, 2.333, 2.083, 1.833, 1.5, 1.25, 0.75, 0.583, 0.583, 0.583, 0.667, 0.833, 302 1.0, 1.083, 1.25, 1.25, 1.417}; 303 304 for(i=0;i<l;i+=1){ 305 go(x[i],y[i]+2); 306 307 delay(dly); 308 } 309} 310 311void lamp(){ 312 int l=114; 313 float 314 x[l] ={0.5833, 1.0, 1.3333, 1.75, 2.1667, 2.6667, 3.1667, 3.6667, 4.1667, 4.5833, 315 5.0, 5.25, 5.0833, 5.0833, 5.0833, 4.75, 4.4167, 4.25, 3.9167, 3.8333, 3.8333, 3.9167, 316 4.0, 4.1667, 4.3333, 4.5, 4.6667, 4.6667, 4.6667, 4.6667, 4.6667, 4.6667, 4.6667, 317 4.75, 4.75, 4.9167, 5.0833, 5.25, 5.4167, 5.5833, 5.75, 5.8333, 6.0, 6.0833, 6.1667, 318 6.25, 6.25, 6.25, 6.3333, 6.3333, 6.25, 6.0833, 6.0, 5.9167, 5.75, 5.6667, 5.4167, 319 5.3333, 5.25, 5.25, 5.25, 5.25, 5.25, 5.25, 5.5, 5.9167, 6.3333, 6.75, 7.1667, 7.5833, 320 8.0, 8.4167, 8.8333, 9.25, 9.6667, 9.5833, 9.5, 9.4167, 9.3333, 9.1667, 9.0, 8.6667, 321 8.5, 8.25, 7.9167, 7.75, 7.4167, 7.0833, 6.75, 6.4167, 6.0, 5.5833, 5.25, 4.75, 322 4.3333, 4.0, 3.5833, 3.25, 2.9167, 2.5833, 2.3333, 2.0, 1.75, 1.5833, 1.4167, 1.1667, 323 1.0, 0.8333, 0.75, 0.6667, 0.6667, 0.5833, 0.5833, 0.5833}; 324 float y[l] ={7.4167, 325 7.1667, 7.0, 6.9167, 6.8333, 6.8333, 6.6667, 6.6667, 6.6667, 6.6667, 6.6667, 6.5833, 326 6.5, 6.1667, 5.75, 5.6667, 5.5833, 5.3333, 5.0, 4.5833, 4.1667, 3.75, 3.5, 3.1667, 327 2.75, 2.5, 2.1667, 1.8333, 1.5, 1.1667, 0.9167, 0.6667, 0.3333, 0.5833, 0.8333, 328 0.9167, 1.0, 1.25, 1.4167, 1.6667, 1.9167, 2.1667, 2.3333, 2.6667, 2.9167, 3.1667, 329 3.5, 3.75, 4.0, 4.25, 4.5, 4.75, 5.0, 5.1667, 5.3333, 5.3333, 5.4167, 5.5, 5.6667, 330 6.0, 6.0833, 6.3333, 6.4167, 6.5833, 6.6667, 6.6667, 6.6667, 6.6667, 6.6667, 6.75, 331 6.8333, 6.8333, 7.0, 7.0833, 7.25, 7.5833, 7.9167, 8.25, 8.5833, 8.9167, 9.3333, 332 9.5, 9.8333, 10.1667, 10.3333, 10.5833, 10.6667, 10.9167, 11.0833, 11.25, 11.25, 333 11.3333, 11.3333, 11.3333, 11.25, 11.1667, 11.1667, 11.0, 10.8333, 10.75, 10.5833, 334 10.4167, 10.1667, 9.9167, 9.6667, 9.5, 9.25, 9.0, 8.8333, 8.5, 8.3333, 8.1667, 7.8333, 335 7.4167}; 336 337 for(i=0;i<l;i+=1){ 338 go(x[i],y[i]+2); 339 delay(dly); 340 341 } 342} 343 344void tree(){ 345 int l=79; 346 float x[l] ={3.08, 3.42, 3.58, 347 3.75, 3.75, 3.75, 3.75, 3.67, 3.17, 2.58, 2.17, 1.58, 1.08, 0.83, 0.67, 0.42, 0.17, 348 0.17, 0.42, 0.75, 1.0, 1.25, 1.25, 1.42, 1.67, 2.08, 2.5, 2.83, 3.17, 3.42, 3.58, 349 3.92, 4.25, 4.5, 4.83, 5.0, 5.33, 5.67, 6.0, 6.25, 6.67, 6.83, 7.0, 7.25, 7.58, 350 7.92, 8.08, 8.17, 8.17, 8.17, 7.92, 8.0, 8.25, 8.33, 8.5, 8.58, 8.58, 8.42, 8.25, 351 8.0, 7.75, 7.5, 7.17, 6.67, 6.25, 5.92, 5.75, 5.42, 5.17, 5.08, 5.0, 5.0, 5.0, 5.08, 352 5.17, 5.33, 5.5, 5.75, 5.92}; 353 float y[l] ={11.0, 10.25, 9.67, 9.0, 8.42, 7.67, 354 6.92, 6.33, 6.33, 6.17, 6.25, 6.33, 6.17, 5.67, 5.0, 4.58, 4.17, 3.5, 3.08, 2.67, 355 2.5, 2.42, 2.0, 1.58, 1.33, 1.17, 1.0, 1.08, 1.25, 1.25, 1.0, 0.92, 1.0, 1.08, 0.92, 356 0.67, 0.67, 0.58, 0.58, 0.67, 0.67, 0.92, 1.25, 1.17, 1.42, 1.5, 1.92, 2.17, 2.58, 357 2.92, 3.17, 3.33, 3.58, 3.75, 4.17, 4.5, 4.92, 5.33, 5.75, 5.92, 6.08, 6.33, 6.5, 358 6.5, 6.5, 6.33, 6.17, 6.17, 6.33, 6.67, 6.92, 7.42, 8.0, 8.5, 9.0, 9.42, 9.92, 10.33, 359 10.83}; 360 361 for(i=0;i<l;i+=1){ 362 go(x[i],y[i]+2); 363 delay(dly); 364 365 } 366} 367 368void A(){ 369 int l=14; 370 float x[l] ={3.5833, 4.25, 5.5833, 371 6.25, 7.5, 8.25, 7.5, 4.25, 7.5, 8.25, 6.25, 5.5833, 4.25, 3.5833}; 372 float y[l] 373 ={8.1667, 6.1667, 2.4167, 2.4167, 6.1667, 8.1667, 6.1667, 6.1667, 6.1667, 8.1667, 374 2.4167, 2.4167, 6.1667, 8.1667}; 375 376 for(i=0;i<l;i+=1){ 377 go(x[i],y[i]); 378 379 delay(dly); 380 } 381} 382 383void square(){ 384 for(i=0;i<10;i++){ 385 386 go(0,i); 387 delay(dly); 388 } 389 for (i=0;i<10;i++){ 390 go(i,10); 391 392 delay(dly); 393 } 394 for(i=10;i>0;i-=1){ 395 go(10,i); 396 delay(dly); 397 398 } 399 for(i=10;i>0;i-=1){ 400 go(i,0); 401 delay(dly); 402 } 403} 404 405void 406 line(){ 407 408 for(i=0;i<10;i++){ 409 go(i+4,4); 410 delay(dly); 411 412 } 413 for(i=10;i>0;i--){ 414 go(i+4,4); 415 delay(dly); 416 } 417} 418 419void 420 working_envelop(){ 421 422 for(float x=16;x>=0;x-=0.20){ 423 go(x,1); 424 425 delay(50); 426 } 427 428 m2.write(20); 429 430 for (i=150;i<180;i+=1){ 431 432 m1.write(i); 433 delay(50); 434 } 435 436 for (i=20;i<170;i+=1){ 437 438 m2.write(i); 439 delay(15); 440 } 441 442 for(i=180;i>10;i-=1){ 443 m1.write(i); 444 445 delay(25); 446 } 447} 448 449void working_envelop_one(){ 450 for(i=0;i<180;i+=1){ 451 452 m1.write(i); 453 delay(25); 454 } 455 456 for(i=180;i>0;i-=1){ 457 458 m1.write(i); 459 delay(25); 460 } 461} 462 463void loop() { 464 465 466 467 working_envelop(); 468 469 star(); 470 tree(); 471 lamp(); 472 human(); 473 474 house(); 475 heart(); 476 hand(); 477 f22(); 478 butterfly(); 479 A(); 480 481 482 delay(500); 483}
Rangoli Making Robot Code
arduino
1#include <Servo.h> 2 3Servo m1,m2; 4 5float d,h,l,phi; 6float theta1,theta2; 7int i,j; 8 9int dly=80; 10 11void setup() { 12 m1.attach(11); 13 m2.attach(10); 14 15 16} 17 18void go(float x, float y){ 19 20 l = 8; //length of link, l= 8cm 21 22 d = sqrt((x*x)+(y*y)); //distace between origin left and (x,y) point 23 24 phi = atan2(y,x)*180/3.14; // phi, angle between d and x axis 25 26 h = sqrt((l*l)-((d/2)*(d/2))); //height of the triangle 27 28 theta1 = atan2(h,(d/2))*180/3.14; // phi 1, angle between d and axis 29 30 theta2 = (90 - theta1)*2; // angle between l and l 31 32 33 theta1+=phi; 34 35 if ((theta1>0 && theta2>0) && (theta1<180 && theta2<180)){ 36 m1.writeMicroseconds((int)((theta1/180)*1500+700)); 37 m2.writeMicroseconds((int)((theta2/180)*1500+700)); 38 39 } 40 41} 42 43void coverage(){ 44 for (i=0;i<180;i+=1){ 45 m1.write(i); 46 delay(25); 47 } 48 49 for (j=10;j<180;j+=1){ 50 m2.write(j); 51 delay(25); 52 } 53 54 for (i=180;i>0;i-=1){ 55 m1.write(i); 56 delay(25); 57 } 58 59 60 for (j=180;j>10;j-=1){ 61 m2.write(j); 62 delay(25); 63 } 64} 65 66void human(){ 67 int l= 100; 68 float x[l]={1.92, 2.33, 2.75, 3.17, 2.25, 1.33, 0.83, 0.5, 0.25, 0.25, 0.33, 0.83, 1.25, 1.75, 2.33, 2.92, 3.5, 3.25, 3.0, 2.83, 2.75, 2.83, 2.92, 3.25, 3.5, 3.92, 4.33, 4.92, 5.33, 5.83, 6.25, 6.5, 6.67, 6.75, 6.75, 6.75, 6.67, 6.5, 6.33, 6.25, 6.67, 7.0, 7.5, 8.0, 8.33, 8.67, 9.0, 9.0, 9.0, 9.0, 8.83, 8.5, 8.0, 7.5, 7.0, 6.5, 6.08, 6.25, 6.42, 6.58, 6.75, 6.92, 7.17, 7.33, 7.5, 7.67, 8.08, 8.42, 8.83, 8.75, 8.67, 8.42, 8.0, 7.42, 6.92, 6.42, 5.92, 5.67, 5.42, 5.17, 4.92, 4.75, 4.5, 4.25, 4.0, 3.67, 3.5, 2.92, 2.25, 1.67, 1.25, 0.92, 0.58, 0.5, 0.5, 0.67, 1.0, 1.42, 1.58, 1.92}; 69 float y[l]={8.92, 8.33, 7.5, 6.58, 6.67, 6.75, 6.67, 6.33, 5.92, 5.33, 4.83, 4.5, 4.33, 4.25, 4.17, 4.17, 4.17, 3.83, 3.5, 3.08, 2.58, 2.0, 1.5, 1.17, 0.83, 0.5, 0.25, 0.25, 0.42, 0.58, 0.83, 1.25, 1.58, 2.0, 2.42, 2.92, 3.25, 3.58, 3.92, 4.0, 4.25, 4.25, 4.25, 4.42, 4.5, 4.67, 4.92, 5.25, 5.67, 5.92, 6.33, 6.58, 6.67, 6.67, 6.67, 6.5, 6.5, 6.83, 7.17, 7.5, 7.92, 8.25, 8.58, 8.92, 9.25, 9.33, 9.42, 9.58, 9.92, 10.33, 10.83, 11.25, 11.42, 11.42, 11.58, 11.5, 11.25, 11.0, 10.67, 10.42, 10.17, 9.92, 10.0, 10.42, 10.83, 11.0, 11.33, 11.5, 11.5, 11.58, 11.33, 11.08, 10.83, 10.33, 9.92, 9.58, 9.42, 9.5, 9.33, 8.92}; 70 71 for(i=0;i<l;i+=1){ 72 go(x[i],y[i]+2); 73 delay(dly); 74 } 75 76} 77 78void star(){ 79 int l=99; 80 float x[l] = {3.8333, 3.9167, 4.0, 4.1667, 4.25, 4.3333, 4.4167, 4.5, 4.6667, 4.25, 3.9167, 3.5833, 3.25, 2.8333, 2.5833, 2.6667, 2.9167, 3.1667, 3.5, 3.75, 4.0, 4.3333, 4.6667, 4.9167, 5.25, 5.25, 5.4167, 5.5, 5.6667, 5.75, 5.8333, 5.9167, 6.0, 6.1667, 6.1667, 6.25, 6.3333, 6.4167, 6.4167, 6.5, 6.5833, 6.6667, 6.6667, 6.75, 6.8333, 6.8333, 7.0, 7.0833, 7.3333, 7.5, 7.75, 7.9167, 8.0833, 8.25, 8.5, 8.75, 9.0, 9.1667, 9.0833, 8.75, 8.5, 8.25, 8.0, 7.8333, 7.6667, 7.4167, 7.25, 7.3333, 7.4167, 7.5833, 7.5833, 7.6667, 7.75, 7.8333, 7.9167, 8.0833, 8.1667, 8.0, 7.8333, 7.5, 7.1667, 7.0, 6.8333, 6.5, 6.25, 6.0, 5.75, 5.5833, 5.5, 5.1667, 5.0833, 4.8333, 4.6667, 4.5, 4.3333, 4.0833, 3.9167, 3.8333, 3.6667}; 81 float y[l] = {8.75, 8.4167, 8.0833, 7.75, 7.4167, 7.0833, 6.75, 6.5, 6.1667, 6.0, 5.75, 5.5, 5.25, 5.0833, 4.8333, 4.6667, 4.6667, 4.6667, 4.6667, 4.6667, 4.6667, 4.6667, 4.6667, 4.6667, 4.75, 4.4167, 4.0833, 3.75, 3.5, 3.1667, 2.8333, 2.5833, 2.3333, 2.5, 2.6667, 2.8333, 3.0833, 3.25, 3.4167, 3.5833, 3.75, 4.0, 4.1667, 4.3333, 4.4167, 4.5833, 4.6667, 4.6667, 4.6667, 4.6667, 4.6667, 4.6667, 4.6667, 4.6667, 4.6667, 4.6667, 4.6667, 4.6667, 4.8333, 5.0, 5.1667, 5.3333, 5.5, 5.75, 5.8333, 6.0, 6.1667, 6.4167, 6.5, 6.8333, 7.0833, 7.3333, 7.5, 7.8333, 8.0833, 8.25, 8.5833, 8.3333, 8.1667, 8.0833, 7.9167, 7.6667, 7.5, 7.25, 7.0833, 7.0, 7.0833, 7.25, 7.4167, 7.5833, 7.75, 7.9167, 8.0833, 8.1667, 8.25, 8.4167, 8.5833, 8.75, 8.8333}; 82 83 for(i=0;i<l;i+=1){ 84 go(x[i],y[i]); 85 delay(dly); 86 } 87} 88 89void hand(){ 90 int l=55; 91 float x[l] ={3.5833, 3.5, 3.75, 4.1667, 4.25, 4.25, 4.5833, 4.5833, 4.5833, 4.5833, 4.9167, 5.25, 5.3333, 5.3333, 5.4167, 5.4167, 5.6667, 5.75, 5.75, 5.6667, 5.9167, 6.25, 6.5833, 6.5833, 6.5833, 6.5833, 6.5833, 6.8333, 6.9167, 7.0, 7.0, 7.25, 7.6667, 7.6667, 7.75, 7.75, 7.75, 7.75, 8.1667, 8.5, 9.0, 9.3333, 9.0, 8.5, 8.0, 7.5, 6.8333, 6.0833, 5.1667, 4.5833, 4.0833, 3.6667, 3.5833, 3.5, 3.5833}; 92 float y[l] ={6.5, 4.1667, 3.9167, 3.9167, 4.5, 5.9167, 5.8333, 4.9167, 3.5, 2.9167, 2.5833, 2.5833, 2.8333, 3.3333, 5.25, 5.75, 5.6667, 4.9167, 3.9167, 2.5833, 2.1667, 2.25, 2.3333, 2.9167, 3.9167, 5.0, 5.5, 5.5833, 4.5833, 3.6667, 3.1667, 2.8333, 2.9167, 3.5, 4.5833, 5.3333, 6.0833, 7.1667, 6.5833, 5.9167, 5.8333, 6.1667, 6.6667, 8.0, 8.9167, 9.4167, 9.75, 9.8333, 9.8333, 9.5, 9.0, 8.3333, 7.5833, 6.9167, 6.5}; 93 94 for(i=0;i<l;i+=1){ 95 go(x[i],y[i]); 96 delay(dly); 97 } 98} 99 100void head(){ 101 int l=128; 102 float x[l] ={7.0, 6.92, 6.92, 7.0, 7.0, 7.08, 7.08, 7.17, 7.17, 7.33, 7.5, 7.58, 8.17, 8.25, 8.42, 8.5, 8.67, 8.83, 8.83, 8.75, 8.75, 8.92, 8.92, 8.83, 8.75, 8.75, 8.83, 8.92, 9.0, 8.92, 8.92, 9.08, 9.17, 9.25, 9.33, 9.42, 9.25, 9.25, 9.08, 9.08, 9.0, 9.0, 8.83, 8.83, 8.75, 8.75, 8.67, 8.67, 8.75, 8.75, 8.67, 8.67, 8.58, 8.58, 8.5, 8.5, 8.33, 8.33, 8.17, 8.17, 7.75, 7.67, 7.42, 7.33, 7.25, 7.17, 7.08, 7.0, 6.92, 6.75, 6.67, 6.5, 6.42, 6.17, 6.08, 4.67, 4.58, 4.33, 4.25, 4.08, 4.0, 3.83, 3.75, 3.67, 3.5, 3.42, 2.92, 2.92, 2.75, 2.75, 2.67, 2.67, 2.58, 2.58, 2.5, 2.5, 2.58, 2.58, 2.67, 2.67, 2.75, 2.75, 2.83, 2.83, 2.92, 2.92, 3.08, 3.08, 3.17, 3.17, 3.33, 3.33, 3.42, 3.42, 3.5, 3.5, 3.58, 3.58, 3.67, 3.67, 3.58, 3.58, 3.5, 3.5, 3.42, 3.42, 3.33, 3.25}; 103 float y[l] ={10.08, 10.0, 9.92, 9.83, 9.5, 9.42, 9.25, 9.17, 9.08, 8.92, 8.92, 9.0, 9.0, 9.08, 9.08, 9.0, 9.0, 8.83, 8.33, 8.25, 8.08, 7.92, 7.75, 7.75, 7.67, 7.58, 7.5, 7.5, 7.42, 7.33, 6.92, 6.75, 6.75, 6.67, 6.67, 6.58, 6.42, 6.33, 6.17, 6.08, 6.0, 5.92, 5.75, 5.67, 5.58, 5.5, 5.42, 5.25, 5.17, 4.67, 4.58, 4.25, 4.17, 4.0, 3.92, 3.75, 3.58, 3.5, 3.33, 3.25, 2.83, 2.83, 2.58, 2.58, 2.5, 2.5, 2.42, 2.42, 2.33, 2.33, 2.25, 2.25, 2.17, 2.17, 2.08, 2.08, 2.17, 2.17, 2.25, 2.25, 2.33, 2.33, 2.42, 2.42, 2.58, 2.58, 3.08, 3.17, 3.33, 3.5, 3.58, 3.75, 3.83, 4.17, 4.25, 4.83, 4.92, 5.42, 5.5, 5.75, 5.83, 6.0, 6.08, 6.25, 6.33, 6.42, 6.58, 6.67, 6.75, 6.83, 7.0, 7.08, 7.17, 7.25, 7.33, 7.42, 7.5, 7.75, 7.83, 9.0, 9.08, 9.42, 9.5, 9.75, 9.83, 9.92, 10.0, 10.0}; 104 105 for(i=0;i<l;i+=1){ 106 go(x[i],y[i]+1); 107 delay(dly); 108 } 109} 110 111void heart(){ 112 int l=65; 113 float x[l] ={5.92, 6.25, 6.58, 6.92, 7.17, 7.58, 7.92, 8.42, 9.0, 9.5, 10.0, 10.42, 10.83, 11.33, 11.58, 11.83, 11.92, 11.92, 11.75, 11.5, 11.25, 10.83, 10.42, 9.83, 9.17, 8.58, 8.0, 7.42, 7.08, 6.67, 6.42, 6.0, 5.5, 5.0, 4.42, 3.92, 3.42, 3.0, 2.5, 2.0, 1.67, 1.33, 1.0, 0.58, 0.33, 0.08, 0.08, 0.17, 0.42, 0.75, 1.17, 1.58, 2.0, 2.58, 3.08, 3.5, 3.83, 4.33, 4.75, 5.0, 5.25, 5.58, 5.67, 5.83, 6.0}; 114 float y[l] ={2.25, 1.92, 1.5, 1.0, 0.67, 0.5, 0.33, 0.25, 0.17, 0.17, 0.33, 0.5, 0.83, 1.17, 1.67, 2.42, 3.33, 4.0, 4.58, 5.33, 5.83, 6.5, 7.33, 8.08, 8.83, 9.5, 10.17, 10.67, 11.08, 11.33, 11.67, 12.17, 11.58, 11.0, 10.5, 9.92, 9.33, 8.92, 8.25, 7.75, 7.17, 6.67, 6.08, 5.42, 4.75, 3.83, 3.0, 2.17, 1.67, 1.25, 0.83, 0.5, 0.17, 0.08, 0.08, 0.17, 0.17, 0.25, 0.5, 0.75, 1.08, 1.33, 1.67, 2.0, 2.33}; 115 116 for(i=0;i<l;i+=1){ 117 go(x[i],y[i]+2); 118 delay(dly); 119 } 120} 121 122void house(){ 123 int l=112; 124 float x[l] ={1.4167, 1.4167, 1.4167, 1.4167, 1.4167, 1.4167, 1.4167, 1.4167, 1.0833, 0.8333, 0.5833, 0.25, 0.25, 0.5833, 0.9167, 1.25, 1.6667, 2.0833, 2.5, 2.9167, 3.25, 3.5833, 3.9167, 4.25, 4.5833, 5.0, 5.3333, 5.75, 6.0, 6.3333, 6.6667, 7.0, 7.25, 7.5, 7.6667, 7.75, 7.6667, 7.6667, 7.6667, 8.0, 8.3333, 8.5833, 8.9167, 9.0, 8.9167, 9.0, 9.0, 9.0, 9.0, 8.9167, 8.9167, 9.1667, 9.4167, 9.6667, 10.0, 10.25, 10.5833, 10.8333, 11.0833, 11.4167, 11.5833, 11.5833, 11.3333, 11.0833, 10.8333, 10.5833, 10.5833, 10.5833, 10.5833, 10.5833, 10.5833, 10.5833, 10.5833, 10.5833, 10.5833, 10.5833, 10.5833, 10.5833, 10.5833, 10.5833, 10.5833, 10.3333, 10.0, 9.6667, 9.25, 8.9167, 8.4167, 8.0, 7.5833, 7.25, 6.75, 6.4167, 6.0, 5.75, 5.3333, 5.0, 4.5833, 4.0833, 3.8333, 3.5833, 3.25, 2.8333, 2.5833, 2.0833, 1.9167, 1.75, 1.4167, 1.4167, 1.4167, 1.4167, 1.4167, 1.4167}; 125 float y[l] ={7.5, 7.0, 6.5, 6.0, 5.5833, 5.25, 4.75, 4.4167, 4.4167, 4.4167, 4.4167, 4.4167, 4.0833, 3.8333, 3.6667, 3.4167, 3.0833, 2.8333, 2.5833, 2.4167, 2.25, 2.0, 1.6667, 1.5, 1.25, 1.0, 0.8333, 0.5833, 0.4167, 0.5833, 0.6667, 0.9167, 1.0, 1.1667, 1.25, 1.0, 0.8333, 0.5, 0.3333, 0.3333, 0.3333, 0.3333, 0.3333, 0.5, 0.5833, 0.9167, 1.25, 1.5, 1.75, 1.9167, 2.1667, 2.3333, 2.5, 2.6667, 2.8333, 3.0, 3.1667, 3.3333, 3.5, 3.6667, 3.75, 4.1667, 4.1667, 4.1667, 4.1667, 4.1667, 4.3333, 4.5, 4.8333, 5.1667, 5.5, 5.9167, 6.1667, 6.4167, 6.6667, 6.9167, 7.1667, 7.4167, 7.6667, 7.9167, 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 8.3333, 8.1667, 8.0, 7.9167, 7.6667, 7.5}; 126 127 for(i=0;i<l;i+=1){ 128 go(x[i],y[i]+1); 129 delay(dly); 130 } 131} 132 133void f22(){ 134 int l=102; 135 float x[l] ={1.8333, 2.1667, 2.4167, 2.75, 3.0, 3.3333, 3.5, 3.8333, 4.0, 4.0, 4.0, 4.0, 4.25, 4.5, 4.5, 4.5833, 4.5833, 4.6667, 4.75, 4.8333, 4.9167, 5.0, 5.0833, 5.1667, 5.1667, 5.25, 5.25, 5.25, 5.25, 5.25, 5.4167, 5.5833, 5.75, 5.75, 5.75, 5.8333, 5.8333, 5.8333, 5.9167, 6.0833, 6.25, 6.5, 6.6667, 6.9167, 7.1667, 7.3333, 7.5833, 7.8333, 7.8333, 7.8333, 7.8333, 7.8333, 7.6667, 7.5, 7.25, 7.0, 6.75, 6.4167, 6.0833, 6.1667, 6.3333, 6.5833, 6.75, 6.8333, 6.8333, 6.8333, 6.8333, 6.8333, 6.6667, 6.5, 6.25, 6.0, 5.75, 5.5833, 5.5833, 5.5, 5.1667, 4.8333, 4.5833, 4.3333, 4.3333, 4.3333, 4.1667, 4.0, 3.9167, 3.6667, 3.3333, 3.0, 3.0, 3.0, 3.1667, 3.4167, 3.6667, 3.3333, 3.0, 2.6667, 2.3333, 2.0, 1.9167, 1.8333, 1.75, 1.8333}; 136 float y[l] ={7.5833, 7.25, 7.0, 6.8333, 6.5, 6.25, 5.9167, 5.6667, 5.3333, 4.9167, 4.5833, 4.25, 4.0833, 3.9167, 3.5, 3.0833, 2.75, 2.3333, 2.0, 1.75, 1.8333, 1.9167, 2.1667, 2.4167, 2.6667, 2.9167, 3.1667, 3.4167, 3.6667, 3.9167, 4.0833, 4.1667, 4.25, 4.4167, 4.6667, 4.9167, 5.0833, 5.3333, 5.5833, 5.75, 5.9167, 6.0833, 6.25, 6.5, 6.75, 7.0, 7.1667, 7.4167, 7.5833, 7.6667, 7.9167, 8.1667, 8.1667, 8.3333, 8.4167, 8.5, 8.5833, 8.6667, 8.75, 9.0, 9.0833, 9.25, 9.5, 9.5, 9.5833, 9.75, 9.9167, 10.0833, 10.1667, 10.25, 10.25, 10.0833, 9.9167, 9.75, 9.5, 9.3333, 9.25, 9.25, 9.25, 9.25, 9.3333, 9.5833, 9.75, 10.0, 10.0833, 10.25, 10.25, 10.1667, 10.0, 9.6667, 9.4167, 9.1667, 8.9167, 8.6667, 8.5833, 8.5, 8.4167, 8.25, 8.0, 7.6667, 7.5833, 7.4167}; 137 138 for(i=0;i<l;i+=1){ 139 go(x[i],y[i]+1); 140 delay(dly); 141 } 142} 143 144void butterfly(){ 145 int l=133; 146 float x[l] ={3.333, 3.75, 4.083, 4.417, 4.75, 5.083, 5.333, 5.667, 5.833, 6.25, 6.583, 6.917, 7.167, 7.333, 7.583, 7.75, 8.083, 8.333, 8.667, 9.083, 9.417, 9.75, 10.083, 10.5, 10.917, 11.333, 11.667, 11.667, 11.667, 11.667, 11.583, 11.583, 11.417, 11.25, 11.083, 11.0, 10.917, 10.833, 10.833, 10.75, 10.5, 10.083, 9.75, 9.417, 9.083, 8.833, 9.0, 9.417, 9.667, 9.917, 10.083, 10.25, 10.333, 10.417, 10.417, 10.333, 10.333, 10.083, 10.0, 9.75, 9.583, 9.25, 8.917, 8.667, 8.333, 8.083, 7.833, 7.5, 7.333, 7.333, 7.167, 7.0, 6.917, 6.75, 6.667, 6.583, 6.5, 6.333, 6.083, 5.917, 5.833, 5.833, 5.667, 5.667, 5.583, 5.583, 5.417, 5.25, 5.0, 4.667, 4.417, 4.083, 3.75, 3.417, 3.0, 2.667, 2.417, 2.25, 2.083, 2.083, 2.25, 2.333, 2.583, 2.917, 3.167, 3.333, 3.083, 2.917, 2.5, 2.25, 2.0, 1.667, 1.583, 1.333, 1.25, 1.083, 1.083, 0.917, 0.667, 0.417, 0.333, 0.25, 0.25, 0.583, 0.917, 1.25, 1.75, 2.0, 2.25, 2.583, 2.667, 2.917, 3.083}; 147 float y[l] ={1.667, 1.917, 2.25, 2.5, 2.833, 3.0, 3.25, 3.5, 3.75, 3.833, 3.833, 3.583, 3.25, 2.917, 2.75, 2.583, 2.25, 1.917, 1.667, 1.25, 1.167, 0.917, 0.583, 0.583, 0.5, 0.417, 0.5, 0.667, 1.0, 1.25, 1.5, 1.833, 2.083, 2.333, 2.583, 2.917, 3.25, 3.5, 3.833, 4.083, 4.333, 4.333, 4.333, 4.333, 4.167, 4.25, 4.5, 4.667, 4.833, 5.0, 5.167, 5.417, 5.667, 6.0, 6.333, 6.667, 7.0, 7.25, 7.5, 7.667, 7.833, 7.917, 8.167, 8.25, 8.333, 8.333, 8.333, 8.167, 7.917, 7.583, 7.333, 7.0, 6.833, 6.667, 6.417, 6.167, 6.0, 6.0, 6.0, 6.0, 6.25, 6.5, 6.75, 7.083, 7.417, 7.667, 8.167, 8.25, 8.333, 8.5, 8.5, 8.5, 8.5, 8.333, 8.167, 7.917, 7.583, 7.25, 6.833, 6.333, 6.0, 5.583, 5.25, 5.0, 4.833, 4.667, 4.583, 4.583, 4.583, 4.583, 4.583, 4.5, 4.083, 3.75, 3.333, 3.0, 2.667, 2.333, 2.083, 1.833, 1.5, 1.25, 0.75, 0.583, 0.583, 0.583, 0.667, 0.833, 1.0, 1.083, 1.25, 1.25, 1.417}; 148 149 for(i=0;i<l;i+=1){ 150 go(x[i],y[i]+2); 151 delay(dly); 152 } 153} 154 155void lamp(){ 156 int l=114; 157 float x[l] ={0.5833, 1.0, 1.3333, 1.75, 2.1667, 2.6667, 3.1667, 3.6667, 4.1667, 4.5833, 5.0, 5.25, 5.0833, 5.0833, 5.0833, 4.75, 4.4167, 4.25, 3.9167, 3.8333, 3.8333, 3.9167, 4.0, 4.1667, 4.3333, 4.5, 4.6667, 4.6667, 4.6667, 4.6667, 4.6667, 4.6667, 4.6667, 4.75, 4.75, 4.9167, 5.0833, 5.25, 5.4167, 5.5833, 5.75, 5.8333, 6.0, 6.0833, 6.1667, 6.25, 6.25, 6.25, 6.3333, 6.3333, 6.25, 6.0833, 6.0, 5.9167, 5.75, 5.6667, 5.4167, 5.3333, 5.25, 5.25, 5.25, 5.25, 5.25, 5.25, 5.5, 5.9167, 6.3333, 6.75, 7.1667, 7.5833, 8.0, 8.4167, 8.8333, 9.25, 9.6667, 9.5833, 9.5, 9.4167, 9.3333, 9.1667, 9.0, 8.6667, 8.5, 8.25, 7.9167, 7.75, 7.4167, 7.0833, 6.75, 6.4167, 6.0, 5.5833, 5.25, 4.75, 4.3333, 4.0, 3.5833, 3.25, 2.9167, 2.5833, 2.3333, 2.0, 1.75, 1.5833, 1.4167, 1.1667, 1.0, 0.8333, 0.75, 0.6667, 0.6667, 0.5833, 0.5833, 0.5833}; 158 float y[l] ={7.4167, 7.1667, 7.0, 6.9167, 6.8333, 6.8333, 6.6667, 6.6667, 6.6667, 6.6667, 6.6667, 6.5833, 6.5, 6.1667, 5.75, 5.6667, 5.5833, 5.3333, 5.0, 4.5833, 4.1667, 3.75, 3.5, 3.1667, 2.75, 2.5, 2.1667, 1.8333, 1.5, 1.1667, 0.9167, 0.6667, 0.3333, 0.5833, 0.8333, 0.9167, 1.0, 1.25, 1.4167, 1.6667, 1.9167, 2.1667, 2.3333, 2.6667, 2.9167, 3.1667, 3.5, 3.75, 4.0, 4.25, 4.5, 4.75, 5.0, 5.1667, 5.3333, 5.3333, 5.4167, 5.5, 5.6667, 6.0, 6.0833, 6.3333, 6.4167, 6.5833, 6.6667, 6.6667, 6.6667, 6.6667, 6.6667, 6.75, 6.8333, 6.8333, 7.0, 7.0833, 7.25, 7.5833, 7.9167, 8.25, 8.5833, 8.9167, 9.3333, 9.5, 9.8333, 10.1667, 10.3333, 10.5833, 10.6667, 10.9167, 11.0833, 11.25, 11.25, 11.3333, 11.3333, 11.3333, 11.25, 11.1667, 11.1667, 11.0, 10.8333, 10.75, 10.5833, 10.4167, 10.1667, 9.9167, 9.6667, 9.5, 9.25, 9.0, 8.8333, 8.5, 8.3333, 8.1667, 7.8333, 7.4167}; 159 160 for(i=0;i<l;i+=1){ 161 go(x[i],y[i]+2); 162 delay(dly); 163 } 164} 165 166void tree(){ 167 int l=79; 168 float x[l] ={3.08, 3.42, 3.58, 3.75, 3.75, 3.75, 3.75, 3.67, 3.17, 2.58, 2.17, 1.58, 1.08, 0.83, 0.67, 0.42, 0.17, 0.17, 0.42, 0.75, 1.0, 1.25, 1.25, 1.42, 1.67, 2.08, 2.5, 2.83, 3.17, 3.42, 3.58, 3.92, 4.25, 4.5, 4.83, 5.0, 5.33, 5.67, 6.0, 6.25, 6.67, 6.83, 7.0, 7.25, 7.58, 7.92, 8.08, 8.17, 8.17, 8.17, 7.92, 8.0, 8.25, 8.33, 8.5, 8.58, 8.58, 8.42, 8.25, 8.0, 7.75, 7.5, 7.17, 6.67, 6.25, 5.92, 5.75, 5.42, 5.17, 5.08, 5.0, 5.0, 5.0, 5.08, 5.17, 5.33, 5.5, 5.75, 5.92}; 169 float y[l] ={11.0, 10.25, 9.67, 9.0, 8.42, 7.67, 6.92, 6.33, 6.33, 6.17, 6.25, 6.33, 6.17, 5.67, 5.0, 4.58, 4.17, 3.5, 3.08, 2.67, 2.5, 2.42, 2.0, 1.58, 1.33, 1.17, 1.0, 1.08, 1.25, 1.25, 1.0, 0.92, 1.0, 1.08, 0.92, 0.67, 0.67, 0.58, 0.58, 0.67, 0.67, 0.92, 1.25, 1.17, 1.42, 1.5, 1.92, 2.17, 2.58, 2.92, 3.17, 3.33, 3.58, 3.75, 4.17, 4.5, 4.92, 5.33, 5.75, 5.92, 6.08, 6.33, 6.5, 6.5, 6.5, 6.33, 6.17, 6.17, 6.33, 6.67, 6.92, 7.42, 8.0, 8.5, 9.0, 9.42, 9.92, 10.33, 10.83}; 170 171 for(i=0;i<l;i+=1){ 172 go(x[i],y[i]+2); 173 delay(dly); 174 } 175} 176 177void A(){ 178 int l=14; 179 float x[l] ={3.5833, 4.25, 5.5833, 6.25, 7.5, 8.25, 7.5, 4.25, 7.5, 8.25, 6.25, 5.5833, 4.25, 3.5833}; 180 float y[l] ={8.1667, 6.1667, 2.4167, 2.4167, 6.1667, 8.1667, 6.1667, 6.1667, 6.1667, 8.1667, 2.4167, 2.4167, 6.1667, 8.1667}; 181 182 for(i=0;i<l;i+=1){ 183 go(x[i],y[i]); 184 delay(dly); 185 } 186} 187 188void square(){ 189 for(i=0;i<10;i++){ 190 go(0,i); 191 delay(dly); 192 } 193 for (i=0;i<10;i++){ 194 go(i,10); 195 delay(dly); 196 } 197 for(i=10;i>0;i-=1){ 198 go(10,i); 199 delay(dly); 200 } 201 for(i=10;i>0;i-=1){ 202 go(i,0); 203 delay(dly); 204 } 205} 206 207void line(){ 208 209 for(i=0;i<10;i++){ 210 go(i+4,4); 211 delay(dly); 212 } 213 for(i=10;i>0;i--){ 214 go(i+4,4); 215 delay(dly); 216 } 217} 218 219void working_envelop(){ 220 221 for(float x=16;x>=0;x-=0.20){ 222 go(x,1); 223 delay(50); 224 } 225 226 m2.write(20); 227 228 for (i=150;i<180;i+=1){ 229 m1.write(i); 230 delay(50); 231 } 232 233 for (i=20;i<170;i+=1){ 234 m2.write(i); 235 delay(15); 236 } 237 238 for(i=180;i>10;i-=1){ 239 m1.write(i); 240 delay(25); 241 } 242} 243 244void working_envelop_one(){ 245 for(i=0;i<180;i+=1){ 246 m1.write(i); 247 delay(25); 248 } 249 250 for(i=180;i>0;i-=1){ 251 m1.write(i); 252 delay(25); 253 } 254} 255 256void loop() { 257 258 259 working_envelop(); 260 261 star(); 262 tree(); 263 lamp(); 264 human(); 265 house(); 266 heart(); 267 hand(); 268 f22(); 269 butterfly(); 270 A(); 271 272 delay(500); 273}
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Drawing Robot
Drawing Robot
Drawing Robot
Drawing Robot
Documentation
Rangoli Making Robot CAD Design
Rangoli Making Robot CAD Design
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