Drawing Robot | Arduino Servo Robot | Rangoli Making Robot

This is a drawing/sand art-making robot. It has 2 servo motors controlled by an Arduino Uno prototyping board. It can draw different shapes.

Jan 24, 2022

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1 respects

drawing robot

writing robot

inverse kinematics

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}

#include <Servo.h>

Servo m1,m2;

float d,h,l,phi;
float
  theta1,theta2;
int i,j;

int dly=80;

void setup() {
  m1.attach(11);

  m2.attach(10);
  

}

void go(float x, float y){
  
  l =
  8; //length of link, l= 8cm
  
  d = sqrt((x*x)+(y*y)); //distace between
  origin left and (x,y) point

  phi = atan2(y,x)*180/3.14; // phi, angle between
  d and x axis  
  
  h = sqrt((l*l)-((d/2)*(d/2))); //height of the triangle

  
  theta1 = atan2(h,(d/2))*180/3.14; // phi 1, angle between d and axis

  
  theta2 = (90 - theta1)*2; // angle between l and l


  theta1+=phi;

  
  if ((theta1>0 && theta2>0) && (theta1<180 && theta2<180)){
    m1.writeMicroseconds((int)((theta1/180)*1500+700));

    m2.writeMicroseconds((int)((theta2/180)*1500+700));
    
  }
  
}

void
  coverage(){
  for (i=0;i<180;i+=1){
    m1.write(i);  
    delay(25);

  }  

  for (j=10;j<180;j+=1){
    m2.write(j);
    delay(25);

  }
  
  for (i=180;i>0;i-=1){
    m1.write(i);  
    delay(25);

  }  

  
  for (j=180;j>10;j-=1){
    m2.write(j);
    delay(25);

  }
}

void human(){
  int l= 100;
  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};
  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};
  
  for(i=0;i<l;i+=1){
    go(x[i],y[i]+2);
  
    delay(dly);
  }
  
}

void star(){
  int l=99;
  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};
  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};

  for(i=0;i<l;i+=1){
    go(x[i],y[i]);  
    delay(dly);

  }
}

void hand(){
  int l=55;
  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};
  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};

  for(i=0;i<l;i+=1){

    go(x[i],y[i]);  
    delay(dly);
  }
}

void head(){
  int
  l=128;
  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};
  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};

  for(i=0;i<l;i+=1){

    go(x[i],y[i]+1);  
    delay(dly);
  }
}

void heart(){
  int
  l=65;
  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};
  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};


  for(i=0;i<l;i+=1){
    go(x[i],y[i]+2);  
    delay(dly);
  }
}

void
  house(){
  int l=112;
  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};
  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};


  for(i=0;i<l;i+=1){
    go(x[i],y[i]+1);  
    delay(dly);
  }
}

void
  f22(){
  int l=102;
  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};
  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};

  for(i=0;i<l;i+=1){
    go(x[i],y[i]+1);  
    delay(dly);

  }
}

void butterfly(){
  int l=133;
  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};
  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};

  for(i=0;i<l;i+=1){
    go(x[i],y[i]+2);
  
    delay(dly);
  }
}

void lamp(){
  int l=114;
  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};
  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};

  for(i=0;i<l;i+=1){
    go(x[i],y[i]+2);  
    delay(dly);

  }
}

void tree(){
  int l=79;
  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};
  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};

  for(i=0;i<l;i+=1){
    go(x[i],y[i]+2);  
    delay(dly);

  }
}

void A(){
  int l=14;
  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};
  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};

  for(i=0;i<l;i+=1){
    go(x[i],y[i]);
  
    delay(dly);
  }
}

void square(){
  for(i=0;i<10;i++){

    go(0,i);  
    delay(dly);
  } 
  for (i=0;i<10;i++){
    go(i,10);
  
    delay(dly);
  }
  for(i=10;i>0;i-=1){
    go(10,i);
    delay(dly);

  }
  for(i=10;i>0;i-=1){
    go(i,0);
    delay(dly);
  }
}

void
  line(){

    for(i=0;i<10;i++){
      go(i+4,4);
      delay(dly);

      }
    for(i=10;i>0;i--){
      go(i+4,4);
      delay(dly);
      }
}

void
  working_envelop(){
  
  for(float x=16;x>=0;x-=0.20){
    go(x,1);  

    delay(50);
  }
  
  m2.write(20);
  
  for (i=150;i<180;i+=1){

    m1.write(i); 
    delay(50);
  }  

  for (i=20;i<170;i+=1){

    m2.write(i);
    delay(15);
  }

  for(i=180;i>10;i-=1){
    m1.write(i);

    delay(25);
  }
}

void working_envelop_one(){
  for(i=0;i<180;i+=1){

    m1.write(i);
    delay(25);  
  }
  
  for(i=180;i>0;i-=1){

    m1.write(i);
    delay(25);  
  }  
}

void loop() {
 


  working_envelop();
  
  star();
  tree();
  lamp();
  human();

  house();
  heart();
  hand();
  f22();
  butterfly();
  A();

  
  delay(500);
}

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}

#include <Servo.h>

Servo m1,m2;

float d,h,l,phi;
float  theta1,theta2;
int i,j;

int dly=80;

void setup() {
  m1.attach(11);
  m2.attach(10);
  

}

void go(float x, float y){
  
  l =  8; //length of link, l= 8cm
  
  d = sqrt((x*x)+(y*y)); //distace between  origin left and (x,y) point

  phi = atan2(y,x)*180/3.14; // phi, angle between  d and x axis  
  
  h = sqrt((l*l)-((d/2)*(d/2))); //height of the triangle
  
  theta1 = atan2(h,(d/2))*180/3.14; // phi 1, angle between d and axis
  
  theta2 = (90 - theta1)*2; // angle between l and l


  theta1+=phi;
  
  if ((theta1>0 && theta2>0) && (theta1<180 && theta2<180)){
    m1.writeMicroseconds((int)((theta1/180)*1500+700));
    m2.writeMicroseconds((int)((theta2/180)*1500+700));
    
  }
  
}

void  coverage(){
  for (i=0;i<180;i+=1){
    m1.write(i);  
    delay(25);
  }  

  for (j=10;j<180;j+=1){
    m2.write(j);
    delay(25);
  }
  
  for (i=180;i>0;i-=1){
    m1.write(i);  
    delay(25);
  }  

  
  for (j=180;j>10;j-=1){
    m2.write(j);
    delay(25);
  }
}

void human(){
  int l= 100;
  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};
  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};
  
  for(i=0;i<l;i+=1){
    go(x[i],y[i]+2);  
    delay(dly);
  }
  
}

void star(){
  int l=99;
  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};
  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};

  for(i=0;i<l;i+=1){
    go(x[i],y[i]);  
    delay(dly);
  }
}

void hand(){
  int l=55;
  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};
  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};

  for(i=0;i<l;i+=1){
    go(x[i],y[i]);  
    delay(dly);
  }
}

void head(){
  int  l=128;
  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};
  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};

  for(i=0;i<l;i+=1){
    go(x[i],y[i]+1);  
    delay(dly);
  }
}

void heart(){
  int  l=65;
  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};
  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};

  for(i=0;i<l;i+=1){
    go(x[i],y[i]+2);  
    delay(dly);
  }
}

void  house(){
  int l=112;
  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};
  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};

  for(i=0;i<l;i+=1){
    go(x[i],y[i]+1);  
    delay(dly);
  }
}

void  f22(){
  int l=102;
  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};
  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};

  for(i=0;i<l;i+=1){
    go(x[i],y[i]+1);  
    delay(dly);
  }
}

void butterfly(){
  int l=133;
  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};
  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};

  for(i=0;i<l;i+=1){
    go(x[i],y[i]+2);  
    delay(dly);
  }
}

void lamp(){
  int l=114;
  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};
  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};

  for(i=0;i<l;i+=1){
    go(x[i],y[i]+2);  
    delay(dly);
  }
}

void tree(){
  int l=79;
  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};
  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};

  for(i=0;i<l;i+=1){
    go(x[i],y[i]+2);  
    delay(dly);
  }
}

void A(){
  int l=14;
  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};
  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};

  for(i=0;i<l;i+=1){
    go(x[i],y[i]);  
    delay(dly);
  }
}

void square(){
  for(i=0;i<10;i++){
    go(0,i);  
    delay(dly);
  } 
  for (i=0;i<10;i++){
    go(i,10);  
    delay(dly);
  }
  for(i=10;i>0;i-=1){
    go(10,i);
    delay(dly);
  }
  for(i=10;i>0;i-=1){
    go(i,0);
    delay(dly);
  }
}

void  line(){

    for(i=0;i<10;i++){
      go(i+4,4);
      delay(dly);
      }
    for(i=10;i>0;i--){
      go(i+4,4);
      delay(dly);
      }
}

void  working_envelop(){
  
  for(float x=16;x>=0;x-=0.20){
    go(x,1);  
    delay(50);
  }
  
  m2.write(20);
  
  for (i=150;i<180;i+=1){
    m1.write(i); 
    delay(50);
  }  

  for (i=20;i<170;i+=1){
    m2.write(i);
    delay(15);
  }

  for(i=180;i>10;i-=1){
    m1.write(i);
    delay(25);
  }
}

void working_envelop_one(){
  for(i=0;i<180;i+=1){
    m1.write(i);
    delay(25);  
  }
  
  for(i=180;i>0;i-=1){
    m1.write(i);
    delay(25);  
  }  
}

void loop() {
 

  working_envelop();
  
  star();
  tree();
  lamp();
  human();
  house();
  heart();
  hand();
  f22();
  butterfly();
  A();
  
  delay(500);
}

Downloadable files

Drawing Robot

Documentation

Rangoli Making Robot CAD Design

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