PetBeam laser AI

1#include <Servo.h>
2
3#define servo_pin_x 9
4#define servo_pin_y 3
5#define LASER_PIN 5
6
7Servo myServox;  
8Servo myServoy;
9
10int min_deg_x= 45;
11int max_deg_x= 135;
12int min_deg_y= 35;
13int max_deg_y= 80;
14int min_x=-100;
15int max_x= 100;
16int min_y=-100;
17int max_y= 100;
18
19
20int position_x = 90;
21int position_y = 90;
22
23int target_x = 0;
24int target_y = 0;
25
26
27
28int angle_rate = 15; 
29int time_angle_rate = 150; 
30
31struct coord {
32  int x;
33  int y;
34};
35
36//Here is where you can input the coordinates you want, manually or using AI.
37coord shape [] = {
38
39{50, 0}, {49, 6}, {48, 12}, {46, 18}, {43, 24}, {40, 29}, {36, 34}, {31, 38}, {26, 42}, {21, 45}, 
40{15, 47}, {9, 49}, {3, 49}, {-3, 49}, {-9, 49}, {-15, 47}, {-21, 45}, {-26, 42}, {-31, 38}, {-36, 34}, 
41{-40, 29}, {-43, 24}, {-46, 18}, {-48, 12}, {-49, 6}, {-50, 0}, {-49, -6}, {-48, -12}, {-46, -18}, {-43, -24}, 
42{-40, -29}, {-36, -34}, {-31, -38}, {-26, -42}, {-21, -45}, {-15, -47}, {-9, -49}, {-3, -49}, {3, -49}, {9, -49}, 
43{15, -47}, {21, -45}, {26, -42}, {31, -38}, {36, -34}, {40, -29}, {43, -24}, {46, -18}, {48, -12}, {49, -6},
44{25, 0}, {24, 3}, {24, 6}, {23, 9}, {21, 12}, {20, 14}, {18, 17}, {15, 19}, {13, 21}, {10, 22}, 
45{7, 23}, {4, 24}, {1, 24}, {-1, 24}, {-4, 24}, {-7, 23}, {-10, 22}, {-13, 21}, {-15, 19}, {-18, 17}, 
46{-20, 14}, {-21, 12}, {-23, 9}, {-24, 6}, {-24, 3}, {-25, 0}, {-24, -3}, {-24, -6}, {-23, -9}, {-21, -12}, 
47{-20, -14}, {-18, -17}, {-15, -19}, {-13, -21}, {-10, -22}, {-7, -23}, {-4, -24}, {-1, -24}, {1, -24}, 
48{4, -24}, {7, -23}, {10, -22}, {13, -21}, {15, -19}, {18, -17}, {20, -14}, {21, -12}, {23, -9}, {24, -6}, {24, -3},
49{-50, 0}, {-40, 0}, {-40, 10}, {-30, 10}, {-30, 20}, {-20, 20}, {-20, 30}, {-10, 30}, {-10, 40}, {0, 40}, 
50{0, 50}, {10, 50}, {10, 60}, {20, 60}, {20, 70}, {30, 70}, {30, 80}, {40, 80}, {40, 90}, {50, 90}, 
51{50, 100}, {60, 100}
52};
53
54
55
56void setup() {
57
58    Serial.begin(9600);
59    myServox.attach(servo_pin_x);   
60    myServox.write(position_x);
61
62    myServoy.attach(servo_pin_y);
63    myServoy.write(position_y);
64    delay(500);
65    pinMode(LASER_PIN, OUTPUT);
66    digitalWrite(LASER_PIN, HIGH);
67}
68
69void loop() {
70 
71  int shape_point_qty = sizeof(shape)/sizeof(shape[0]);
72  for (int i = 0; i < shape_point_qty ; i++){
73    target_x = map(shape[i].x,min_x,max_x,min_deg_x,max_deg_x);
74    target_y = map(shape[i].y,min_y,max_y,min_deg_y,max_deg_y);
75
76    move_servos();
77
78  }
79  
80}
81
82
83void move_servos(){ 
84
85  bool flag_x = true;
86  bool flag_y = true;
87  
88  while (flag_x || flag_y){
89    //
90
91    if(position_x == target_x){
92      flag_x = false;
93    }
94
95   if(position_y == target_y){
96      flag_y = false;
97    }
98
99    if (position_x < target_x) { 
100
101      position_x += angle_rate;
102      if (position_x > target_x){
103        position_x = target_x;
104        flag_x=false;
105      }
106
107
108    }
109
110    if (position_y < target_y){ 
111
112          position_y += angle_rate;
113          if (position_y > target_y){
114            position_y = target_y;
115            flag_y=false;
116            }
117
118    }
119
120    if (position_y > target_y){ 
121
122      position_y -= angle_rate;
123      if (position_y < target_y){
124        position_y = target_y;
125        flag_y=false;
126      }      
127
128    }
129
130
131
132    if (position_x > target_x){ 
133
134      position_x -= angle_rate;
135      if (position_x < target_x){
136        position_x = target_x;
137        flag_x=false;
138      }
139
140    }
141
142    myServox.write(position_x);
143    myServoy.write(position_y);
144    delay (time_angle_rate); 
145
146  }
147    
148
149}

1#include <Servo.h>
2
3#define servo_pin_x 9
4#define servo_pin_y 3
5
6Servo myServox;
7Servo myServoy;
8
9int speed = 50;
10
11void setup() {
12
13    myServox.attach(servo_pin_x);  
14    myServox.write(0);
15    myServoy.attach(servo_pin_y);
16    myServoy.write(0);
17    delay(3000);
18}
19
20
21void loop() {
22
23      for(int i=0; i<=90; i++){
24      myServox.write(i);
25      myServoy.write(i);
26      delay(speed);
27    }
28
29    while (true){}
30
31}