LightSaber Dueling Robot

1#include "arduino_secrets.h"
2
3// Light saber BY: Preston Malana
4
5// Enjoy 
6
7
8#include <Servo.h>
9
10Servo servoX, servoY;
11
12const int servoPin1 = 10;
13const int servoPin2 = 11;
14const int ledPin    = 12;
15const int buttonPin = 2;
16
17int posX = 90;
18int posY = 90;
19int targetX = 90;
20int targetY = 90;
21
22void setup() {
23  servoX.attach(servoPin1);
24  servoY.attach(servoPin2);
25
26  pinMode(ledPin, OUTPUT);
27  pinMode(buttonPin, INPUT_PULLUP);
28
29  Serial.begin(9600);
30}
31
32// Limit servo range safely
33int adjustPosition(int current, int delta) {
34  current += delta;
35  current = constrain(current, 0, 214);
36  return current; 
37}
38
39// Smooth and fast servo movement with LED flicker
40void smoothMove(Servo &servo, int &currentPos, int targetPos, int stepDelay = 2) {
41  if (currentPos == targetPos) return;
42
43  int step = (targetPos > currentPos) ? 2 : -2;  // move 2° per step (faster)
44
45  while (currentPos != targetPos) {
46    currentPos += step;
47
48    // Stop exactly at the target
49    if ((step > 0 && currentPos > targetPos) || (step < 0 && currentPos < targetPos)) {
50      currentPos = targetPos;
51    }
52
53    servo.write(currentPos);
54
55    // Flicker LED briefly while moving
56    digitalWrite(ledPin, HIGH);
57    delay(1);
58    digitalWrite(ledPin, LOW);
59
60    delay(stepDelay);  // small delay = faster movement
61  }
62}
63
64void loop() {
65  int xVal = analogRead(A0);
66  int yVal = analogRead(A1);
67
68  int deltaX = 0, deltaY = 0;
69
70  // Joystick X
71  if (xVal <= 450 || xVal >= 550) {
72    deltaX = map(xVal, 0, 1023, -10, 10);
73    targetX = adjustPosition(targetX, deltaX);
74  }
75
76  // Joystick Y
77  if (yVal <= 450 || yVal >= 550) {
78    deltaY = map(yVal, 0, 1023, 10, -10);
79    targetY = adjustPosition(targetY, deltaY);
80  }
81
82  // Move both servos quickly and smoothly
83  smoothMove(servoX, posX, targetX, 0.000011);
84  smoothMove(servoY, posY, targetY, 0.000011);
85
86  // LED ON when button is pressed
87  if (digitalRead(buttonPin) == LOW)
88    digitalWrite(ledPin, HIGH);
89  else
90    digitalWrite(ledPin, LOW);
91
92  delay(0.001
93  );
94}