Friendly Arduino Robot That Waves Back and Blinks at You

1#include <Servo.h>
2#include <Wire.h>
3#include <Adafruit_GFX.h>
4#include <Adafruit_SSD1306.h>
5
6#define SCREEN_WIDTH 128
7#define SCREEN_HEIGHT 64
8Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, -1);
9
10Servo servo;
11int pirPin = 2;
12int servoPin = 9;
13int state = LOW;
14unsigned long lastBlink = 0;
15bool eyesOpen = true;
16
17void setup() {
18  servo.attach(servoPin);
19  pinMode(pirPin, INPUT);
20  servo.write(90);
21  Serial.begin(9600);
22
23  // Start OLED
24  if (!display.begin(SSD1306_SWITCHCAPVCC, 0x3C)) {
25    Serial.println("Ошибка OLED");
26    for (;;);
27  }
28  display.clearDisplay();
29  drawEyesOpen();
30}
31
32void loop() {
33  int val = digitalRead(pirPin);
34
35  if (val == HIGH) {
36    if (state == LOW) {
37      Serial.println("Обнаружено движение!");
38      drawSurprised();
39      delay(800);
40      drawWink();
41      delay(600);
42
43      // Hand moving
44      for (int i = 0; i < 5; i++) {
45        servo.write(50);
46        delay(150);
47        servo.write(0);
48        delay(150);
49      }
50      servo.write(50);
51      drawEyesOpen();
52      state = HIGH;
53    }
54  } else {
55    if (state == HIGH) {
56      Serial.println("Нет движения.");
57      state = LOW;
58    }
59
60    // Blinking
61    if (millis() - lastBlink > random(3000, 7000)) {
62      blink();
63      lastBlink = millis();
64    }
65  }
66}
67
68// === Eyes ===
69
70void drawEyesOpen() {
71  display.clearDisplay();
72  drawEye(34, 32, true);
73  drawEye(94, 32, true);
74  display.display();
75}
76
77void drawEyesClosed() {
78  display.clearDisplay();
79  drawEye(34, 32, false);
80  drawEye(94, 32, false);
81  display.display();
82}
83
84void drawSurprised() {
85  display.clearDisplay();
86  display.drawCircle(34, 32, 10, SSD1306_WHITE);
87  display.drawCircle(94, 32, 10, SSD1306_WHITE);
88  display.display();
89}
90
91void drawWink() {
92  display.clearDisplay();
93  drawEye(34, 32, true);
94  display.drawLine(84, 32, 104, 32, SSD1306_WHITE);
95  display.display();
96}
97
98void blink() {
99  drawEyesClosed();
100  delay(150);
101  drawEyesOpen();
102}
103
104void drawEye(int x, int y, bool open) {
105  if (open) {
106    display.drawCircle(x, y, 10, SSD1306_WHITE);
107    display.fillCircle(x, y, 4, SSD1306_WHITE);
108  } else {
109    display.drawLine(x - 8, y, x + 8, y, SSD1306_WHITE);
110  }
111}