OTTO机器人之太空舞步实现(带胳膊+不带胳膊)
2024-06-27 19:44:43
不带胳膊的版本
#include <Servo.h>
#include <Oscillator.h>
#include <EEPROM.h>#define N_SERVOS 4
//-- First step: Configure the pins where the servos are attached
/*--------------- | O O ||---------------|
YR 3==> | | <== YL 2--------------- || |||| ||
RR 5==> ----- ------ <== RL 4|----- ------|
*/
#define EEPROM_TRIM false
// Activate to take callibration data from internal memory
#define TRIM_RR 7
#define TRIM_RL 4
#define TRIM_YR 4
#define TRIM_YL -7
//OTTO.setTrims(-7,-4,-4,7);#define PIN_RR 5
#define PIN_RL 4
#define PIN_YR 3
#define PIN_YL 2#define INTERVALTIME 10.0 Oscillator servo[N_SERVOS];void goingUp(int tempo);
void drunk (int tempo);
void noGravity(int tempo);
void kickLeft(int tempo);
void kickRight(int tempo);
void run(int steps, int T=500);
void walk(int steps, int T=1000);
void backyard(int steps, int T=3000);
void backyardSlow(int steps, int T=5000);
void turnLeft(int steps, int T=3000);
void turnRight(int steps, int T=3000);
void moonWalkLeft(int steps, int T=1000);
void moonWalkRight(int steps, int T=1000);
void crusaito(int steps, int T=1000);
void swing(int steps, int T=1000);
void upDown(int steps, int T=1000);
void flapping(int steps, int T=1000);void setup()
{Serial.begin(19200);servo[0].attach(PIN_RR);servo[1].attach(PIN_RL);servo[2].attach(PIN_YR);servo[3].attach(PIN_YL);//EEPROM.write(0,TRIM_RR);//EEPROM.write(1,TRIM_RL);//EEPROM.write(2,TRIM_YR);//EEPROM.write(3,TRIM_YL);int trim;if(EEPROM_TRIM){for(int x=0;x<4;x++){trim=EEPROM.read(x);if(trim>128)trim=trim-256;Serial.print("TRIM ");Serial.print(x);Serial.print(" en ");Serial.println(trim);servo[x].SetTrim(trim);}}else{servo[0].SetTrim(TRIM_RR);servo[1].SetTrim(TRIM_RL);servo[2].SetTrim(TRIM_YR);servo[3].SetTrim(TRIM_YL);}for(int i=0;i<4;i++) servo[i].SetPosition(90);
}// TEMPO: 121 BPM
int t=495;
double pause=0;void loop()
{// if(Serial.available()){// char init = Serial.read();// if (init=='X'){// delay(4000); //3000 - 4500dance();//for(int i=0;i<4;i++) servo[i].SetPosition(90);for(int i=0;i<4;i++) servo[i].SetPosition(90);// }// }
}void dance(){primera_parte();segunda_parte();moonWalkLeft(4,t*2);moonWalkRight(4,t*2);moonWalkLeft(4,t*2);moonWalkRight(4,t*2);primera_parte(); crusaito(1,t*8);crusaito(1,t*7);for (int i=0; i<16; i++){flapping(1,t/4);delay(3*t/4);}moonWalkRight(4,t*2);moonWalkLeft(4,t*2);moonWalkRight(4,t*2);moonWalkLeft(4,t*2);drunk(t*4);drunk(t*4);drunk(t*4);drunk(t*4);kickLeft(t);kickRight(t);drunk(t*8);drunk(t*4);drunk(t/2);delay(t*4); drunk(t/2);delay(t*4); walk(2,t*2);backyard(2,t*2);goingUp(t*2);goingUp(t*1);noGravity(t*2);crusaito(1,t*2);crusaito(1,t*8);crusaito(1,t*2);crusaito(1,t*8);crusaito(1,t*2);crusaito(1,t*3);delay(t);primera_parte();for (int i=0; i<32; i++){flapping(1,t/2);delay(t/2);}for(int i=0;i<4;i++) servo[i].SetPosition(90);
}//FUNCIONES DE CONTROL//void oscillate(int A[N_SERVOS], int O[N_SERVOS], int T, double phase_diff[N_SERVOS]){for (int i=0; i<4; i++) {servo[i].SetO(O[i]);servo[i].SetA(A[i]);servo[i].SetT(T);servo[i].SetPh(phase_diff[i]);}double ref=millis();for (double x=ref; x<T+ref; x=millis()){for (int i=0; i<4; i++){servo[i].refresh();}}
}unsigned long final_time;
unsigned long interval_time;
int oneTime;
int iteration;
float increment[N_SERVOS];
int oldPosition[]={90,90,90,90};void moveNServos(int time, int newPosition[]){for(int i=0;i<N_SERVOS;i++) increment[i] = ((newPosition[i])-oldPosition[i])/(time/INTERVALTIME);final_time = millis() + time; iteration = 1; while(millis() < final_time){ //Javi del futuro cambia esto interval_time = millis()+INTERVALTIME; oneTime=0; while(millis()<interval_time){ if(oneTime<1){ for(int i=0;i<N_SERVOS;i++){servo[i].SetPosition(oldPosition[i] + (iteration * increment[i]));} iteration++;oneTime++;}} } for(int i=0;i<N_SERVOS;i++){ oldPosition[i] = newPosition[i];}
}//
PASOS DE BAILE
//void goingUp(int tempo){pause=millis();for(int i=0;i<4;i++) servo[i].SetPosition(90);delay(tempo);servo[0].SetPosition(80);servo[1].SetPosition(100);delay(tempo);servo[0].SetPosition(70);servo[1].SetPosition(110);delay(tempo);servo[0].SetPosition(60);servo[1].SetPosition(120);delay(tempo);servo[0].SetPosition(50);servo[1].SetPosition(130);delay(tempo);servo[0].SetPosition(40);servo[1].SetPosition(140);delay(tempo);servo[0].SetPosition(30);servo[1].SetPosition(150);delay(tempo);servo[0].SetPosition(20);servo[1].SetPosition(160);delay(tempo);while(millis()<pause+8*t);}void primera_parte(){int move1[4] = {60,120,90,90};int move2[4] = {90,90,90,90};int move3[4] = {40,140,90,90};for(int x=0; x<3; x++){for(int i=0; i<3; i++){lateral_fuerte(1,t/2);lateral_fuerte(0,t/4);lateral_fuerte(1,t/4);delay(t);}pause=millis();for(int i=0;i<4;i++) servo[i].SetPosition(90);moveNServos(t*0.4,move1);moveNServos(t*0.4,move2);while(millis()<(pause+t*2));}for(int i=0; i<2; i++){lateral_fuerte(1,t/2);lateral_fuerte(0,t/4);lateral_fuerte(1,t/4);delay(t);}pause=millis();for(int i=0;i<4;i++) servo[i].SetPosition(90);crusaito(1,t*1.4);moveNServos(t*1,move3);for(int i=0;i<4;i++) servo[i].SetPosition(90);while(millis()<(pause+t*4));
}void segunda_parte(){int move1[4] = {90,90,80,100};int move2[4] = {90,90,100,80};int move3[4] = {90,90,80,100};int move4[4] = {90,90,100,80};int move5[4] = {40,140,80,100};int move6[4] = {40,140,100,80};int move7[4] = {90,90,80,100};int move8[4] = {90,90,100,80};int move9[4] = {40,140,80,100};int move10[4] = {40,140,100,80};int move11[4] = {90,90,80,100};int move12[4] = {90,90,100,80};for(int x=0; x<7; x++){ for(int i=0; i<3; i++){pause=millis();moveNServos(t*0.15,move1);moveNServos(t*0.15,move2);moveNServos(t*0.15,move3);moveNServos(t*0.15,move4);while(millis()<(pause+t));}pause=millis();moveNServos(t*0.15,move5);moveNServos(t*0.15,move6);moveNServos(t*0.15,move7);moveNServos(t*0.15,move8);while(millis()<(pause+t));}for(int i=0; i<3; i++){pause=millis();moveNServos(t*0.15,move9);moveNServos(t*0.15,move10);moveNServos(t*0.15,move11);moveNServos(t*0.15,move12);while(millis()<(pause+t));}
}void lateral_fuerte(boolean side, int tempo){for(int i=0;i<4;i++) servo[i].SetPosition(90);if (side) servo[0].SetPosition(40);else servo[1].SetPosition(140);delay(tempo/2);servo[0].SetPosition(90);servo[1].SetPosition(90);delay(tempo/2);}void drunk (int tempo){pause=millis();int move1[] = {60,70,90,90};int move2[] = {110,120,90,90};int move3[] = {60,70,90,90};int move4[] = {110,120,90,90};moveNServos(tempo*0.235,move1);moveNServos(tempo*0.235,move2);moveNServos(tempo*0.235,move3);moveNServos(tempo*0.235,move4);while(millis()<(pause+tempo));}void noGravity(int tempo){int move1[4] = {120,140,90,90};int move2[4] = {140,140,90,90};int move3[4] = {120,140,90,90};int move4[4] = {90,90,90,90};for(int i=0;i<4;i++) servo[i].SetPosition(90);for(int i=0;i<N_SERVOS;i++) oldPosition[i]=90;moveNServos(tempo*2,move1);moveNServos(tempo*2,move2);delay(tempo*2);moveNServos(tempo*2,move3);moveNServos(tempo*2,move4);}void kickLeft(int tempo){for(int i=0;i<4;i++) servo[i].SetPosition(90);delay(tempo);servo[0].SetPosition(50); //pie derechoservo[1].SetPosition(70); //pie izquierodelay(tempo);servo[0].SetPosition(80); //pie derechoservo[1].SetPosition(70); //pie izquierodelay(tempo/4);servo[0].SetPosition(30); //pie derechoservo[1].SetPosition(70); //pie izquierodelay(tempo/4);servo[0].SetPosition(80); //pie derechoservo[1].SetPosition(70); //pie izquierodelay(tempo/4);servo[0].SetPosition(30); //pie derechoservo[1].SetPosition(70); //pie izquierodelay(tempo/4);servo[0].SetPosition(80); //pie derechoservo[1].SetPosition(70); //pie izquierodelay(tempo);
}void kickRight(int tempo){
for(int i=0;i<4;i++) servo[i].SetPosition(90);delay(tempo);servo[0].SetPosition(110); //pie derechoservo[1].SetPosition(130); //pie izquierodelay(tempo);servo[0].SetPosition(110); //pie derechoservo[1].SetPosition(100); //pie izquierodelay(tempo/4);servo[0].SetPosition(110); //pie derechoservo[1].SetPosition(150); //pie izquierodelay(tempo/4);servo[0].SetPosition(110); //pie derechoservo[1].SetPosition(80); //pie izquierodelay(tempo/4);servo[0].SetPosition(110); //pie derechoservo[1].SetPosition(150); //pie izquierodelay(tempo/4);servo[0].SetPosition(110); //pie derechoservo[1].SetPosition(100); //pie izquierodelay(tempo);
}void walk(int steps, int T){int A[4]= {15, 15, 30, 30};int O[4] = {0, 0, 0, 0};double phase_diff[4] = {DEG2RAD(0), DEG2RAD(0), DEG2RAD(90), DEG2RAD(90)};for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}void run(int steps, int T){int A[4]= {10, 10, 10, 10};int O[4] = {0, 0, 0, 0};double phase_diff[4] = {DEG2RAD(0), DEG2RAD(0), DEG2RAD(90), DEG2RAD(90)}; for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}void backyard(int steps, int T){int A[4]= {15, 15, 30, 30};int O[4] = {0, 0, 0, 0};double phase_diff[4] = {DEG2RAD(0), DEG2RAD(0), DEG2RAD(-90), DEG2RAD(-90)}; for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}void backyardSlow(int steps, int T){int A[4]= {15, 15, 30, 30};int O[4] = {0, 0, 0, 0};double phase_diff[4] = {DEG2RAD(0), DEG2RAD(0), DEG2RAD(-90), DEG2RAD(-90)}; for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}void turnLeft(int steps, int T){int A[4]= {20, 20, 10, 30};int O[4] = {0, 0, 0, 0};double phase_diff[4] = {DEG2RAD(0), DEG2RAD(0), DEG2RAD(90), DEG2RAD(90)}; for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}void turnRight(int steps, int T){int A[4]= {20, 20, 30, 10};int O[4] = {0, 0, 0, 0};double phase_diff[4] = {DEG2RAD(0), DEG2RAD(0), DEG2RAD(90), DEG2RAD(90)}; for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}void moonWalkRight(int steps, int T){int A[4]= {25, 25, 0, 0};int O[4] = {-15 ,15, 0, 0};double phase_diff[4] = {DEG2RAD(0), DEG2RAD(180 + 120), DEG2RAD(90), DEG2RAD(90)}; for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}void moonWalkLeft(int steps, int T){int A[4]= {25, 25, 0, 0};int O[4] = {-15, 15, 0, 0};double phase_diff[4] = {DEG2RAD(0), DEG2RAD(180 - 120), DEG2RAD(90), DEG2RAD(90)}; for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}void crusaito(int steps, int T){int A[4]= {25, 25, 30, 30};int O[4] = {- 15, 15, 0, 0};double phase_diff[4] = {DEG2RAD(0), DEG2RAD(180 + 120), DEG2RAD(90), DEG2RAD(90)}; for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}void swing(int steps, int T){int A[4]= {25, 25, 0, 0};int O[4] = {-15, 15, 0, 0};double phase_diff[4] = {DEG2RAD(0), DEG2RAD(0), DEG2RAD(90), DEG2RAD(90)};for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}void upDown(int steps, int T){int A[4]= {25, 25, 0, 0};int O[4] = {-15, 15, 0, 0};double phase_diff[4] = {DEG2RAD(180), DEG2RAD(0), DEG2RAD(270), DEG2RAD(270)};for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}void flapping(int steps, int T){int A[4]= {15, 15, 8, 8};int O[4] = {-A[0], A[1], 0, 0};double phase_diff[4] = {DEG2RAD(0), DEG2RAD(180), DEG2RAD(90), DEG2RAD(-90)};for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}void test(int steps, int T){int A[4]= {15, 15, 8, 8};int O[4] = {-A[0] + 10, A[1] - 10, 0, 0};double phase_diff[4] = {DEG2RAD(0), DEG2RAD(180), DEG2RAD(90), DEG2RAD(-90)};for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}带胳膊的版本
#include <Servo.h>
#include <Oscillator.h>
#include <US.h>
#include <Otto.h>#define N_SERVOS 6 // 共6个舵机#define PIN_YL 2 // 左腿
#define PIN_YR 3 // 右腿
#define PIN_RL 4 // 左脚
#define PIN_RR 5 // 右脚
#define PIN_AL 6 // 左胳膊
#define PIN_AR 7 // 右胳膊#define INTERVALTIME 10.0 Oscillator servo[N_SERVOS];int t=495;
double pause=0;void setup()
{ Serial.begin(9600); // 设置舵机引脚servo[0].attach(PIN_RR);servo[1].attach(PIN_RL);servo[2].attach(PIN_YR);servo[3].attach(PIN_YL);servo[4].attach(PIN_AR); //右胳膊 90-平直、0-平直servo[5].attach(PIN_AL); //左胳膊 90-平直、180-平直for(int i=0;i<N_SERVOS;i++) // 舵机归位{servo[i].SetPosition(90);}
} void loop()
{ dance();
}void dance()
{primera_parte();segunda_parte();moonWalkLeft(4,t*2);moonWalkRight(4,t*2);moonWalkLeft(4,t*2);moonWalkRight(4,t*2);primera_parte(); crusaito(1,t*8);crusaito(1,t*7);for (int i=0; i<16; i++){flapping(1,t/4);delay(3*t/4);}moonWalkRight(4,t*2);moonWalkLeft(4,t*2);moonWalkRight(4,t*2);moonWalkLeft(4,t*2);drunk(t*4);drunk(t*4);drunk(t*4);drunk(t*4);kickLeft(t);
// kickRight(t);drunk(t*8);drunk(t*4);drunk(t/2);delay(t*4); drunk(t/2);delay(t*4); walk(2,t*2);
// backyard(2,t*2);
// goingUp(t*2);
// goingUp(t*1);
// noGravity(t*2);crusaito(1,t*2);crusaito(1,t*8);crusaito(1,t*2);crusaito(1,t*8);crusaito(1,t*2);crusaito(1,t*3);delay(t);primera_parte();for (int i=0; i<32; i++){flapping(1,t/2);delay(t/2);}for(int i=0;i<4;i++) {servo[i].SetPosition(90);}
}void oscillate(int A[N_SERVOS], int O[N_SERVOS], int T, double phase_diff[N_SERVOS])
{for (int i=0; i<N_SERVOS; i++){servo[i].SetO(O[i]);servo[i].SetA(A[i]);servo[i].SetT(T);servo[i].SetPh(phase_diff[i]);}double ref=millis();for (double x=ref; x<T+ref; x=millis()){for (int i=0; i<N_SERVOS; i++){servo[i].refresh();}}
}//
/所 有 动 作(以下) ///
//
void run(int steps, int T)
{// 右脚 左脚 右腿 左腿 右胳膊 左胳膊int A[6]= {15, 15, 30, 30, 30, 30}; // 移动幅度 (引脚对应分别是：右脚 左脚 右腿 左腿 左胳膊 右胳膊)int O[6] = {0, 0, 0, 0, 0, 0}; // 偏移 (+偏右 -偏左)double phase_diff[6] = {DEG2RAD(0), DEG2RAD(0), DEG2RAD(90), DEG2RAD(90), DEG2RAD(0), DEG2RAD(0)}; for(int i=0;i<steps;i++){oscillate(A,O, T, phase_diff);}
}void walk(int steps, int T)
{int A[6]= {10, 10, 10, 10, 20, 20}; // 移动幅度 (引脚对应分别是：右脚 左脚 右腿 左腿 右胳膊 左胳膊)int O[6] = {0, 0, 0, 0, 0, 0}; // 偏移 (+偏右 -偏左)double phase_diff[6] = {DEG2RAD(0), DEG2RAD(0), DEG2RAD(90), DEG2RAD(90), DEG2RAD(0), DEG2RAD(0)}; for(int i=0;i<steps;i++){oscillate(A,O, T, phase_diff);}
}void crusaito(int steps, int T)
{int A[6]= {25, 25, 30, 30, 30, 30};int O[6] = {- 15, 15, 0, 0, 0, 0};double phase_diff[6] = {DEG2RAD(0), DEG2RAD(180 + 120), DEG2RAD(90), DEG2RAD(90), DEG2RAD(0), DEG2RAD(0)}; for(int i=0;i<steps;i++){oscillate(A,O, T, phase_diff);}
}void moonWalkLeft(int steps, int T)
{//向左移动，左胳膊在上大幅度摆，右胳膊在下小幅度摆int A[6]= {25, 25, 0, 0, 10, 30};int O[6] = {-15, 15, 0, 0, 40, 0};double phase_diff[6] = {DEG2RAD(0), DEG2RAD(180 - 120), DEG2RAD(90), DEG2RAD(90), DEG2RAD(0), DEG2RAD(0)}; for(int i=0;i<steps;i++){oscillate(A,O, T, phase_diff);}
}void moonWalkRight(int steps, int T)
{//向右移动，右胳膊在上大幅度摆，左胳膊在下小幅度摆int A[6]= {25, 25, 0, 0, 30, 10};int O[6] = {-15 ,15, 0, 0, 0, -40};double phase_diff[6] = {DEG2RAD(0), DEG2RAD(180 + 120), DEG2RAD(90), DEG2RAD(90)}; for(int i=0;i<steps;i++){oscillate(A,O, T, phase_diff);}
}void flapping(int steps, int T)
{int A[6]= {15, 15, 8, 8, 30, 30};int O[6] = {-A[0], A[1], 0, 0, 0, 30};double phase_diff[6] = {DEG2RAD(0), DEG2RAD(180), DEG2RAD(90), DEG2RAD(-90), DEG2RAD(0), DEG2RAD(180)};for(int i=0;i<steps;i++){oscillate(A,O, T, phase_diff);}
}void drunk (int tempo)
{pause=millis();int move1[6] = {60,70,90,90,0,180};int move2[6] = {110,120,90,90,45,145};int move3[6] = {60,70,90,90,0,180};int move4[6] = {110,120,90,90,45,145};moveNServos(tempo*0.235, move1);moveNServos(tempo*0.235, move2);moveNServos(tempo*0.235, move3);moveNServos(tempo*0.235, move4);while(millis()<(pause+tempo));
}void kickLeft(int tempo)
{for(int i=0;i<4;i++) {servo[i].SetPosition(90);}delay(tempo);servo[0].SetPosition(50); //pie derechoservo[1].SetPosition(70); //pie izquierodelay(tempo);servo[0].SetPosition(80); //pie derechoservo[1].SetPosition(70); //pie izquierodelay(tempo/4);servo[0].SetPosition(30); //pie derechoservo[1].SetPosition(70); //pie izquierodelay(tempo/4);servo[0].SetPosition(80); //pie derechoservo[1].SetPosition(70); //pie izquierodelay(tempo/4);servo[0].SetPosition(30); //pie derechoservo[1].SetPosition(70); //pie izquierodelay(tempo/4);servo[0].SetPosition(80); //pie derechoservo[1].SetPosition(70); //pie izquierodelay(tempo);
}
//
/基 本 动 作(以上) ///
////单腿原地滑步+胳膊扭动，其余部位保持90°。
//tempo表示对应的时间间隔,side-1右滑，side-0左滑
void lateral_fuerte(boolean side, int tempo)
{for(int i=0;i<6;i++)//舵机归位 {servo[i].SetPosition(90);}if (side){ servo[0].SetPosition(40);servo[4].SetPosition(140);delay(tempo/10);}else {servo[1].SetPosition(140);servo[5].SetPosition(40);delay(tempo/10);}delay(tempo/2);servo[0].SetPosition(90);servo[1].SetPosition(90);servo[4].SetPosition(90);servo[5].SetPosition(90);delay(tempo/2);
}unsigned long final_time;
unsigned long interval_time;
int oneTime;
int iteration;
float increment[N_SERVOS];
int oldPosition[]={90,90,90,90,90,90};
//移动
void moveNServos(int time, int newPosition[])
{for(int i=0;i<N_SERVOS;i++) {increment[i] = ((newPosition[i])-oldPosition[i])/(time/INTERVALTIME);}final_time = millis() + time; iteration = 1; while(millis() < final_time){ interval_time = millis()+INTERVALTIME; oneTime=0; while(millis()<interval_time){ if(oneTime<1){ for(int i=0;i<N_SERVOS;i++){servo[i].SetPosition(oldPosition[i] + (iteration * increment[i]));} iteration++;oneTime++;}} } for(int i=0;i<N_SERVOS;i++){ oldPosition[i] = newPosition[i];}
}//第一套动作 - 滑步
void primera_parte()
{int move1[6] = {60,120,90,90,140,40};int move2[6] = {90,90,90,90,90,90};int move3[6] = {40,140,90,90,40,140};for(int x=0; x<3; x++){for(int i=0; i<3; i++){lateral_fuerte(1,t/2);lateral_fuerte(0,t/4);lateral_fuerte(1,t/4);delay(t);}pause=millis();for(int i=0;i<6;i++) // 舵机归位 {servo[i].SetPosition(90);}moveNServos(t*0.4,move1);moveNServos(t*0.4,move2);while(millis()<(pause+t*2));}for(int i=0; i<2; i++){lateral_fuerte(1,t/2);lateral_fuerte(0,t/4);lateral_fuerte(1,t/4);delay(t);}pause=millis();for(int i=0;i<6;i++) // 舵机归位 {servo[i].SetPosition(90);}crusaito(1,t*1.4);moveNServos(t*1,move3);for(int i=0;i<6;i++) // 舵机归位 {servo[i].SetPosition(90);}while(millis()<(pause+t*4));
}//第二套动作 - 抖腿
void segunda_parte()
{//抖腿int move1[6] = {90,90,80,100,0,0};int move2[6] = {90,90,100,80,0,0};int move3[6] = {90,90,80,100,0,0};int move4[6] = {90,90,100,80,0,0};//小高潮int move5[6] = {40,140,80,100,90,90};int move6[6] = {40,140,100,80,90,90};int move7[6] = {90,90,80,100,90,90};int move8[6] = {90,90,100,80,90,90};//大高潮int move9[6] = {40,140,80,100,0,180};int move10[6] = {40,140,100,80,40,140};int move11[6] = {90,90,80,100,0,180};int move12[6] = {90,90,100,80,40,140};for(int x=0; x<7; x++){ for(int i=0; i<3; i++){pause=millis();moveNServos(t*0.15,move1);moveNServos(t*0.15,move2);moveNServos(t*0.15,move3);moveNServos(t*0.15,move4);while(millis()<(pause+t));}pause=millis();moveNServos(t*0.15,move5);moveNServos(t*0.15,move6);moveNServos(t*0.15,move7);moveNServos(t*0.15,move8);while(millis()<(pause+t));}for(int i=0; i<3; i++){pause=millis();moveNServos(t*0.15,move9);moveNServos(t*0.15,move10);moveNServos(t*0.15,move11);moveNServos(t*0.15,move12);while(millis()<(pause+t));}
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