Book Page Turner Arduino Code

       


#include 
#define lArm 8
#define rArm 5
#define wheel 4
#define wArm 6
#define turner 7

Servo solkol;
Servo sagkol;
Servo teker;
Servo tekerkol;
Servo donduren;
const int solDugme = 12;
const int sagDugme = 13;
int dtime = 10;
int leftbutton =0;
int rightbutton = 0;
int counter = 0;

void setup() {
     pinMode(solDugme, OUTPUT);
     pinMode(sagDugme, OUTPUT);
     Serial.begin(9600);
}

void loop() {
     leftbutton = digitalRead(solDugme);
     rightbutton = digitalRead(sagDugme);
     if(counter == 0) {
          defaultPosition();
     }
     if(counter == 1000) {
           counter = 1;    
     }
     if(rightbutton == HIGH) {
          attachedAll();
          servoTurn(donduren, dtime, 0);
          servoTurn(sagkol, dtime, 165);
          servoTurn(solkol, dtime, 165);
          servoTurn(teker, dtime, 180);
          servoTurn(tekerkol, dtime, 5);
          servoTurn(teker, dtime, 0);
          servoTurn(sagkol, dtime, 90);
          servoTurn(donduren, dtime, 20);
          servoTurn(tekerkol, dtime, 50);
          servoTurn(solkol, dtime, 90);
          servoTurn(sagkol, dtime, 165);
          servoTurn(donduren, dtime, 180);
          servoTurn(solkol, dtime, 165);
          servoTurn(tekerkol, dtime, 90);
          servoTurn(donduren, dtime, 0);
          Serial.println("Left button pressed");
          detachAll();
     }
     
     if(leftbutton == HIGH) {
          attachedAll();
          servoTurn(donduren, dtime, 180);
          servoTurn(solkol, dtime, 165);
          servoTurn(sagkol, dtime, 165);
          servoTurn(teker, dtime, 0);
          servoTurn(tekerkol, dtime, 150);
          servoTurn(solkol, dtime, 90);
          servoTurn(teker, dtime, 180);
          servoTurn(donduren, dtime, 160);
          servoTurn(sagkol, dtime, 90);
          servoTurn(tekerkol, dtime, 90);
          servoTurn(donduren, dtime, 0);
          servoTurn(sagkol, dtime, 165);
          servoTurn(solkol, dtime, 165);
          servoTurn(donduren, dtime, 180);
          Serial.println("Right button pressed");
          detachAll();
     }
     
     counter++;
}

void defaultPosition() {
          attachedAll();
          servoTurn(sagkol, dtime, 15);
          servoTurn(solkol, dtime, 15);
          servoTurn(tekerkol, dtime, 90);
          servoTurn(teker, dtime, 0);
          servoTurn(donduren, dtime, 0);
          Serial.println("Start");
          detachAll();
}

void detachAll() {
     if(solkol.attached()) solkol.detach();
     if(sagkol.attached()) sagkol.detach();
     if(teker.attached()) teker.detach();
     if(tekerkol.attached()) tekerkol.detach();
     if(donduren.attached()) donduren.detach();
}

void attachedAll() {
     if (!solkol.attached()) {
          solkol.attach(lArm);
     }
     if (!sagkol.attached()) {
          sagkol.attach(rArm);
     }
     if(!teker.attached()) {
          teker.attach(wheel);
     }
     if(!tekerkol.attached()) {
          tekerkol.attach(wArm);
     }
     if(!donduren.attached()) {
          donduren.attach(turner);
     }
}


void servoTurn(Servo v,int d, int angle) {
     int sp = v.read();
     int diff = angle -sp;
     if(diff < 0) {
          for(int i=0; i < abs(diff); i++) {
               v.write(sp -i);
               delay(d);
          }
     } else {
          for(int i=0; i < diff; i++) {
               v.write(sp +i);
               delay(d);
          }
     }
}