stick robot

.gitignore

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+
+
+#idea
+.idea
+*.iml
+
+
+

README.md

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-1
+# arduino robots
+
+

src/2026-06-18_hit-with-stick/2026-06-18_hit-with-stick.ino

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+/*
+Sweep-arm robot that strike obstacles with a stick.
+*/
+
+#include <Servo.h>
+
+// ===== Pins =====
+#define SERVO1_PIN D5   // GPIO14
+#define SERVO2_PIN D6   // GPIO12
+
+#define TRIG_PIN D1     // GPIO5
+#define ECHO_PIN D2     // GPIO4
+
+Servo servo1;
+Servo servo2;
+
+void setup() {
+  Serial.begin(115200);
+
+  // HC-SR04
+  pinMode(TRIG_PIN, OUTPUT);
+  pinMode(ECHO_PIN, INPUT);
+
+  // Servos
+  servo1.attach(SERVO1_PIN, 500, 2500);
+  servo2.attach(SERVO2_PIN, 500, 2500);
+
+// Center servos
+  servo2.write(90);
+  servo2.detach();
+  delay(5000); //wait 5 sec to allow upload without moving
+  servo1.write(90);
+
+  Serial.println("Robot arm initialized");
+}
+
+void loop() {
+  static int angle = 0;
+  static int direction = 1;
+
+  static unsigned long lastServoMove = 0;
+  static unsigned long lastMeasure = 0;
+
+  // Move servo every 20ms
+  if (millis() - lastServoMove >= 20) {
+    lastServoMove = millis();
+
+    servo1.write(angle);
+
+    angle += direction;
+
+    if (angle >= 180) {
+      angle = 180;
+      direction = -1;
+    }
+
+    if (angle <= 0) {
+      angle = 0;
+      direction = 1;
+    }
+  }
+
+
+  // Measure distance every 50ms
+  if (millis() - lastMeasure >= 50) {
+    lastMeasure = millis();
+
+    long duration;
+    float distance;
+
+    digitalWrite(TRIG_PIN, LOW);
+    delayMicroseconds(2);
+
+    digitalWrite(TRIG_PIN, HIGH);
+    delayMicroseconds(10);
+
+    digitalWrite(TRIG_PIN, LOW);
+
+    duration = pulseIn(ECHO_PIN, HIGH, 30000);
+
+    if (duration > 0) {
+      distance = duration * 0.0343 / 2;
+
+      Serial.print("Angle: ");
+      Serial.print(angle);
+      Serial.print("  Distance: ");
+      Serial.println(distance);
+
+      if (distance >= 14 && distance <= 22) {
+        Serial.println("TARGET!");
+
+        //adjust position to compensate stick offset
+        angle -=8;
+        servo1.write(angle);
+
+        // hit with stick
+        servo2.attach(SERVO2_PIN, 500, 2500);
+        delay(100);
+        servo2.write(165);
+        delay(1000);
+        servo2.write(90);
+        delay(3000);
+        servo2.detach();
+        delay(100);
+      }
+    }
+  }
+}