Source Code

Below is the source code for the CyberMechaBall, written mostly by Marc Kiessling:

// Cyber-Mecha-Ball Control Program
// Marc Kiessling, Jason Livesey, and Mark Burger
// 12/3/09

#include  <Servo.h>
 
Servo myservo; 
                
boolean onOff;
boolean leftRight; //left is true, right is false.
long initialTimeServo; //start a timer. this way the dc motor and servo 
                      //can opperate independently from each other.
long initialTimeDC;
int dcTimer;
int servoTimer;
 
void setup() 
{ 
  onOff = true;
  leftRight = true; 
  dcTimer = random(1000,5000);
  servoTimer = random(1500,5000);
  initialTimeServo = millis();                       
  initialTimeDC = millis();
  randomSeed(analogRead(0));
  pinMode(2, OUTPUT);
  pinMode(3, OUTPUT);
  
  myservo.attach(9);  // attaches the servo on pin 9 to the servo object 
} 
 
 
void loop() 
{ 
  if ( waitDC(dcTimer)) {
    DCMotorToggle();
    dcTimer = random(1000,5000);
  }
  
  if ( waitServo(servoTimer)) {
     turnBall();
     servoTimer = random(1500,5000);
  }

} 

void turnBall()
{
  if (leftRight) {
    turnRight();
    leftRight = false;
  }
  else {
    turnLeft();
    leftRight = true;
  }
}

void turnRight()
{
  myservo.write(110);  
  delay(750);
  myservo.write(95);
}

void turnLeft()
{
  myservo.write(80);
  delay(750);
  myservo.write(95);

} 

void DCMotorToggle()
{
  if (onOff) {
    digitalWrite(2, HIGH);
    digitalWrite(3, HIGH);
    onOff = false;
  }
  else {
    digitalWrite(2, LOW);
    digitalWrite(3, LOW);
    onOff = true;
  }
}

boolean waitDC(long x)
{
  if ( millis() >= initialTimeDC + x ) {
    initialTimeDC = millis();
    return true;
  }
  else
    return false;
}

boolean waitServo(long x)
{
  if (millis() >= initialTimeServo + x ) {
    initialTimeServo = millis();
    return true;
  }
  else
    return false;
}