Update body.ino

Author: TheUnsolvedDev

arduino/body.ino

@@ -1,7 +1,7 @@
 #include <Wire.h>
 #include <Adafruit_PWMServoDriver.h>
 
-char ch = "L"
+char ch = "L";
 Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();
 #define SERVOMIN  125 // this is the 'minimum' pulse length count (out of 4096)
 #define SERVOMAX  575 // this is the 'maximum' pulse length count (out of 4096)
@@ -13,18 +13,6 @@ void setup() {
 
   pwm.setPWMFreq(60);
 
-  init();
-  delay(2000);  
-  }
-
-void loop() {
-  delay(100);
-  walk();
-  rotation(ch,30);
-}
-
-void init()
-{
   pwm.setPWM(0, 0, angleToPulse(160));
   pwm.setPWM(1, 0, angleToPulse(145));
   pwm.setPWM(2, 0, angleToPulse(155));
@@ -39,6 +27,12 @@ void init()
   pwm.setPWM(9, 0, angleToPulse(145));
   pwm.setPWM(10,0, angleToPulse(160));
   pwm.setPWM(11,0, angleToPulse(60) );
+  delay(2000);  
+  }
+
+void loop() {
+  delay(100);
+//  walk();
 }
 
 void rotation(char ch,int rotate)
@@ -75,7 +69,20 @@ void rotation(char ch,int rotate)
   pwm.setPWM(7, 0, angleToPulse(150));
   delay(500);
 
-  init();
+  pwm.setPWM(0, 0, angleToPulse(160));
+  pwm.setPWM(1, 0, angleToPulse(145));
+  pwm.setPWM(2, 0, angleToPulse(155));
+  pwm.setPWM(3, 0, angleToPulse(60) );
+  
+  pwm.setPWM(4, 0, angleToPulse(85) );
+  pwm.setPWM(5, 0, angleToPulse(55) );
+  pwm.setPWM(6, 0, angleToPulse(140) );
+  pwm.setPWM(7, 0, angleToPulse(150));
+
+  pwm.setPWM(8, 0, angleToPulse(90) );
+  pwm.setPWM(9, 0, angleToPulse(145));
+  pwm.setPWM(10,0, angleToPulse(160));
+  pwm.setPWM(11,0, angleToPulse(60) );
 
 }