#include <Servo.h>

Servo servo; //Create a servo “object”, called servo
//Each servo object controls one servo (you
//can have a maximum of 12).

const int flexPin1 = A0; // identfiys pins for flex sensors
const int flexPin2 = A1;
const int flexPin3 = A2;
const int flexPin4 = A3;
const int flexPin= A4;
const int buttonPin = 12; // identifits pin for button
int buttonState = 0; // says that the button starts at 0

int enA = 2; // pins for the motor controls
int in1 = 3;
int in2 = 4;
int enB = 7;
int in3 = 5;
int in4 = 6;

void setup()
{

Serial.begin(9600); //Set serial baud rate to 9600 bps

servo.attach(9); // Enable control of a servo on pin
pinMode(buttonPin, INPUT); // pin is an input
pinMode(enA, OUTPUT); // motor controls are outputs
pinMode(in1, OUTPUT);
pinMode(in2, OUTPUT);
pinMode(enB, OUTPUT);
pinMode(in3, OUTPUT);
pinMode(in4, OUTPUT);

}

void loop() {
buttonState = digitalRead(buttonPin); // the button state is the button read

if (buttonState == HIGH) { // if the button is pressed
int flexPosition1; // integer for flex sensor
int servoPosition; // integer for servo value

flexPosition1 = analogRead(flexPin1); //flex positionis the read of the flex sensor

servoPosition = map(flexPosition1, 840, 1100, 0,5 u 1
180); // the flex sensor value coresponds to servo position
servoPosition = constrain(servoPosition, 0, 180); // will only go 0-180 not further even if flex sensor is further

servo.write(servoPosition); // the servo goes to the servo position

Serial.println(“button is pressed”); // prining that the buttonis pressed

Serial.print(“sensor: “); // prining the value of the flex sensor
Serial.print(flexPosition1);
Serial.print(” servo: “); // prining the value of the servo
Serial.println(servoPosition);

}

else if (buttonState == LOW) { // if the button isn’t pressed

int flexPosition1; // flex position integers for all 5
int flexPosition2;
int flexPosition3;
int flexPosition4;
int flexBend;

flexPosition1 = analogRead(flexPin1); // the flex position is the read for that flex sensor
flexPosition2 = analogRead(flexPin2);
flexPosition3 = analogRead(flexPin3);
flexPosition4 = analogRead(flexPin4);
flexBend = analogRead(flexPin);

Serial.print(“flex1: “); // prints the value of the flex sensors
Serial.println(flexPosition1);
Serial.print(“flex2: “);
Serial.println(flexPosition2);
Serial.print(“flex3: “);
Serial.println(flexPosition3);
Serial.print(“flex4: “);
Serial.println(flexPosition4);
Serial.print(“flex: “);
Serial.println(flexBend);

if ( flexPosition1 >= flexBend){ // if the 1st flex sensor is bent more than the base then the 1st motor goes forward
analogWrite(enA, 200);
digitalWrite(in1, LOW);
digitalWrite(in2, HIGH);
delay(100);

Serial.println(“motor”);}

if ( flexPosition2 >= flexBend) { // if the 1st flex sensor is bent more than the base then the 1st motor goes backwards
analogWrite(enA, 200);
digitalWrite(in1, HIGH);
digitalWrite(in2, LOW);
delay(100);

Serial.println(“moto”);}

if ( flexPosition3 >= flexBend) { // if the 2nd flex sensor is bent more than the base then the 2nd motor goes forward
analogWrite(enB, 200);
digitalWrite(in3, HIGH);
digitalWrite(in4, LOW);
delay(100);
Serial.println(“mot”);}

if ( flexPosition4 >= flexBend) { // if the 2nd flex sensor is bent more than the base then the 2nd motor goes backwards
analogWrite(enB, 200);
digitalWrite(in3, LOW);
digitalWrite(in4, HIGH);
delay(100);
Serial.println(“mo”);}

if ( flexPosition1 && flexPosition2 && flexPosition3 && flexPosition4 <= flexBend) { // if the 2nd flex sensor is bent less than the base then the 2nd motor stops
analogWrite(enA, 0);
digitalWrite(in1, LOW);
digitalWrite(in2, LOW);
analogWrite(enB, 0);
digitalWrite(in3, LOW);
digitalWrite(in4, LOW);
Serial.println(“NO motors”);
delay(100);}