Wall-E Robot

#include <Wire.h>

#include <LiquidCrystal_I2C.h>

#include <Wire.h>

#include <Adafruit_GFX.h>

#include “Adafruit_LEDBackpack.h”

Adafruit_8x16minimatrix matrix = Adafruit_8x16minimatrix();

LiquidCrystal_I2C lcd(0x3F, 2, 1, 0, 4, 5, 6, 7, 3, POSITIVE) ;

// Pins

const int TRIG_PIN = 7;

const int ECHO_PIN = 8;

unsigned long t1;

unsigned long t2;

unsigned long pulse_width;

float cm;

float inches;

// Anything over 400 cm (23200 us pulse) is “out of range”

const unsigned int MAX_DIST = 23200;

#include <Servo.h>

Servo servo1;

Servo servo2;

int servoPos = 0;

void setup ()

{

 lcd.begin(16, 2) ;

 lcd.clear();

 lcd.print(“Hello, Joshua”) ;

 // The Trigger pin will tell the sensor to range find

 pinMode(TRIG_PIN, OUTPUT);

 digitalWrite(TRIG_PIN, LOW);

 servo1.attach(A0);

 servo2.attach(A1);

 //while (!Serial);

 Serial.begin(9600);

 matrix.begin(0x70);  // pass in the address

}

static const uint8_t PROGMEM

Neutraleyes[] =

{ B00000000,

 B00011000,

 B00111100,

 B01100110,

 B01100110,

 B00111100,

 B00011000,

 B00000000

},

Suprised[] =

{ B00000000,

 B00111100,

 B01000010,

 B01011010,

 B01011010,

 B01000010,

 B00111100,

 B00000000

};

void loop () {

 // Hold the trigger pin high for at least 10 us

 digitalWrite(TRIG_PIN, HIGH);

 delayMicroseconds(10);

 digitalWrite(TRIG_PIN, LOW);

 // Wait for pulse on echo pin

 while ( digitalRead(ECHO_PIN) == 0 );

 // Measure how long the echo pin was held high (pulse width)

 // Note: the micros() counter will overflow after ~70 min

 t1 = micros();

 while ( digitalRead(ECHO_PIN) == 1);

 t2 = micros();

 pulse_width = t2 – t1;

 // Calculate distance in centimeters and inches. The constants

 // are found in the datasheet, and calculated from the assumed speed

 //of sound in air at sea level (~340 m/s).

 inches = pulse_width / 148.0;

 if (inches > 9) {

   // do regular eyes

   Serial.println(“neutral”);

   matrix.clear();

   matrix.drawBitmap(0, 8, Neutraleyes, 8, 8, LED_ON);

   matrix.drawBitmap(0, 0, Neutraleyes, 8, 8, LED_ON);

   matrix.writeDisplay();

   servo1.write(180);

   servo2.write(90);

 }

 else {

   // do suprised eyes

   Serial.println(“suprised”);

   matrix.clear();

   matrix.drawBitmap(0, 8, Suprised, 8, 8, LED_ON);

   matrix.drawBitmap(0, 0, Suprised, 8, 8, LED_ON);

   matrix.writeDisplay();

   servo1.write(0);

   servo2.write(0);

 }

 // Wait at least 60ms before next measurement

 delay(60);

 //

 //  servo1.write(random(0,90));

 //  servo2.write(random(0,90));

 //  servo3.write(servoPos);

 //  servo4.write(servoPos);

 //delay(500);

}