From d0a894f33f62db3ffb52b0141bebf8dbe8bc4ff8 Mon Sep 17 00:00:00 2001
From: happythingsmaker <freetime4y@gmail.com>
Date: Tue, 13 Mar 2018 13:45:45 +0200
Subject: [PATCH] The first commit

---
 TrashEatingRobot/TrashEatingRobot.ino | 77 +++++++++++++++++++++++++++
 1 file changed, 77 insertions(+)
 create mode 100644 TrashEatingRobot/TrashEatingRobot.ino

diff --git a/TrashEatingRobot/TrashEatingRobot.ino b/TrashEatingRobot/TrashEatingRobot.ino
new file mode 100644
index 0000000..14c172a
--- /dev/null
+++ b/TrashEatingRobot/TrashEatingRobot.ino
@@ -0,0 +1,77 @@
+#include <Servo.h>
+
+Servo armServo;
+
+void setup() {
+  armServo.attach(12);
+  armServo.write(90);
+
+  pinMode(A7, INPUT)  ;
+  pinMode(13, OUTPUT);
+  pinMode(0, OUTPUT);
+  pinMode(1, OUTPUT);
+}
+
+int sensorValue = 0;
+int prevSensorValue = 0;
+const int THRESHOLD = 360;
+void loop() {
+  
+  sensorValue = analogRead(A7);
+  if (prevSensorValue <= THRESHOLD) {
+    if (sensorValue > THRESHOLD) {
+      action();
+    }
+  }
+  
+  prevSensorValue = sensorValue;
+  delay(10);
+}
+
+void action() {
+  led(true);
+
+  //eating
+  delay(1000);
+  armServo.attach(12);
+  armServo.write(10);
+  delay(300);
+  armServo.write(70);
+  delay(500);
+
+  //after ate
+  delay(100);
+  armServo.write(50);
+  delay(250);
+  armServo.write(70);
+  delay(250);
+  armServo.write(50);
+  delay(250);
+  armServo.write(70);
+  delay(250);
+  armServo.write(50);
+  delay(250);
+  armServo.write(70);
+  delay(250);
+  armServo.write(50);
+  delay(250);
+  armServo.write(90);
+  delay(250);
+
+  //release arm's torque
+  armServo.detach();
+  led(false);
+}
+
+void led(bool onOff) {
+  if (onOff) {
+    digitalWrite(13, HIGH);
+    digitalWrite(0, LOW);
+    digitalWrite(1, LOW);
+  } else {
+    digitalWrite(13, LOW);
+    digitalWrite(0, HIGH);
+    digitalWrite(1, HIGH);
+  }
+}
+