Arduino Cat laser toy DIY

1/*
2  Laser Tower for the CAT - LA FABRIQUE DIY And modded (changed
3  LED to PWM pin to make it less bright)
4  Pseudo-randomly moves a servo tower
5  (on X and Y axis) and lights up a laser.
6  x_servo is attached to pin 6 and moves
7  in the X plan 
8  y_servo is attached to pin 9 and moves in the Y plan 
9  Laser
10  is on pin 3
11  HOW IT WORKS : 
12  The program randomly choose a new position
13  for the laser inside a square you can define below. 
14  It checks the new position
15  is different from the old one of at least "minimal_movement".
16  It moves the
17  tower to the new position and stays still for a time between min_freeze and max_freeze
18  
19  (this aims to reproduce the behaviour of an insect landing somewhere for a
20  bit and then flying off, 
21  that's the variable you need to increase if your
22  cat is fat).
23  Ans starts the process over and over again. 
24  
25  Created
26  30 Sep 2016 by Lucas Berbesson
27*/
28
29
30#include <Servo.h>
31
32/* YOU
33  CAN CUSTOM THESE VARIABLES IF YOU WANT TO ALTER THE TOWER BEHAVIOUR */
34
35//
36  X servo angle will stay in [min_x, max_x] range
37// Y servo angle will stay in
38  [min_y, max_y] range
39// to be ajsuted to the size of your living room
40
41float
42  min_x = 5;
43float max_x = 50;
44float min_y = 5;
45float max_y = 35;
46int
47  min_freeze = 600;
48int max_freeze = 3000;
49float minimal_movement = 5;
50int
51  LaserValue = 180; // 0 =0V and 255 =5V lower the value if you want to dim the laser,
52  higher it if you want to brighten it, higher the value to max 255
53/* YOU SHOULD
54  NOT HAVE TO MODIFY THE CODE BELOW THIS LINE */
55
56// finding center of square
57  for starting point
58int random_delay;
59float x_position = min_x + (max_x - min_x)/2;
60float
61  y_position = min_y + (max_y - min_y)/2; 
62float x_old_position = x_position;
63float
64  y_old_position = y_position;
65float x_new_position;
66float y_new_position;
67float
68  x_speed;
69float y_speed;
70int movement_time;
71
72// Instantiating two servos
73Servo
74  x_servo;  
75Servo y_servo;
76int pos = 0;
77
78void setup() {
79  y_servo.attach(6);
80  // attaches the y servo on pin 6 to the servo object
81  x_servo.attach(9);  //
82  attaches the x servo on pin 9 to the servo object
83  
84  pinMode (3, OUTPUT);
85
86  analogWrite(3,LaserValue);  // switch on  the laser
87  
88  //Place the servos
89  in the center at the beginning 
90  y_servo.write(y_position); 
91  x_servo.write(x_position);
92     
93
94}
95
96void loop() {
97  movement_time = random(10,40);
98  random_delay
99  = random(min_freeze, max_freeze);
100  x_new_position = random(min_x+minimal_movement,
101  max_x-minimal_movement);
102  y_new_position = random(min_y+minimal_movement, max_y-minimal_movement);
103
104  
105  if( (y_new_position > y_old_position) && (abs(y_new_position - y_old_position)
106  < 5 )) {
107    y_new_position = y_new_position + minimal_movement;
108  }  else
109  if ( (y_new_position < y_old_position) && (abs(y_new_position - y_old_position)
110  < 5 )) {
111    y_new_position = y_new_position - minimal_movement;
112  }
113  
114
115  if( (x_new_position > x_old_position) && (abs(x_new_position - x_old_position)
116  < 5 )) {
117    x_new_position = x_new_position + minimal_movement;
118  }  else
119  if ( (x_new_position < x_old_position) && (abs(x_new_position - x_old_position)
120  < 5 )) {
121    x_new_position = x_new_position - minimal_movement;
122  }
123  
124
125  x_speed = (x_new_position - x_old_position)/movement_time;
126  y_speed = (y_new_position
127  - y_old_position)/movement_time;  
128  for (pos = 0; pos < movement_time; pos +=
129  1) { 
130      x_position = x_position + x_speed;
131      y_position = y_position
132  + y_speed;
133      x_servo.write(x_position);  
134      y_servo.write(y_position);
135                    
136    delay(10); 
137  }
138  x_old_position = x_new_position;
139
140  y_old_position = y_new_position;
141  delay(random_delay);
142
143}
144

1/*
2  Laser Tower for the CAT - LA FABRIQUE DIY And modded (changed  LED to PWM pin to make it less bright)
3  Pseudo-randomly moves a servo tower  (on X and Y axis) and lights up a laser.
4  x_servo is attached to pin 6 and moves  in the X plan 
5  y_servo is attached to pin 9 and moves in the Y plan 
6  Laser  is on pin 3
7  HOW IT WORKS : 
8  The program randomly choose a new position  for the laser inside a square you can define below. 
9  It checks the new position  is different from the old one of at least "minimal_movement".
10  It moves the  tower to the new position and stays still for a time between min_freeze and max_freeze  
11  (this aims to reproduce the behaviour of an insect landing somewhere for a  bit and then flying off, 
12  that's the variable you need to increase if your  cat is fat).
13  Ans starts the process over and over again. 
14  
15  Created  30 Sep 2016 by Lucas Berbesson
16*/
17
18
19#include <Servo.h>
20
21/* YOU  CAN CUSTOM THESE VARIABLES IF YOU WANT TO ALTER THE TOWER BEHAVIOUR */
22
23//  X servo angle will stay in [min_x, max_x] range
24// Y servo angle will stay in  [min_y, max_y] range
25// to be ajsuted to the size of your living room
26
27float  min_x = 5;
28float max_x = 50;
29float min_y = 5;
30float max_y = 35;
31int  min_freeze = 600;
32int max_freeze = 3000;
33float minimal_movement = 5;
34int  LaserValue = 180; // 0 =0V and 255 =5V lower the value if you want to dim the laser,  higher it if you want to brighten it, higher the value to max 255
35/* YOU SHOULD  NOT HAVE TO MODIFY THE CODE BELOW THIS LINE */
36
37// finding center of square  for starting point
38int random_delay;
39float x_position = min_x + (max_x - min_x)/2;
40float  y_position = min_y + (max_y - min_y)/2; 
41float x_old_position = x_position;
42float  y_old_position = y_position;
43float x_new_position;
44float y_new_position;
45float  x_speed;
46float y_speed;
47int movement_time;
48
49// Instantiating two servos
50Servo  x_servo;  
51Servo y_servo;
52int pos = 0;
53
54void setup() {
55  y_servo.attach(6);  // attaches the y servo on pin 6 to the servo object
56  x_servo.attach(9);  //  attaches the x servo on pin 9 to the servo object
57  
58  pinMode (3, OUTPUT);
59  analogWrite(3,LaserValue);  // switch on  the laser
60  
61  //Place the servos  in the center at the beginning 
62  y_servo.write(y_position); 
63  x_servo.write(x_position);     
64
65}
66
67void loop() {
68  movement_time = random(10,40);
69  random_delay  = random(min_freeze, max_freeze);
70  x_new_position = random(min_x+minimal_movement,  max_x-minimal_movement);
71  y_new_position = random(min_y+minimal_movement, max_y-minimal_movement);
72  
73  if( (y_new_position > y_old_position) && (abs(y_new_position - y_old_position)  < 5 )) {
74    y_new_position = y_new_position + minimal_movement;
75  }  else  if ( (y_new_position < y_old_position) && (abs(y_new_position - y_old_position)  < 5 )) {
76    y_new_position = y_new_position - minimal_movement;
77  }
78  
79  if( (x_new_position > x_old_position) && (abs(x_new_position - x_old_position)  < 5 )) {
80    x_new_position = x_new_position + minimal_movement;
81  }  else  if ( (x_new_position < x_old_position) && (abs(x_new_position - x_old_position)  < 5 )) {
82    x_new_position = x_new_position - minimal_movement;
83  }
84  
85  x_speed = (x_new_position - x_old_position)/movement_time;
86  y_speed = (y_new_position  - y_old_position)/movement_time;  
87  for (pos = 0; pos < movement_time; pos +=  1) { 
88      x_position = x_position + x_speed;
89      y_position = y_position  + y_speed;
90      x_servo.write(x_position);  
91      y_servo.write(y_position);                    
92    delay(10); 
93  }
94  x_old_position = x_new_position;
95  y_old_position = y_new_position;
96  delay(random_delay);
97
98}
99