Kitty Candy Cannon

thingiverse

The code you've posted appears to be for an Arduino-based robot designed to fire a Nerf gun. It includes various functions for controlling the movement of servos, handling user input, and firing the cannon. Here's a breakdown of how the code works: 1. Setup Function: - Initializes all necessary pins and attaches servos to their respective pins. - Moves all servos to their starting positions. 2. Loop Function: - Checks if the start/stop button is pressed. If it is, the `repositionAndFire` function is called. 3. Reposition And Fire Function: - Calls the `reloadCannon` function to move the reload servo to its end position. - Moves the vertical and horizontal servos to random positions using the `moveServoRandom` function. - Fires the cannon by calling the `fireCannon` function. - Resets the position of the servos by calling the `resetPosition` function. 4. Reset Position Function: - Moves the vertical servo back to its minimum position and the horizontal servo back to its reset position. 5. Reload Cannon Function: - Moves the reload servo from its start position to its end position, then back to its start position after a delay of 1.5 seconds. 6. Move Servo Functions: - `moveServo`: A wrapper around `moveServoWithDelay` that takes into account the minimum and maximum possible positions. - `moveServoRandom`: Similar to `moveServo`, but chooses a random position within the specified range. - `moveServoWithDelay`: Moves a servo from an old position to a new position with the specified speed. It uses a loop to increment or decrement the servo's position until it reaches the target. 7. Fire Cannon Function: - Runs the motor to pull back and fire the spring-loaded Nerf gun. 8. Map Position Function: - Maps a value from one range to another, in this case, mapping positions of servos from 0-180 to 0-254. The hardware required includes an Arduino board, a motor/servo shield, breadboard components, Lego pieces for the cannon structure and battery holder, micro-servos for aiming, a standard servo for the reload mechanism, a Lego L-motor for firing, AA batteries for power, wire for connections, rubber bands, nuts & bolts for assembly, and glue.