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38 lines
716 B
Bash
Executable File
38 lines
716 B
Bash
Executable File
#!/bin/bash
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# I have four servos driving four 'legs' on a robot. This script makes
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# the legs go though something like a walking motion. It actually just
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# skids back and fore on the spot at the moment, becuase it needs knees
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# and lower legs before it can really lift up its feet and take a real
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# step forward. This is just a quick demo though..
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ss()
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{
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echo $1 > /dev/servoblaster
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}
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p[0]=132
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p[1]=164
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p[2]=150
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p[3]=170
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step=2
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cnt=0
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while true; do
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for i in 0 1 2 3; do
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ss $i=${p[$i]}
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p[$i]=$[ p[$i] + step ]
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sleep 0.05
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done
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cnt=$[ cnt + step ]
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if [ $step -gt 0 ]; then
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if [ $cnt -ge 20 ]; then
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step=-2
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fi
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else
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if [ $cnt -lt -20 ]; then
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step=2
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fi
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fi
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done
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