Greeting Puppy

Here is a prototype for a greeting puppy using an Arduino, an ultrasonic sensor (for the eyes) and a servomotor (for the tail). The puppy will wiggle its tail faster as you come closer 🙂

The hardware connections are as follows:

For us it was better to use an extra battery pack for the servomotor. But it can run using the power outputs from the Arduino too. The Arduino uses a 9V battery (not shown in the picture).

The puppy was made using origami, following the book „Origami. Kinderleichte Falt-Ideen“ by Miyuki Lacza.

Here is the code:

#include <Servo.h>

int servoPin = 9;
int pinEcho = 2;
int pinTrigger = 3;

int distance;
unsigned long currentMillis=0;
Servo mvservo;

void setup() {
  // put your setup code here, to run once:
 mvservo.attach(servoPin,1000,1500);
 Serial.begin(9600);
 pinMode(pinTrigger, OUTPUT);
 pinMode(pinEcho, INPUT);
 mvservo.writeMicroseconds(1500);
}

void loop() {
  // put your main code here, to run repeatedly:
 distance = d_sensor();
 
 if((distance < 50)&&(distance > 25)){
   wiggleTail(1500);
 }
if((distance <= 25)&&(distance > 0)){
  wiggleTail(200);
 }
//add more cases if you want...
}
/**************** FUNCTIONS ******************/
float d_sensor ()
{long t_resp;
  long Abstand;
  digitalWrite(pinTrigger,LOW);
  delayMicroseconds(3);
  digitalWrite(pinTrigger,HIGH);
  delayMicroseconds(10);
  t_resp = pulseIn(pinEcho,HIGH);
  Abstand = int(t_resp*0.0342/2);
  Serial.println("Distance = ");
  Serial.println(Abstand);
  Serial.println(" cm");
  delay(100);
  return Abstand;
}

void wiggleTail(int interval)
{unsigned long currentMillis;
 
  for(int i = 1500; i >= 1000; i-=25){
      mvservo.writeMicroseconds(i);
      delay(10);
    }

  delay(interval);
  /*currentMillis = millis();
  while(millis() < currentMillis + interval){
    }*/
      
  for(int i = 1000; i <= 1500; i+=25){
      mvservo.writeMicroseconds(i);
      delay(10);
   }
}