Jack in the Box

Lab report by Zwee Dao

For your write up, include:

1) Your Arduino code.

#include 

// initialize the rotary encoder  
#define ENC_A 6 //these need to be digital input pins
#define ENC_B 7

Servo myservo;  // create servo object to control a servo
// twelve servo objects can be created on most boards

int pos = 0;    // variable to store the servo position

void setup() {
  myservo.attach(9);  // attaches the servo on pin 9 to the servo object
  myservo.write(pos);
  
  /* Setup encoder pins as inputs */
  pinMode(ENC_A, INPUT_PULLUP);
  pinMode(ENC_B, INPUT_PULLUP);
 
  Serial.begin (9600);
  Serial.println("Start");
}

void loop() {
  static unsigned int counter4x = 0;      //the SparkFun encoders jump by 4 states from detent to detent
  static unsigned int counter = 0;
  static unsigned int prevCounter = 0;
  int tmpdata;
  tmpdata = read_encoder();
  if( tmpdata) {
    counter4x += tmpdata;
    counter = counter4x/4;
    if (prevCounter != counter){
      // print rotary encoder value to Serial
      Serial.print("Counter value: ");
      Serial.println(counter);
      
      // rotate motor based on counter
      //pos = map(counter,0,16383,0,180);
      if (counter > 0) {
        pos = 120;
      }
      else {
        pos = 0;
      }
      myservo.write(pos);
    }
    prevCounter = counter;
  }
}

/* returns change in encoder state (-1,0,1) */
int read_encoder()
{
  static int enc_states[] = {
    0,-1,1,0,1,0,0,-1,-1,0,0,1,0,1,-1,0  };
  static byte ABab = 0;
  ABab *= 4;                   //shift the old values over 2 bits
  ABab = ABab%16;      //keeps only bits 0-3
  ABab += 2*digitalRead(ENC_A)+digitalRead(ENC_B); //adds enc_a and enc_b values to bits 1 and 0
  return ( enc_states[ABab]);
}

2) .stl or .svg files for your Jack — if you use some other technique, include the respective supporting material.

STL file

3) At least one photo of your box taken in the MakerLab's Portable Photo Studio (or somewhere else, but of similar quality).

The lighting in MakerLab's Portable Photo Studio doesn't work, so the picture is a bit dark...

4) A video of your box in action.

Jack video