# Lesson 13 · Code Tilt and Extend Motors

Suggested Time: 45-60 minutes

## Lesson Overview

• Take a servo motor as a parameter

## Sample Code

/*
Challenge #1: Add tilt & extend motors.  Test 0-180 degrees
Challenge #2: Add home() function to move everything to 90 degrees
Challenge #3: Update moveMotor to take in Servo motor parameter
Challenge #4: Move all motors in a sequence.  Keep an eye on cables.
Challenge #5: Play with motor movement speed
*/

#include <Servo.h>

//- servos move half a circle 0-180 degrees.
Servo baseMotor;
Servo tiltMotor;
Servo extendMotor;

//- runs only once when you turn on
void setup() {
baseMotor.attach(6);
tiltMotor.attach(9);
extendMotor.attach(10);

home();

delay(1000);

}

void home() {
tiltMotor.write(90);
baseMotor.write(90);
extendMotor.write(90);
}

void moveMotor(Servo motor, int target) {

//- figure out if we need to move up or down

//- if myCurrentAngle is > target, go down
if (myCurrentAngle > target) {
moveAngleDown(target,motor);
}

//- if myCurrentAngle is < target, go up
if (myCurrentAngle < target) {
moveAngleUp(target,motor);
}

}

void moveAngleUp(int target, Servo motor) {

while (angle <= target) {

//-do this code
motor.write(angle);
delay(1000);

angle = angle + 15;

}

}

void moveAngleDown(int target, Servo motor) {

while (angle >= target) {

motor.write(angle);
delay(1000);

angle = angle - 15;

}
}

//- runs forever in a loop after setup
void loop() {

moveMotor(baseMotor,0);
delay(1000);
moveMotor(baseMotor,90);
delay(1000);
moveMotor(baseMotor,180);
delay(1000);

moveMotor(tiltMotor,0);
delay(1000);
moveMotor(tiltMotor,90);
delay(1000);
moveMotor(tiltMotor,180);
delay(1000);

moveMotor(extendMotor,0);
delay(1000);
moveMotor(extendMotor,90);
delay(1000);
moveMotor(extendMotor,180);
delay(1000);

while (1==1) {
//-do nothing
}

}