Kami mencetak foto menggunakan Arduino

#include <Servo.h>

#define MIN_ANGLE 0
#define MAX_ANGLE 180

Servo servo;

void setup() { 
  servo.attach(9);
} 
 
void loop() { 
  for(int i=MIN_ANGLE; i<=MAX_ANGLE; ++i) {
    servo.write(i); 
    delay(15);
  } 
  for(int i=MAX_ANGLE; i>=MIN_ANGLE; --i) {                                
    servo.write(i);
    delay(15);
  } 
} 

#include <Servo.h>

/*
*  MiniPrinter
*  Designed in May 2015
*  By Alexandrow Yegor
*/

// ,        Servo
struct Motor {
  int min_angle, max_angle;
  Servo servo;
};

#define IMG_W 64 // 
#define IMG_H 64 // 
int STEP = 2;    //    1 
#define IDLING_MS 4 // ,     1 
#define WRITING_MS 8

struct Motor motor_x, motor_y, motor_p;
byte img[IMG_W/8]; //  
                   //  =  

struct Motor newMotor(int pin, int a1, int a2) { // 
  struct Motor m;

  m.servo.attach(pin);
  m.min_angle = a1;
  m.max_angle = a2;

  return m;
}


void gotoStart() {
   motor_p.servo.write(motor_p.max_angle); // 
   delay(15);
   
   //   (0; 0)
   motor_x.servo.write(motor_x.min_angle);
   motor_y.servo.write(motor_y.min_angle); 
   delay(IDLING_MS * STEP * IMG_W + 150);
}

void finish() { // 
    motor_p.servo.write(motor_p.max_angle); 
    delay(15);
    motor_x.servo.write(motor_x.min_angle);
    motor_y.servo.write(motor_y.max_angle);
    delay(IDLING_MS * STEP * IMG_W + 150);
}

void setup() { //
  Serial.begin(9600);
  motor_y = newMotor(2, 50, 180);
  motor_x = newMotor(4, 30, 160);
  motor_p = newMotor(6, 90, 99);
  gotoStart();
}

//,      ,     
boolean nextWayIsEmpty(int i) {
  for(; i<IMG_W; ++i) {
    if(!(img[i/8] & (1 << 7-(i%8)))) continue;
    else return false;
  }
  
  return true;
}

void printImg() {
  gotoStart();
  int x = 0;
  for(int y=0; y<IMG_H; ++y) {
      for(int i=0; i<IMG_W/8; ++i) img[i] = Serial.read();
      Serial.write(61);//  ,          
      
      for(int i=0; i<STEP; ++i) { //       ,  STEP
          motor_x.servo.write(motor_x.min_angle); //   
          motor_y.servo.write(motor_y.min_angle + y*STEP + i); 
          delay(IDLING_MS * STEP * x + 30);
          
          for(x=0; x<IMG_W; ++x) {
            
            if(nextWayIsEmpty(x)) {
              motor_p.servo.write(motor_p.max_angle); delay(IDLING_MS * (motor_p.max_angle-motor_p.min_angle));
              break;
            }
            
            //  (/),    
            motor_p.servo.write((img[x/8] & (1 << 7-(x%8))) ? motor_p.min_angle : motor_p.max_angle);
            delay(IDLING_MS * (motor_p.max_angle-motor_p.min_angle));
            
            //     X
            motor_x.servo.write(motor_x.min_angle + x*STEP);
            delay(((img[x/8] & (1 << 7-(x%8))) ? WRITING_MS : IDLING_MS) * STEP); 
        }
        
        // 
        motor_p.servo.write(motor_p.max_angle); delay(IDLING_MS * (motor_p.max_angle-motor_p.min_angle));
      }
    
    // 
    motor_p.servo.write(motor_p.max_angle); delay(IDLING_MS * (motor_p.max_angle-motor_p.min_angle));
  }
    
  gotoStart();
  Serial.flush();
}

//  
//     ,    
//    

void checkMessage() {
    if(Serial.available()) {
      delay(10);
      byte msg[] = {Serial.read(), Serial.read()};
      
      if(msg[0] == 'P' && msg[1] == 'R') printImg(); //
      if(msg[0] == 'S' && msg[1] == 'T') gotoStart(); //   (0; 0)
      if(msg[0] == 'C' && msg[1] == 'L') finish(); //" "
      if(msg[0] == 'S' && msg[1] == 'Z') STEP = Serial.read(); //    
      if(msg[0] == 'P' && msg[1] == 'T') { //     (PT+1 -   , PT-2  2  )
        if(Serial.read() == '+') {
          byte b = Serial.read();
          motor_p.min_angle += b-'0';
          motor_p.max_angle += b-'0';
        } else {
          byte b = Serial.read();
          motor_p.min_angle -= b-'0';
          motor_p.max_angle -= b-'0';
        }
      }  
    }
}

void loop() {
  checkMessage();
}