/* Take Pieces */ void tB1(){ } void tB2(){ } void tB3(){ } void tB4(){ } void tB5(){ int c=0; startZERO(); //Move till over the piece do{ pwm.setPWM(1, 0, B5s[0]); delay(fast); if(B5s[0]>=B5u[0]){ B5s[0]--; } pwm.setPWM(2, 0, B5s[1]); delay(fast); if(B5s[1]>=B5u[1]){ B5s[1]--; } if(c>65){ pwm.setPWM(3, 0, B5s[2]); delay(fast); if(B5s[2]>=B5u[2]){ B5s[2]--; } } pwm.setPWM(4, 0, B5s[3]); delay(fast); if(B5s[3]>=B5u[3]){ B5s[3]--; } pwm.setPWM(5, 0, B5s[4]); delay(fast); if(B5s[4]>=B5u[4]){ B5s[4]--; } c++; }while((B5s[0]>=B5u[0])||(B5s[1]>=B5u[1])||(B5s[2]>=B5u[2])||(B5s[3]>=B5u[3])||(B5s[4]>=B5u[4])); openP(); startUP(); //Move vertical down c=0; do{ pwm.setPWM(2, 0, B5s[1]); delay(slow); if(B5s[1]>=B5d[1]){ B5s[1]--; } if (c>18){ pwm.setPWM(3, 0, B5s[2]); delay(slow); if(B5s[2]<=B5d[2]){ B5s[2]++; } } if (c>33){ pwm.setPWM(4, 0, B5s[3]); delay(slow); if(B5s[3]>=B5d[3]){ B5s[3]--; } } c++; }while((B5s[1]>=B5d[1])||(B5s[2]<=B5d[2])||(B5s[3]>=B5d[3])); closeP(); startDOWN(); //Move Vertical up c=0; do{ pwm.setPWM(2, 0, B5s[1]); delay(slow); if(B5s[1]>=B5u[1]){ B5s[1]--; } pwm.setPWM(3, 0, B5s[2]); delay(slow); if(B5s[2]>=B5u[2]){ B5s[2]--; } if (c>8){ pwm.setPWM(4, 0, B5s[3]); delay(slow); if(B5s[3]<=B5u[3]){ B5s[3]++; } } c++; }while((B5s[1]>=B5u[1])||(B5s[2]>=B5u[2])||(B5s[3]<=B5u[3])); startUP(); //Move to Zero c=0; do{ if(c>30){ pwm.setPWM(1, 0, B5s[0]); delay(fast); if(B5s[0]<=Zero[0]){ B5s[0]++; } } pwm.setPWM(2, 0, B5s[1]); delay(fast); if(B5s[1]<=Zero[1]){ B5s[1]++; } if(c>30){ pwm.setPWM(3, 0, B5s[2]); delay(fast); if(B5s[2]<=Zero[2]){ B5s[2]++; } } if(c>50){ pwm.setPWM(4, 0, B5s[3]); delay(fast); if(B5s[3]<=Zero[3]){ B5s[3]++; } } pwm.setPWM(5, 0, B5s[4]); delay(fast); if(B5s[4]<=Zero[4]){ B5s[4]++; } c++; }while((B5s[0]<=Zero[0])||(B5s[1]<=Zero[1])||(B5s[2]<=Zero[2])||(B5s[3]<=Zero[3])||(B5s[4]<=Zero[4])); } void tB6(){ } void tB7(){ } void tB8(){ }