Control two servos with Arduino

Voici la premiere étape de la construction de mon robot ( Jhonny 1.0 :p)

Le but est de controler deux servos via l'arduino alimenté sur batterie. Le robot effectue une séquence programmée : Avancer 3sec, tourner à droite, ....
Résultat :

La prochaine étape sera de connecter le raspberry avec l'Arduino et de le commander via une interface WEB :-)

Montage :

Code :

// Control 2 servo on Battery
// The servo go forward for 3 sec and after turn right
#include  

Servo leftservo; 
Servo rightservo;
const int rightservopin = 8;
const int leftservopin = 7;
int speed = 10;

void setup()
{
  pinMode(leftservopin,OUTPUT);
  pinMode(rightservopin,OUTPUT);  
  gostop();
  
  Serial.begin(19200);
  Serial.println("Ready");
  
  Serial.println("Play Beep");
  pinMode(10, OUTPUT);
  beep(50);
  delay(100);
  beep(50);
  delay(100);
  beep(50);
  delay(4000);
  
}
void gostop()
{
  leftservo.detach();
  rightservo.detach();
}
void beep(unsigned char delayms){
  analogWrite(10, 20);      // Almost any value can be used except 0 and 255
                           // experiment to get the best tone
  delay(delayms);          // wait for a delayms ms
  analogWrite(10, 0);       // 0 turns it off
  delay(delayms);          // wait for a delayms ms   
}  
void loop()
{
  beep(200);
  
  // Avancer pendant 3 sec
  leftservo.attach(leftservopin);  
  rightservo.attach(rightservopin);
  rightservo.write(90 - speed);
  leftservo.write(90 + speed );
  delay(3000);
  
  // Tour de 90degre a droite 
  rightservo.write(90 + speed);
  leftservo.write(90 + speed );
  delay(750);

// Avancer pendant 3 sec
  rightservo.write(90 - speed);
  leftservo.write(90 + speed );
  delay(3000);
  
  // Tour de 90degre a droite

  rightservo.write(90 + speed);
  leftservo.write(90 + speed );
  delay(750); 
  
// Avancer pendant 3 sec
  rightservo.write(90 - speed);
  leftservo.write(90 + speed );
  delay(3000);
  
  // Tour de 90degre a droite
  rightservo.write(90 + speed);
  leftservo.write(90 + speed );
  delay(750); 
  
// Avancer pendant 3 sec 
  rightservo.write(90 - speed);
  leftservo.write(90 + speed );
  delay(3000);
  
  // Tour de 90degre a droite
  rightservo.write(90 + speed);
  leftservo.write(90 + speed );
  delay(750); 

  gostop();
}