Project 17: Arduino 3rd Printed Biped Robot Walking & Dancing

 Project 17:  Arduino 3rd Printed Biped Robot Walking & Dancing

Main Ideas:

In this project we have used 3^rd printed parts to build bipedal walking robot is a type of humanoid robot

, Arduino Nano board was used as it need small board to put it inside the robot body, and we have used the Ultra Sonic HC-SR04 Sensor connected to the robot body to be used for object detecting, so it will check if any obstacle to avoid them. We have programed the robot to do different activities i.e. walk, move back and dancing.

Circuit / Parts

·       Ultra Sonic HC-SR04 Sensor

·       4 Servo Motors

·       Arduino Nano

·       9 Volt battery

·       3^rd printed parts refer to below link

https://www.myminifactory.com/object/3d-print-bob-the-biped-robot-2759#

/*CONNECTION DETIALS

   Servo1 -> pin 3 of arduino Nano Left Hip motor

   Servo2 -> pin 5 of arduino Nano Right Hip motor

   Servo4 -> pin 9 of arduino Nano Right Ankle Motor

   Servo5 -> pin 10 of arduino Nano Left Ankle Motor

*/

Code

#include <VarSpeedServo.h> #include <Ultrasonic.h> Ultrasonic ultrasonic(11, 12, 10000UL); // (Trig PIN,Echo PIN) Echo PIN:12 orange wire, Trig PIN=11 yellow Wire   //Left Hip motor 110 VarSpeedServo LeftHipmotor; //Right Hip motor 100 VarSpeedServo RightHipmotor; //Right Ankle Motor 90 VarSpeedServo RightAnklemotor; //Left Ankle Motor 80 VarSpeedServo LeftAnklemotor; /*CONNECTION DETIALS      Servo1 -> pin 3 of arduino Nano Left Hip motor    Servo2 -> pin 5 of arduino Nano Right Hip motor    Servo4 -> pin 9 of arduino Nano Right Ankle Motor    Servo5 -> pin 10 of arduino Nano Left Ankle Motor */ const int LeftHipmotorpin = 3;  // the digital pin used for the servo const int RightHipmotorpin = 5;  // the digital pin used for the servo const int RightAnklemotorpin = 9;  // the digital pin used for the servo const int LeftAnklemotorpin = 10;  // the digital pin used for the servo       float distanceCmFront; int ultrastoplimit = 20; // define when to stop int ultrareducespeedlimit = 40; //define when to reduce speed int currentStatus;   /*CONNECTION DETIALS      Servo1 -> pin 3 of arduino Nano Left Hip motor    Servo2 -> pin 5 of arduino Nano Right Hip motor    Servo4 -> pin 9 of arduino Nano Right Ankle Motor    Servo5 -> pin 10 of arduino Nano Left Ankle Motor */       int count = 0; // save the time that we started moveback int movetype = 0; //=0 walk =1 new move , =2 ankel, =3 ankel1 void setup() {   Serial.begin(9600);   // put your setup code here, to run once:   distanceCmFront = 0;   //**Initial position of all four servo motors**//   /*     servo1.write(110);     servo2.write(100);     servo4.write(90);     servo5.write(80);   */   //**inititialised**//   set_ini();   }   void loop() {     count = count + 1;   Serial.println (count);   if (count >= 15)   {     stopm();     delay(2000);     ScanUltrasonicFront ();     count = 0;     movetype = movetype + 1; //=0 walk =1 ankel , =2 new move , =3 ankel1     if (movetype > 3)     {       movetype = 0;     }   }   Serial.print (" current move :");   Serial.println (movetype);   if (movetype == 0)   {     walk();   }   else if (movetype == 1)   {     new_move_ankel();     new_move();   }   else if (movetype == 2)   {     new_move();   }   else if (movetype == 2)   {     new_move_ankel1();   }   }   void new_move() {     LeftHipmotor.attach(LeftHipmotorpin);   RightHipmotor.attach(RightHipmotorpin);   RightAnklemotor.attach(RightAnklemotorpin);   LeftAnklemotor.attach(LeftAnklemotorpin);   //(postion , speed , sync or not)     LeftHipmotor.write(145, 55, true);   RightHipmotor.write(130, 55, true);   delay(50);   LeftHipmotor.write(110, 55, true);   RightHipmotor.write(100, 55, true);     }   void new_move_ankel() {     LeftHipmotor.attach(LeftHipmotorpin);   RightHipmotor.attach(RightHipmotorpin);   RightAnklemotor.attach(RightAnklemotorpin);   LeftAnklemotor.attach(LeftAnklemotorpin);   //(postion , speed , sync or not)     RightAnklemotor.write(90, 50, true);   LeftAnklemotor.write(80, 50, true);   delay(50);   RightAnklemotor.write(70, 50, true);   LeftAnklemotor.write(60, 50, true);   }     void new_move_ankel1() {     LeftHipmotor.attach(LeftHipmotorpin);   RightHipmotor.attach(RightHipmotorpin);   RightAnklemotor.attach(RightAnklemotorpin);   LeftAnklemotor.attach(LeftAnklemotorpin);   //(postion , speed , sync or not)     RightAnklemotor.write(90, 30, true);   LeftAnklemotor.write(80, 30, true);   delay(50);   RightAnklemotor.write(110, 30, true);   LeftAnklemotor.write(60, 30, true);   }   void walk() {   lef_up_rev();   delay(10);   right_up();   delay(10);   set_ini(); }   void set_ini() {   LeftHipmotor.attach(LeftHipmotorpin);   RightHipmotor.attach(RightHipmotorpin);   RightAnklemotor.attach(RightAnklemotorpin);   LeftAnklemotor.attach(LeftAnklemotorpin);   //(postion , speed , sync or not)   LeftHipmotor.write(110, 50, true);   RightHipmotor.write(100, 50, true);   RightAnklemotor.write(90, 50, true);   LeftAnklemotor.write(80, 50, true);   }   void stopm() {   LeftHipmotor.attach(LeftHipmotorpin);   RightHipmotor.attach(RightHipmotorpin);   RightAnklemotor.attach(RightAnklemotorpin);   LeftAnklemotor.attach(LeftAnklemotorpin);   //(postion , speed , sync or not)   LeftHipmotor.write(110, 50, true);   RightHipmotor.write(100, 50, true);   RightAnklemotor.write(90, 50, true);   LeftAnklemotor.write(80, 50, true);   LeftHipmotor.detach();   RightHipmotor.detach();   RightAnklemotor.detach();   LeftAnklemotor.detach();   delay (500); }     void lef_up_rev() {   LeftHipmotor.attach(LeftHipmotorpin);   RightHipmotor.attach(RightHipmotorpin);   RightAnklemotor.attach(RightAnklemotorpin);   LeftAnklemotor.attach(LeftAnklemotorpin);   //(postion , speed , sync or not)       LeftAnklemotor.write(100, 55, true);   RightAnklemotor.write(100, 55, true);   delay(10);   RightHipmotor.write(130, 55, true);   delay(10);     //RightAnklemotor.write(90, 50, true); }   void lef_up() {   LeftHipmotor.attach(LeftHipmotorpin);   RightHipmotor.attach(RightHipmotorpin);   RightAnklemotor.attach(RightAnklemotorpin);   LeftAnklemotor.attach(LeftAnklemotorpin);   //(postion , speed , sync or not)       LeftAnklemotor.write(60, 55, true);   RightAnklemotor.write(80, 55, true);   delay(10);   RightHipmotor.write(60, 55, true);   delay(10);     //RightAnklemotor.write(90, 50, true); }   void right_up_rev() {   //  LeftHipmotor.write(110, 50, true);   //  RightHipmotor.write(100, 50, true);   //  RightAnklemotor.write(90, 50, true);   //  LeftAnklemotor.write(80, 50, true);   LeftHipmotor.attach(LeftHipmotorpin);   RightHipmotor.attach(RightHipmotorpin);   RightAnklemotor.attach(RightAnklemotorpin);   LeftAnklemotor.attach(LeftAnklemotorpin);   //(postion , speed , sync or not)     RightAnklemotor.write(110, 55, true);   LeftAnklemotor.write(100, 55, true);     delay(10);   LeftHipmotor.write(90, 55, true);   delay(10);     //LeftAnklemotor.write(80, 50, true); }   void right_up() {   LeftHipmotor.attach(LeftHipmotorpin);   RightHipmotor.attach(RightHipmotorpin);   RightAnklemotor.attach(RightAnklemotorpin);   LeftAnklemotor.attach(LeftAnklemotorpin);   //(postion , speed , sync or not)     RightAnklemotor.write(70, 55, true);   LeftAnklemotor.write(60, 55, true);     delay(10);   LeftHipmotor.write(145, 55, true);   delay(10);     //LeftAnklemotor.write(80, 50, true); }   void ScanUltrasonicFront () {   distanceCmFront = ultrasonic.read(CM);   Serial.print(distanceCmFront); // CM or INC   Serial.println(" cm Down" );   delay(10);   }

Artificial Intelligent Robot Raspberry pi and Arduino-part7

Artificial Intelligent Robot Raspberry pi and Arduino-part6

Artificial Intelligent Robot Raspberry pi and Arduino-part5

Brad Pitt Train AI Model For Face Detection & Recognition-part4

Project 16: Arduino Smart 5 DOF Robot Arm

 Project 16:  Arduino Smart 5 DOF Robot Arm

Main Ideas:

In this project we have built 5 DOF Robot Arm, and we have used the Ultra Sonic HC-SR04 Sensor connected to the robot Arm to be used for object detecting, so it will check if we but something near to robot arm (i.e. less than 7 cm), then it will open the arm claw and it will wait for us to give the sample, then robot claw will be closed. On the top of the robot arm we have fixed TCS3200 color sensor to detect the color of the sample object and based on the detected color the robot Arm will move the sample to the right sorting place, i.e. it will move the red samples to red cup and green samples to green cup and so on.

 

Also we have used IR Remote to define the mode of the robot arm, as in the future we are planning to improve the robot arm to do different functions beside the object detecting and color sorting, so we can press on the IR remote buttons to choose the mode for the robot arm.

Circuit

·       Ultra Sonic HC-SR04 Sensor

·       TCS3200 color sensor

·       5 MG995 Servo Motors

·       Arduino UNO

·       IR Remote

·       Ultra Sonic HC-SR04 Sensor

·       9 Volt battery 

Code

/*********

  https://arduino4everyones.blogspot.com/

  Color ranges  2 cm till 5 cm

  Main Ideas:

  The TCS3200 color sensor can detect a wide range of colors based on their wavelength.

  This sensor is can be used for color recognition/detection projects such as color matching, color sorting.

  The sensor has four different types of filter covered diodes. In the 8 x 8 array of photodiodes,

  16 photodiodes have Red filters, 16 have Blue filters, 16 have Green filters and the rest 16 photodiodes are

  clear with no filters. Each type can be activated using the S2, S3 selection inputs.

 

*********/

 

#include <VarSpeedServo.h>

#include <Ultrasonic.h>

#include <IRremote.h>

 

 

decode_results results;

//hand down initial_postion 135

VarSpeedServo myservoarmdown1;

//hand down initial_postion 135

VarSpeedServo myservoarmdown2;

 

//hand up initial_postion 65

//pos=0 up top , pos=140 down end , p0s=65 stright

VarSpeedServo myservoarmup;

 

//base Servo initial_postion 90

VarSpeedServo myservoBase;

//claw Servo initial_postion 90

//pos=100s close , pos=45 half open , pos=10 full open

VarSpeedServo myservoclaw;

//Hand Rotate Servo initial_postion 90

//pos=90 stright , pos=0 trun right , pos=180 trun left

VarSpeedServo myservohandrotate;

const int servoarmdown1 = 3;  // the digital pin used for the servo

const int servoarmdown2 = 5;  // the digital pin used for the servo

const int servoarmupPin = 6;  // the digital pin used for the servo

const int servoBasePin = 11;  // the digital pin used for the servo

const int servoclawPin = 10;  // the digital pin used for the servo

const int servohandrotatPin = 9;  // the digital pin used for the servo

// sequences are defined as an array of points in the sequence

// each point has a position from 0 - 180, and a speed to get to that position

servoSequencePoint slow[] = {{180, 20}, {90, 20}, {0, 50}}; // go to position 100 at speed of 20, position 20 speed 20, position 60, speed 50

servoSequencePoint twitchy[] = {{0, 255}, {180, 40}, {90, 127}, {120, 60}};

 

//use this flag to contol if move down is done becasue run the servo background will send the instraction to go up even before we go down

int movedowndone;

 

//Ultrasonic ultrasonic(12, 13); // (Trig PIN,Echo PIN)

Ultrasonic ultrasonic(12, 13, 10000UL);

 

// TCS230 or TCS3200 pins wiring to Arduino

#define S0 A0  // perpule 

#define S1 A1  //gray

#define S2 A2  //white

#define S3 A3 //yellow

#define sensorOut A4 //green

 

 

// Capture frequencies read by the TCS230/TCS3200 Sensor

int redFrequency = 0;

int greenFrequency = 0;

int blueFrequency = 0;

 

//Define the colors

//red color

int redColor = 0;

//green color

int greenColor = 0;

//blue color

int blueColor = 0;

 

 

const int RECV_PIN = 7;

IRrecv irrecv(RECV_PIN);

unsigned long key_value = 0;

//clawstatus=1 close initial

//clawstatus=2 open based on ultrasonic

//clawstatus=3 cloase after ultrasonic open

int clawstatus;

int distnaceCM;

//mode=1 smart move 1 , move based on ultrasonic

int mode ;

void setup() {

  Serial.begin(9600);

  distnaceCM = 0;

  clawstatus = 1;

  mode = 1;

 

  irrecv.enableIRIn();

  // Setting the outputs

  pinMode(S0, OUTPUT);

  pinMode(S1, OUTPUT);

  pinMode(S2, OUTPUT);

  pinMode(S3, OUTPUT);

 

  // Setting the sensorOut as an input

  pinMode(sensorOut, INPUT);

 

  // Setting frequency scaling to 20%

  digitalWrite(S0, HIGH);

  digitalWrite(S1, LOW);

  //set initial postion for the base

  basemoveaction();

 

 

}

 

void smart_move1()

{

  // we will use ultarsonic to check if hand near then open and wait for the object

  scan ();

  //clawstatus=1 close initial

  //clawstatus=2 open based on ultrasonic

  //clawstatus=3 cloase after ultrasonic open

  //clawstatus=4 open after color detection

 

  if (distnaceCM <= 10 && (clawstatus == 1 || clawstatus == 4))

  {

    Serial.print(distnaceCM);

    Serial.println(" cm" );

    int z;

    //less half open

    z = clawmove (60, 2);

    delay (1000);

    clawstatus = 2;

    //close

    z = clawmove (110, 2);

    clawstatus = 3;

    delay (1000);

    clawstatus = 3;

    color_detection();

  }

 

}

 

 

void smart_move()

{

  int z;

  //less half open

  z = clawmove (60, 2);

  delay (1000);

  myservoarmdown1.attach(servoarmdown1);

  myservoarmdown2.attach(servoarmdown2);

  //move down , run normal , using true

  //with speed of 20

  myservoarmdown1.write(80, 20, true);

  myservoarmdown2.write(80, 20, true);

  delay (1000);

 

  //close

  z = clawmove (110, 2);

  delay (1000);

  //move up  , run normal , using true

  //with speed of 255

  myservoarmdown2.write(145, 255, true);

  myservoarmdown1.write(145, 255, true);

 

 

  delay (2000);

}

int clawmove (int posm, int directiona)

{

  // function declaration

  myservoclaw.attach(servoclawPin);

 

  if (directiona == 1)

  {

    //close =90

    myservoclaw.write(posm, 150, true);

    delay (500);

    myservoclaw.detach();

 

  }

  if (directiona == 2)

  {

    //halfopen =45

    myservoclaw.write(posm, 150, true);

    delay (500);

    myservoclaw.detach();

  }

 

  if (directiona == 3)

  {

    //halfopen =0

    myservoclaw.write(posm, 150, true);

    delay (500);

    myservoclaw.detach();

  }

 

  return 1; // return the value

}

 

int handrotatewmove (int posm, int directiona)

{

  // function declaration

  myservohandrotate.attach(servohandrotatPin);

 

  if (directiona == 1)

  {

    //stright =90

    myservohandrotate.write(posm, 150, true);

    delay (500);

  }

  if (directiona == 2)

  {

    //trun left =45

    myservohandrotate.write(posm, 150, true);

    delay (500);

  }

 

  if (directiona == 3)

  {

    //trun right =o

    myservohandrotate.write(posm, 150, true);

    delay (500);

  }

 

  return 1; // return the value

}

 

int basemove (int posm, int directiona)

{

  // function declaration

 

  myservoBase.attach(servoBasePin);

 

  if (directiona == 1)

  {

    //front =90

    myservoBase.write(posm, 70, true);

    delay (500);

    myservoBase.detach();

  }

  if (directiona == 2)

  {

    //trun left =180

    myservoBase.write(posm, 70, true);

    delay (500);

    myservoBase.detach();

  }

 

  if (directiona == 3)

  {

    //trun right  =0

    myservoBase.write(posm, 70, true);

    delay (500);

    myservoBase.detach();

  }

 

  if (directiona == 4)

  {

    //trun right  =30 deg

    myservoBase.write(30, 70, true);

    delay (500);

    myservoBase.detach();

  }

 

  if (directiona == 5)

  {

    //trun right  =50 deg

    myservoBase.write(60, 70, true);

    delay (500);

    myservoBase.detach();

  }

 

  if (directiona == 6)

  {

    //trun left =150

    myservoBase.write(120, 70, true);

    delay (500);

    myservoBase.detach();

  }

 

  if (directiona == 7)

  {

    //trun left =120

    myservoBase.write(150, 70, true);

    delay (500);

    myservoBase.detach();

  }

  return 1; // return the value

}

 

void clawopenmovebaseback()

{

  myservoarmdown1.attach(servoarmdown1);

  myservoarmdown2.attach(servoarmdown2);

  int z;

  //move down , run normal , using true

  //with speed of 20

  myservoarmdown1.write(100, 20, true);

  myservoarmdown2.write(100, 20, true);

  delay (1000);

  //less half open

  z = clawmove (60, 2);

  delay (1000);

 

  //close

  z = clawmove (110, 2);

  clawstatus = 4;

  delay (1000);

 

  //move up  , run normal , using true

  //with speed of 255

 

  myservoarmdown1.write(135, 255, true);

  myservoarmdown2.write(135, 255, true);

  delay (1000);

  z = basemove (90, 2);

  delay (1000);

}

void basemoveaction()

{

  int z;

 

  //move front

  z = basemove (90, 2);

  delay (1000);

  //  //trun right

  //  // z = basemove (0, 3);

  //  // trun left

  //  // z = basemove (180, 1);

  //

  //  z = basemove (0, 4);

  //  delay (1000);

  //  z = basemove (0, 5);

  //  delay (1000);

  //  z = basemove (0, 3);

  //  delay (1000);

  //  z = basemove (0, 6);

  //  delay (1000);

  //  z = basemove (0, 7);

  //  delay (1000);

  //  z = basemove (180, 1);

  //  delay (1000);

  //  z = basemove (90, 2);

 

}

 

void handrotatewmoveaction()

{

  int z;

 

  //move stright

  z = handrotatewmove (90, 2);

  //trun right

  //z = handrotatewmove (0, 3);

  // trun left

  //z = handrotatewmove (180, 1);

 

}

 

void clawmoveaction()

{

  int z;

 

  //open half

  z = clawmove (45, 2);

  //open full

  z = clawmove (10, 3);

  // close

  z = clawmove (100, 1);

 

}

 

void move_armupdown()

{

  myservoarmdown1.attach(servoarmdown1);

  myservoarmdown2.attach(servoarmdown2);

  //move down , run normal , using true

  //with speed of 20

  myservoarmdown1.write(100, 20, true);

  myservoarmdown2.write(100, 20, true);

 

  delay (1000);

 

  //move up  , run normal , using true

  //with speed of 255

 

  myservoarmdown1.write(135, 255, true);

  myservoarmdown2.write(135, 255, true);

 

  delay(2000);

}

 

 

void move_armupservo()

{

  myservoarmup.attach(servoarmupPin);

  myservoarmup.write(65, 50, true);

  delay(1000);

 

}

 

 

void scan ()

{

  distnaceCM = ultrasonic.read(CM);

  //Serial.print(distnaceCM); // CM or INC

  //Serial.println(" cm" );

 

  delay(100);

}

 

void color_detection()

{

 

  // Set RED (R) filtered photodiodes to be read

  digitalWrite(S2, LOW);

  digitalWrite(S3, LOW);

  // Reading the output frequency

  redFrequency = pulseIn(sensorOut, LOW);

  // Remaping the value of the RED (R) frequency from 0 to 255

  // You must replace with your own values. Here's an example:

  // this range for 2-3 cm distance

  //redColor = map(redFrequency, 137, 144, 255, 0);

  redColor = redFrequency;

  // Printing the RED (R) value

  Serial.print(" R = ");

  Serial.print(redColor);

  delay(100);

 

  // Setting GREEN (G) filtered photodiodes to be read

  digitalWrite(S2, HIGH);

  digitalWrite(S3, HIGH);

 

  // Reading the output frequency

  greenFrequency = pulseIn(sensorOut, LOW);

  // Remaping the value of the GREEN (G) frequency from 0 to 255

  // You must replace with your own values. Here's an example:

  // Printing the GREEN (G) value

  // this range for 2-3 cm distance

  //greenColor = map(greenFrequency,  206, 212, 255, 0);

  greenColor = greenFrequency;

  // Printing the GREEN (G) value

  Serial.print(" G = ");

  Serial.print(greenColor);

  delay(100);

 

  // Setting BLUE (B) filtered photodiodes to be read

  digitalWrite(S2, LOW);

  digitalWrite(S3, HIGH);

 

  // Reading the output frequency

  blueFrequency = pulseIn(sensorOut, LOW);

  // Remaping the value of the BLUE (B) frequency from 0 to 255

  // You must replace with your own values. Here's an example:

  // this range for 2-5 cm distance

  //blueColor = map(blueFrequency, 96, 102, 255, 0);

  blueColor = blueFrequency;

  // Printing the BLUE (B) value

  Serial.print(" B = ");

  Serial.print(blueColor);

  Serial.println("");

  delay(200);

  int z ;

  // Checks the current detected color and prints

  // a message in the serial monitor

  if (redColor < greenColor && redColor < blueColor) {

    Serial.println("****** Red color detected *****");

 

    //trun right

    z = basemove (0, 3);

    delay (1000);

 

 

  }

  if (greenColor < redColor && greenColor < blueColor) {

    Serial.println("****** Green color detected ******");

    z = basemove (0, 5);

    delay (1000);

  }

  if (blueColor < redColor && blueColor < greenColor) {

    Serial.println("****** Blue color detected ******");

    // trun left

    z = basemove (180, 1);

    delay (1000);

  }

  //clawstatus = 4;

  delay(400);

  clawopenmovebaseback();

  //Serial.println("");

}

 

void check_mode()

{

  if (irrecv.decode(&results))

  {

 

    if (results.value == 0XFFFFFFFF)

      results.value = key_value;

 

    switch (results.value)

    {

      case 0xFFA25D:

        Serial.println("CH-");

        mode = 1;

        Serial.println(mode);

        break;

      case 0xFF629D:

        Serial.println("CH");

        mode = 2;

        Serial.println(mode);

        break;

      case 0xFFE21D:

        Serial.println("CH+");

 

        break;

      case 0xFF22DD:

        Serial.println("|<<");

 

        break;

      case 0xFF02FD:

        Serial.println(">>|");

 

        break ;

      case 0xFFC23D:

 

        break ;

      case 0xFFE01F:

        Serial.println("-");

 

        break ;

      case 0xFFA857:

        Serial.println("+");

        break ;

      case 0xFF906F:

        Serial.println("EQ");

        break ;

      case 0xFF6897:

        Serial.println("0");

 

        break ;

      case 0xFF9867:

        Serial.println("100+");

 

        break ;

      case 0xFFB04F:

        Serial.println("200+");

        break ;

      case 0xFF30CF:

        Serial.println("1");

        break ;

      case 0xFF18E7:

        Serial.println("2");

        break ;

      case 0xFF7A85:

        Serial.println("3");

        break ;

      case 0xFF10EF:

        Serial.println("4");

        break ;

      case 0xFF38C7:

        Serial.println("5");

        break ;

      case 0xFF5AA5:

        Serial.println("6");

        break ;

      case 0xFF42BD:

        Serial.println("7");

        break ;

      case 0xFF4AB5:

        Serial.println("8");

        break ;

      case 0xFF52AD:

        Serial.println("9");

        break ;

    }

    key_value = results.value;

    irrecv.resume();

    delay(100);

  }

}

void loop() {

 

  check_mode();

  delay(100);

  if (mode == 1)

  {

    smart_move1();

  }

  else if (mode == 2)

  {

    smart_move();

  }

 

 

}