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Step 10: Using the Monster Library

Now that we have the library all coded up, we can use it in a simple Arduino sketch.
We will do so by importing the library header, constructing an instance of the Monster class, and using a Timer Interrupt (from the TimerOne.h library) to call the ComputeBalance() function at a regular interval.

The implementation code is as follows:

#include "monstro.h"
#include <TimerOne.h>

Monstro meuMonstro(13, 12, 11, 3, 5, 6, 13, 12, 8, 7);

void setup()
{
  // COM
  Serial.begin(9600);
  // Timer Interrupt
  Timer1.initialize(5000);
  Timer1.attachInterrupt(BalanceRobot);
  meuMonstro.Initialize();
}

void loop()
{
  meuMonstro.Update();
}

void BalanceRobot() {
  meuMonstro.ComputeBalance();
}

Upload this to your Arduino, plug in the male barrel jack into the robots female barrel jack for power, and the robot should begin balancing itself.