RoFish_cpg is an example sketch for the Arduino to demonstrate the Central Pattern Generator (CPG) locomotion control of a robotic fish. The CPG from the example RoFish_cpg has three coupled oscillators for driving an equal number of joints of the robotic fish. The frequency of the oscillators, the amplitude of the motion and the angle-offset, used for steering, can be set via a terminal console, connecting with the UART of the Arduino. The swimming gait can be switched between forward and backward direction. This example has not been completely worked out with remote control. It is only meant to demonstrate the CPG.
The used type of RC-servo motor for joints 1 and 2, is the Futaba S3003. The tail motor is a Futaba S3102.