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+===== Rodent Enrichment - Sketch =====
+<code>
+#include <Servo.h>
+int door_pin = 2;
+int sensor_pin[] = { 3, 4, 5, 6, 7, 8 };
+#define sensors (sizeof(sensor_pin)/sizeof(servo_pin[0]))
+int servo_pin[] = { 9, 10 };
+#define servos (sizeof(servo_pin)/sizeof(servo_pin[0]))
+int servo_pos[][4] = { { 80, 10, 25, 45 }, { 5, 80, 65, 45 } };
+Servo servo[2];
+void setup()
+{
+  Serial.begin(9600);
+  int i;
+  pinMode(door_pin, OUTPUT);
+  digitalWrite(door_pin, LOW);
+  for (i = 0; i < sensors; i++)
+    pinMode(sensor_pin[i], INPUT);
+  for (i = 0; i < servos; i++) {
+    servo[i].attach(servo_pin[i]);
+    servo[i].write(servo_pos[i][2]);
+  }
+}
+void calibrate()
+{
+  int i;
+  for (i = 0; i < 80; i++) {
+    servo[0].write(i);
+    Serial.println(i);
+    delay(250);
+  }
+  delay(1000);
+}
+void sensor_info()
+{
+  int i;
+  for (i = 0; i < sensors; i++) {
+    bool state = digitalRead(sensor_pin[i]);
+    Serial.print(state);
+  }
+  Serial.println();
+}
+void loop_ro()
+{
+  sensor_info();
+  digitalWrite(door_pin, LOW);
+  delay(1000);
+  sensor_info();
+  digitalWrite(door_pin, HIGH);
+  delay(1000);
+}
+void loop_rw()
+{
+  if (Serial.available()) {
+    unsigned char cmd = Serial.read();
+    int sid = 0;
+    switch (cmd) {
+      case 'd': digitalWrite(door_pin, LOW); break;
+      case 'D': digitalWrite(door_pin, HIGH); break;
+      case 'S': sid = 1; // fall through
+      case 's': /* sid = 0; */ {
+        unsigned char pos = Serial.read();
+        servo[sid].write(servo_pos[sid][pos - '0']);
+      }
+    }
+  }
+  sensor_info();
+  delay(100);
+}
+void loop()
+{
+  loop_rw(); return; // Interactive
+  loop_ro(); return; // Non-interactive, door cycling
+  calibrate(); return; // Calibrate
+}
+</code>