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    Codigo Arduino

    Uploaded by

    Edgar Suarez
    This document contains code for controlling 6 servo motors connected to an Arduino board using Bluetooth communication. It initializes the servo motors, sets up Bluetooth communication, and includes functions to: 1) Receive Bluetooth commands to move individual servos to specified positions or save current positions. 2) Run a saved sequence of servo positions by iterating through a stored array of positions, controlling speed. 3) Reset the saved sequence.

    Copyright:

    © All Rights Reserved
    Download as TXT, PDF, TXT or read online from Scribd

    Codigo Arduino

    Uploaded by

    Edgar Suarez
    61 views3 pages
    This document contains code for controlling 6 servo motors connected to an Arduino board using Bluetooth communication. It initializes the servo motors, sets up Bluetooth communication, and includes functions to: 1) Receive Bluetooth commands to move individual servos to specified positions or save current positions. 2) Run a saved sequence of servo positions by iterating through a stored array of positions, controlling speed. 3) Reset the saved sequence.

    Original Description:

    code arduin robot

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    © © All Rights Reserved

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    This document contains code for controlling 6 servo motors connected to an Arduino board using Bluetooth communication. It initializes the servo motors, sets up Bluetooth communication, and includes functions to: 1) Receive Bluetooth commands to move individual servos to specified positions or save current positions. 2) Run a saved sequence of servo positions by iterating through a stored array of positions, controlling speed. 3) Reset the saved sequence.

    Copyright:

    © All Rights Reserved
    Download as TXT, PDF, TXT or read online from Scribd
    Download as txt, pdf, or txt
    61 views3 pages

    Codigo Arduino

    Uploaded by

    Edgar Suarez
    This document contains code for controlling 6 servo motors connected to an Arduino board using Bluetooth communication. It initializes the servo motors, sets up Bluetooth communication, and includes functions to: 1) Receive Bluetooth commands to move individual servos to specified positions or save current positions. 2) Run a saved sequence of servo positions by iterating through a stored array of positions, controlling speed. 3) Reset the saved sequence.

    Copyright:

    © All Rights Reserved
    Download as TXT, PDF, TXT or read online from Scribd
    Download as txt, pdf, or txt
    of 3

    #include <SoftwareSerial.

    h>
    #include <Servo.h>
    Servo servo01;
    Servo servo02;
    Servo servo03;
    Servo servo04;
    Servo servo05;
    Servo servo06;
    SoftwareSerial Bluetooth(3, 4); // Arduino(RX, TX) - HC-05 Bluetooth (TX, RX)
    int servo1Pos, servo2Pos, servo3Pos, servo4Pos, servo5Pos, servo6Pos; // current
    position
    int servo1PPos, servo2PPos, servo3PPos, servo4PPos, servo5PPos, servo6PPos; //
    previous position
    int servo01SP[50], servo02SP[50], servo03SP[50], servo04SP[50], servo05SP[50],
    servo06SP[50]; // for storing positions/steps
    int speedDelay = 20;
    int index = 0;
    String dataIn = "";

    void setup() {
    servo01.attach(5);
    servo02.attach(6);
    servo03.attach(7);
    servo04.attach(8);
    servo05.attach(9);
    servo06.attach(10);
    Bluetooth.begin(38400); // Default baud rate of the Bluetooth module
    Bluetooth.setTimeout(1);
    delay(20);
    // Robot arm initial position
    servo1PPos = 90;
    servo01.write(servo1PPos);
    servo2PPos = 150;
    servo02.write(servo2PPos);
    servo3PPos = 35;
    servo03.write(servo3PPos);
    servo4PPos = 140;
    servo04.write(servo4PPos);
    servo5PPos = 85;
    servo05.write(servo5PPos);
    servo6PPos = 80;
    servo06.write(servo6PPos);
    }
    Void lop(){
    // Check for incoming data
    if (Bluetooth.available() > 0) {
    dataIn = Bluetooth.readString(); // Read the data as string
    // If "Waist" slider has changed value - Move Servo 1 to position
    if (dataIn.startsWith("s1")) {
    String dataInS = dataIn.substring(2, dataIn.length()); // Extract only the
    number. E.g. from "s1120" to "120"
    servo1Pos = dataInS.toInt(); // Convert the string into integer

    / We use for loops so we can control the speed of the servo


    // If previous position is bigger then current position
    if (servo1PPos > servo1Pos) {
    for ( int j = servo1PPos; j >= servo1Pos; j--) { // Run servo down
    servo01.write(j);
    delay(20); // defines the speed at which the servo rotates
    }
    }
    // If previous position is smaller then current position
    if (servo1PPos < servo1Pos) {
    for ( int j = servo1PPos; j <= servo1Pos; j++) { // Run servo up
    servo01.write(j);
    delay(20);
    }
    }
    servo1PPos = servo1Pos; // set current position as previous position
    }
    // If button "SAVE" is pressed
    if (dataIn.startsWith("SAVE")) {
    servo01SP[index] = servo1PPos; // save position into the array
    servo02SP[index] = servo2PPos;
    servo03SP[index] = servo3PPos;
    servo04SP[index] = servo4PPos;
    servo05SP[index] = servo5PPos;
    servo06SP[index] = servo6PPos;
    index++; // Increase the array index
    }

    // Automatic mode custom function - run the saved steps


    void runservo() {
    while (dataIn != "RESET") { // Run the steps over and over again until "RESET"
    button is pressed
    for (int i = 0; i <= index - 2; i++) { // Run through all steps(index)
    if (Bluetooth.available() > 0) { // Check for incomding data
    dataIn = Bluetooth.readString();
    if ( dataIn == "PAUSE") { // If button "PAUSE" is pressed
    while (dataIn != "RUN") { // Wait until "RUN" is pressed again
    if (Bluetooth.available() > 0) {
    dataIn = Bluetooth.readString();
    if ( dataIn == "RESET") {
    break;
    }
    }
    }
    }
    // If SPEED slider is changed
    if (dataIn.startsWith("ss")) {
    String dataInS = dataIn.substring(2, dataIn.length());
    speedDelay = dataInS.toInt(); // Change servo speed (delay time)
    }
    }
    // Servo 1
    if (servo01SP[i] == servo01SP[i + 1]) {
    }
    if (servo01SP[i] > servo01SP[i + 1]) {
    for ( int j = servo01SP[i]; j >= servo01SP[i + 1]; j--) {
    servo01.write(j);
    delay(speedDelay);
    }
    }
    if (servo01SP[i] < servo01SP[i + 1]) {
    for ( int j = servo01SP[i]; j <= servo01SP[i + 1]; j++) {
    servo01.write(j);
    delay(speedDelay);
    }
    }

    // If button "RESET" is pressed


    if ( dataIn == "RESET") {
    memset(servo01SP, 0, sizeof(servo01SP)); // Clear the array data to 0
    memset(servo02SP, 0, sizeof(servo02SP));
    memset(servo03SP, 0, sizeof(servo03SP));
    memset(servo04SP, 0, sizeof(servo04SP));
    memset(servo05SP, 0, sizeof(servo05SP));
    memset(servo06SP, 0, sizeof(servo06SP));
    index = 0; // Index to 0
    }

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