![]() With that been said, let's move on to testing. If you can make the code better or have any suggestions for me please let me know in the comment section. The function is not yet as smooth as the one made by Stoerpeak. Once the code is ready, Now upload it to the Arduino board.Servo_Position = Storage % 100 // Finds position of servo Servo_Number = Storage / 100 // Finds number of servo If (data = 'P') //IF 'P' is entered, Start playing recorded moves.įor (int i = 0 i < Index i++) //Traverse the array using for loop * Values are printed on serial monitor, '\t' is for displaying values in tabular format */ * Similarly the value comparison is done for all the servos, +100 is added every for entry Storage = Servo_0_Pos + 0 // Value is added to array If (Current_0_Pos != Servo_0_Pos) // If values don't match This Arduino Robotic Arm can be controlled by four Potentiometer attached to it, each potentiometer is used to control each servo. The next evolution of the Tinkerkit Braccio robot, Arduino Braccio ++ is a robotic arm designed solely for higher education, including engineering schools and university institutes of technology or even advanced high school and college students studying the sciences, industrial science or technology. Servo_0.write(Servo_0_Pos) // If values match servo is repositioned If (abs(Prev_0_Pos = Servo_0_Pos)) // absolute value is obtained by comparing Map_Pot() // Map function recalled for comparison If (data = 'R') //If 'R' is entered, start recording. Serial.println("Playing Recorded Moves.") Map_Pot() //Function call to read pot values Servo_0.write(Servo_0_Pos) //Move the servo to that position. Pot_0 = analogRead(A0) // Read input from pot and store it in the Variable Pot_0. Which is annoying so we limit the servo to move For this we will define a function and name it Map_Pot(), you can name it anything you want it is a user-defined function.Ī good idea as it makes the servos buzz continuously Now we have to read the values of potentiometers using Analog Input pins and map them to control servos.Serial.println("Press 'R' to Record and 'P' to play") Servos are set to 100 position at initialization. Servo objects are attached to PWM pins. Serial.begin(9600) //For Serial communication between arduino and IDE. This is the main function that executes first. Now we will write a setup function, where we set pins and their functions.Int Index = 0 // Array index starts from 0th positionĬhar data = 0 //variable to store data from serial input. Int Storage //Array to store data (Increasing array size will consume more memory) ![]() Variable to store Current position values Variable to store Previous position values No special explanation is needed for this. First, we will declare all the necessary variables globally so we can use them throughout the program.You can check out this tutorial I used for reference " Arduino Potentiometer Servo Control & Memory"Ĭode:- (Downloadable file attached bellow.) The Logic of this code is fairly simple the values of potentiometers are stored in an array the records are then traversed using a for loop and the servos do the steps as per the values.
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