Salutations!
We are coding a robot (her name is Artemis) and she's giving us some trouble. Her arm and claw aren't working, and we can't make any sense of it. We just found out that we are going to state for the WA SkillsUSA robotics competition in late March, so we are trying to get everything up and ready. We are very new to coding, so our issues could probably just be something we're not catching because we're new to this.
Artemis uses Pitsco's Tele-Op, DC Motor Expansion Controller, and PRIZM Brain. We're using Arduino IDE with the Uno library to code her. Her servo motors for the claw are plugged into CR1 and CR2. We have tried switching the wires around, but that wasn't it either.
There are no errors coming up when we compile and upload the program, but it's not working when we try to use our controller. Our concern is that this code isn't compatible with our joystick (ps4), but it could easily be something else that we're not catching. Any wisdom available would be greatly appreciated!
//Original code by Ryan Chan. Updated code by MilesPeterson101 Thanks to Ryan Chan for the concept!
#include <Servo.h>
Servo servo1; //Servos
Servo servo2;
Servo servo3;
const int LED1 = 2; //LEDs
const int LED2 = 3;
const int LED3 = 4;
const int LED4 = 7;
const int LED5 = 8;
const int button1 = 12; //Buttons
const int button2 = 13;
int button1Presses = 0; //Button values
boolean button2Pressed = false;
const int pot1 = A0; //Potentimeters
const int pot2 = A1;
const int pot3 = A2;
int pot1Val; //Potentimeter values
int pot2Val;
int pot3Val;
int pot1Angle;
int pot2Angle;
int pot3Angle;
int servo1PosSaves[] = {1,1,1,1,1}; //position saves
int servo2PosSaves[] = {1,1,1,1,1};
int servo3PosSaves[] = {1,1,1,1,1};
void setup() {
servo1.attach(5); // Set up everything and will run once; attach servos and define the pin modes
servo2.attach(6);
servo3.attach(9);
pinMode(LED1, OUTPUT);
pinMode(LED2, OUTPUT);
pinMode(LED3, OUTPUT);
pinMode(LED4, OUTPUT);
pinMode(LED5, OUTPUT);
pinMode(button1, INPUT);
pinMode(button2, INPUT);
Serial.begin(9600);
}
void loop() {
// put your main code here, to run repeatedly:
pot1Val = analogRead(pot1); // This will read the values from the potentimeters and store it...
pot1Angle = map(pot1Val, 0, 1023, 0, 179); // ... and this will map the values from the potentiometers to values the servos can use and store it for later use
pot2Val = analogRead(pot2);
pot2Angle = map(pot2Val, 0, 1023, 0, 179);
pot3Val = analogRead(pot3);
pot3Angle = map(pot3Val, 0, 1023, 0, 179);
servo1.write(pot1Angle); // These will make the servos move to the mapped angles
servo2.write(pot2Angle);
servo3.write(pot3Angle);
if(digitalRead(button1) == HIGH){ // This will check how many times button1 is pressed and save the positions to an array depending on how many times it is pressed; switch/case works like a if statement
button1Presses++;
switch(button1Presses){
case 1:
servo1PosSaves[0] = pot1Angle;
servo2PosSaves[0] = pot2Angle;
servo3PosSaves[0] = pot3Angle;
digitalWrite(LED1, HIGH);
Serial.println("Pos 1 Saved");
break;
case 2:
servo1PosSaves[1] = pot1Angle;
servo2PosSaves[1] = pot2Angle;
servo3PosSaves[1] = pot3Angle;
digitalWrite(LED2, HIGH);
Serial.println("Pos 2 Saved");
break;
case 3:
servo1PosSaves[2] = pot1Angle;
servo2PosSaves[2] = pot2Angle;
servo3PosSaves[2] = pot3Angle;
digitalWrite(LED3, HIGH);
Serial.println("Pos 3 Saved");
break;
case 4:
servo1PosSaves[3] = pot1Angle;
servo2PosSaves[3] = pot2Angle;
servo3PosSaves[3] = pot3Angle;
digitalWrite(LED4, HIGH);
Serial.println("Pos 4 Saved");
break;
case 5:
servo1PosSaves[4] = pot1Angle;
servo2PosSaves[4] = pot2Angle;
servo3PosSaves[4] = pot3Angle;
digitalWrite(LED5, HIGH);
Serial.println("Pos 5 Saved");
break;
}
}
if(digitalRead(button2) == HIGH){ // Pretty self-explnatory here
button2Pressed = true;
}
if(button2Pressed){ // if the boolean button2Press is true, then the servos will run though all their saved positions
for(int i = 0; i < 5; i++){
servo1.write(servo1PosSaves[i]);
servo2.write(servo2PosSaves[i]);
servo3.write(servo3PosSaves[i]);
Serial.println(" potentimeter Angles: ");
Serial.println(servo1PosSaves[i]);
Serial.println(servo2PosSaves[i]);
Serial.println(servo3PosSaves[i]);
delay(1050);
}
}
delay(300);
}