Control i-sobot arm, serial comunication

[joseph_03]

hello, I am making a program to control the arm of an i-sobot robot, the arm has three motors, I use three potentiometers to indicate the angle, the communication that the robot uses is a protocol that consists of a start byte, 5 bytes of angle, one of checksum and one of closure, in the case of the arm only 3 bytes of angle are used and the rest are left with a value of 128, I made the program and I can control the position of 2 joints, any of the three , but only 2, the problem is when I try to add the third potentiometer the robot freezes and does not move, I don't know if it is because of how to send the data to the robot, or it is another problem. Thank you if you have any answers and sorry for my bad english.

#include <SoftwareSerial.h>
#define rxPin 2
#define txPin 3

SoftwareSerial mySerial(rxPin, txPin);

int J[5];
int cks = 0;
void joints();
byte data[8];

void setup()
{
  Serial.begin(9600);
  mySerial.begin(2400);
  
  pinMode(A0, INPUT);
  pinMode(A1, INPUT);
  pinMode(A2, INPUT);
}

void loop()
{
  
  J[0] = 128 + map(analogRead(A0), 0, 1023, -128, 92);
  J[1] = 128 + map(analogRead(A1), 0, 1023, -128, 92);
  J[2] = 128 + map(analogRead(A2), 0, 1023, -128, 92);

joints(J[0], J[1], J[2], 128, 128, 0, 0);
}

void joints(int D1, int D2, int D3, int D4, int D5, int s0, int s1) {
  
  if (s0 == 0 && s1 == 0) {D4 = 128; D5 = 128;}
  if (s0 == 0 && s1 == 1) {D5 = 128;}

  cks = (260 + D1 + D2 + D3 + D4 + D5) % 255;
  data[0]=5;
  data[1]=D1;
  data[2]=D2;
  data[3]=D3;
  data[4]=D4;
  data[5]=D5;
  data[6]=cks;
  data[7]=255;
  
  mySerial.write(data,8);

}

[alto777]

@joseph_03

i did a program with 2 pot moving 2 joints and work

Post the complete you did it it worked 2 pot moving 2 joints sketch please.

a7

[xfpd]

@joseph_03

add the third potentiometer

If you add the third potentiometer to only send data to the Serial Monitor, without connecting the output to the robot, do you see any robot movement and Serial Monitor data?

[joseph_03]

@joseph_03

  data[0]=255;
  data[1]=5;
  data[2]=D1;
  data[3]=D2;
  data[4]=D3;
  data[5]=D4;
  data[6]=D5;
  data[7]=cks;

the solution is the secuence of data, the first bye is 255

[MaximoEsfuerzo]

My solution!

Control de brazo de un i-sobot, con potenciometros

Me parece que la secuencia de datos no es la correcta (コラム： タカラトミー「Omnibot 17μ i-SOBOT」分解・解析レポート) A parecer la trama es así Encabezado (255) - 1 byte Bytes de datos (5) - 1 byte Ang servo1 - 1 byte Ang servo2 - 1 byte Ang servo3 - 1 byte Ang servo4 - 1 byte Ang servo5 - 1 byte CheckSum - 1 byte Prueba, no pierdes más que unos minutos.

And by the way, this topic is repost even if you wrote it in English