Hello Everyone!
I build a simple robotic arm with Arduino and servo motors.
It can make simple movement. For example it can make dots or draw arc. But all these movements are predefined by me. I defined the movements as degree of servo and I m sending servo positions to move robotic arm move. This is so limited. I m wanting to send coordinates, Arduino can calculate servos' positions.
So,
I can control robotic arm with sending servo degrees( with PWN values ).
I m wanting control robotic arm with sendind coordinates or GCodes.
How can deconstruct GCodes ( or coordinates ) to servo degrees?
After that, my robotic arm can draw shapes, write to paper or print objects !
The only way I can image is setting up a stereo came system and mapping all positions - servo degrees equations. So I will have all servo positions data for specific coordinates and I will know servos positions for all coordinates.
Is there any shorter way? A free&basic simulator program or a mathematical way or anything else ?
My code is really simple. I m sharing it.
Also I added robotic arms images.
Any help will be appreciated !
#include <Servo.h>
Servo x1Axis;
Servo y1Axis;
Servo y2Axis;
int pos = 0;
// each NOTA variable keeps 3 servos' postions.
struct NOTA {
int x1;
int y1;
int y2;
};
// I m sending these variables to notaHareketi function to make movements.
// These values represent servos' positions.
NOTA doBas = { 50, 50, 10 };
NOTA doSal = { 50, 70, 10 };
NOTA reBas = { 80, 50, 14 };
NOTA reSal = { 80, 70, 14 };
NOTA miBas = { 100, 50, 18 };
NOTA miSal = { 100, 70, 18 };
void setup() {
x1Axis.attach(7);
y1Axis.attach(8);
y2Axis.attach(9);
}
void loop() {
notaHareketi(doSal);
delay(700);
notaHareketi(doBas);
delay(700);
notaHareketi(doSal);
delay(2000);
notaHareketi(reSal);
delay(700);
notaHareketi(reBas);
delay(700);
notaHareketi(reSal);
delay(2000);
notaHareketi(miSal);
delay(700);
notaHareketi(miBas);
delay(700);
notaHareketi(miSal);
delay(2000);
}
void notaHareketi(NOTA nota){
x1Axis.write(nota.x1);
delay(50);
y1Axis.write(nota.y1);
delay(50);
y2Axis.write(nota.y2);
}
