I am new to this. I would like to know how to wire this code, as I am confused on where to start.
Webpage with schematic:
Code:
/*
Very simple control of a robotic arm (using servos). Direct control of joint/servo positions using
buttons and a potentiometer. One servo controls base rotation, two move the lowest joint, one moves the middle joint,
one moves the upper joint, and one opens/closes the gripper.
created 4/18/2014
*/
#include <Servo.h>
Servo base;
Servo lower1;
Servo lower2;
Servo mid;
Servo upper;
Servo grip;
const int pot = A0; // define pot as pin A0
const int button1 = 7; // define buttons
const int button2 = 6;
const int button3 = 5;
const int button4 = 4;
const int button5 = 3;
const int button6 = 2;
const int button7 = A3;
const int button8 = A4;
int potState;
int potStatePrev;
int buttonState1;
int buttonState2; // the current reading from the input pin
int buttonState3;
int buttonState4;
int buttonState5;
int buttonState6;
int buttonState7;
int buttonState8;
int posB = 0;
int posL = 90; // positions for each joint
int posM = 90;
int posU = 90;
int posG = 120;
const int Delay = 10; // ms delay for servo motions
//-----------------------------------------------------------------------------------------
void setup() {
pinMode(button1, INPUT);
pinMode(button2, INPUT);
pinMode(button3, INPUT);
pinMode(button4, INPUT);
pinMode(button5, INPUT);
pinMode(button6, INPUT);
pinMode(button7, INPUT);
pinMode(button8, INPUT);
base.attach(8, 600, 2100); // setup servo connections - probably need custom values for each servo
lower1.attach(9, 600, 2100);
lower2.attach(10, 600, 2100);
mid.attach(11, 600, 2100);
upper.attach(12, 600, 2100);
grip.attach(13, 600, 2400);
base.write(posB); // set all servos to start at "mid" positions
lower1.write(posL);
lower2.write(180-posL);
mid.write(posM);
upper.write(posU);
grip.write(posG);
potState = analogRead(pot);
potStatePrev = potState;
}
//-----------------------------------------------------------------------------------------
/*
void knobServoControl(Servo servo, int potState, int potStatePrev, int pos){
if (potState != potStatePrev){
pos = map(potState, 0, 1023, 0, 179);
servo.write(pos); }
delay(Delay);
}
void singleServoControl(Servo servo, int buttonStateD, int buttonStateU, int pos){
if (buttonStateU == HIGH){
pos += 1; // increase position of servo
if (pos > 175){ pos = 175;} // bound "pos" variable to keep from drifting at ends
servo.write(pos); // write new position
delay(Delay); // wait
}
if (buttonStateD == HIGH){
pos -= 1;
if (pos < 2){ pos = 2;}
servo.write(pos);
delay(Delay);
}
}
void dualServoControl(Servo servo1, Servo servo2, int buttonStateD, int buttonStateU, int pos){
if (buttonStateU == HIGH){
pos += 1;
if (pos > 175){ pos = 175;}
servo1.write(pos);
servo2.write(180-pos);
delay(Delay); //wait
}
if (buttonStateD == HIGH){
pos -= 1; //increase position of servo
if (pos < 2){ pos = 2;}
servo1.write(pos); //write new position
servo2.write(180-pos);
delay(Delay); //wait
}
}
*/
//-----------------------------------------------------------------------------------------
void loop(){
potState = analogRead(pot);
int buttonState1 = digitalRead(button1);
int buttonState2 = digitalRead(button2);
int buttonState3 = digitalRead(button3);
int buttonState4 = digitalRead(button4);
int buttonState5 = digitalRead(button5);
int buttonState6 = digitalRead(button6);
int buttonState7 = digitalRead(button7);
int buttonState8 = digitalRead(button8);
//knobServoControl(base, potState, potStatePrev, posB); // move base
//dualServoControl(lower1, lower2, buttonState1, buttonState2, posL); // move lower joint
//singleServoControl(mid, buttonState3, buttonState4, posM); // move middle joint
//singleServoControl(upper, buttonState5, buttonState6, posU); // move upper joint
//singleServoControl(grip, buttonState7, buttonState8, posG); // move gripper
//base
//if (potState != potStatePrev){
posB = map(potState, 0, 1023, 0, 179);
base.write(posB);
delay(Delay);
//lower
if (buttonState1 == HIGH){
posL += 1; // increase position of servo
if (posL > 175){ posL = 175;} // bounds "pos" variable to prevent drifting at limits
lower1.write(posL); // write new position
lower2.write(180-posL);
delay(Delay); // wait
}
if (buttonState2 == HIGH){
posL -= 1; // decrease position of servo
if (posL < 4){ posL = 4;}
lower1.write(posL);
lower2.write(180-posL);
delay(Delay);
}
//mid
if (buttonState3 == HIGH){
posM += 1;
if (posM > 180){ posM = 180;}
mid.write(posM);
delay(Delay);
}
if (buttonState4 == HIGH){
posM -= 1;
if (posM < 0){ posM = 0;}
mid.write(posM);
delay(Delay);
}
//upper
if (buttonState5 == HIGH){
posU += 1;
if (posU > 180){ posU = 180;}
upper.write(posU);
delay(Delay);
}
if (buttonState6 == HIGH){
posU -= 1;
if (posU < 0){ posU = 0;}
upper.write(posU);
delay(Delay);
}
//gripper
if (buttonState7 == HIGH){
posG += 1;
if (posG > 180){ posG = 180;}
grip.write(posG);
delay(Delay);
}
if (buttonState8 == HIGH){
posG -= 1;
if (posG < 60){ posG = 60;}
grip.write(posG);
delay(Delay);
}
potStatePrev = potState;
}
// CHECK FOR LAG IN SERVO RESPONSIVENESS
// COULD ALSO DO A SWITCH CASE WITH BUTTON STATES -- MIGHT BE MORE RESPONSIVE
