Problem with the manipulator arm

Projects Programming
1

Hello
I have a problem in my small project, which consists of a manipulator arm with 4 degrees of freedom that is controlled in two ways automatically using an Arduino Uno card and the second way using an ESP32 card.
The problem is that when I want to control using the ESP 32 card, I must remove the wires from the servo motors that were connected to the Arduino in order to connect them to the ESP32, and I do not want to switch wires from one card to another every time, so I do not know the solution.
Please help and thank you.

2

Maybe have the servos controlled by only one board. Why do you need to use two ?

3

Because the project requires the use of both cards

4

If that really is the case, but you have not said why, then connect the servos to one board and have the other board communicate the commands that it wishes to execute to the one connected to the servos

Why does the project require the sue of both boards ?

5

It sounds like you're facing a wiring issue between your Arduino Uno and ESP32 cards when controlling your manipulator arm. To avoid switching wires between the cards, you might consider using a servo motor driver that allows you to connect multiple servos and control them from either card without rewiring.

6

How can i do that?

7

Because the professor wants me to control the arm automatically and use Bluetooth and Wi-Fi.

8

So actually you need 3 methods of control

If both boards were able to co control the servos which of them would do the automatic control, which the Bluetooth and which the WiFi ?

9

Arduino is the one who takes over the automatic control and the ESP32 card will take over the manual control (Bluetooth, Wi-Fi)

10

Would having the esp32 control the Arduino and having the Arduino accept manual commands from the esp32 be allowable?

Otherwise you could use relays to switch the servo signal lines between the two controllers. Maybe a 4 channel relay board with the NCs connected to the Arduino, the COMs connected to the servos, and the NOs and relay controls connected to the esp32. There would be a big uncontrollable discontinuity/jerk in motion when you switched the relays.

11

Then the first thing to get working is WiFi and Bluetooth using the ESP32 because using both on the same board may not be as simple as you think

12

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