I have the" build some stuff" designed mimic controller to control my laser cut robot arm. I have a geared 360 degree servo for base. 270 degree servos for movement arms and a 180 degree servo for claw. Eventually i would like to save movements to program replayable positioning.
but my immediat problem is how can i slow down the movement of the servos compared to the mimic robot arm they move too fast and slams the arm around. Is there simple code change i can use. Thanks in advance
#include <Wire.h>
#include <Adafruit_PWMServoDriver.h>
#define MIN_PULSE_WIDTH 650
#define MAX_PULSE_WIDTH 2350
#define FREQUENCY 50
Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();
int potWrist = A3;
int potElbow = A2; //Assign Potentiometers to pins on Arduino Uno
int potShoulder = A1; // reverse direction swap pos neg on pot.
int potBase = A0;
int hand = 11;
int wrist = 12;
int elbow = 13; //Assign Motors to pins on Servo Driver Board
int shoulder = 14;
int base = 15;
void setup()
{
delay(5000); // <-- So I have time to get controller to starting position
pwm.begin();
pwm.setPWMFreq(FREQUENCY);
pwm.setPWM(11, 0, 90); //Set Gripper to 90 degrees (Close Gripper)
pinMode(13,INPUT_PULLUP);
Serial.begin(9600);
}
void moveMotor(int controlIn, int motorOut)
{
int pulse_wide, pulse_width, potVal;
potVal = analogRead(controlIn); //Read value of Potentiometer
pulse_wide = map(potVal, 800, 240, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
pulse_width = int(float(pulse_wide) / 1000000 * FREQUENCY * 4096); //Map Potentiometer position to Motor
pwm.setPWM(motorOut, 0, pulse_width);
}
void loop()
{
moveMotor(potWrist, wrist);
moveMotor(potElbow, elbow);
//Assign Motors to corresponding Potentiometers
moveMotor(potShoulder, shoulder);
moveMotor(potBase, base);
int pushButton = digitalRead(13);
if(pushButton == LOW)
{
pwm.setPWM(hand, 0, 300); //Keep Gripper closed when button is not pressed
Serial.println("Grab");
}
else
{
pwm.setPWM(hand, 0, 90); //Open Gripper when button is pressed
Serial.println("Release");
}
}
