Hello guys,
I’m making a project that converts each char from a string (received by a Bluetooth module) to servos positions.
#include <Servo.h>
String frase=0;
char c;
int x=0;
int angulo = 19; //Determina o angulo equivalente da anguloição zero. Vai de 1 a 180.
int num_caract = 5; //Ajusta o programa ao número de caracteres que são mostrados por vez.
int pos = 0;
int ascii[100];
Servo a1;
Servo a2;
Servo b1;
Servo b2;
Servo c1;
Servo c2;
Servo d1;
Servo d2;
Servo e1;
Servo e2;
byte pa1 = 49;
byte pa2 = 51;
byte pb1 = 45;
byte pb2 = 47;
byte pc1 = 41;
byte pc2 = 43;
byte pd1 = 37;
byte pd2 = 39;
byte pe1 = 33;
byte pe2 = 35;
boolean debug = 0;
void setup(){
biblioteca(); //Inicia os valores da biblioteca.
zerarServo();
a1.attach(pa1);
a2.attach(pa2);
b1.attach(pb1);
b2.attach(pb2);
c1.attach(pc1);
c2.attach(pc2);
d1.attach(pd1);
d2.attach(pd2);
e1.attach(pe1);
e2.attach(pe2);
pinMode(13,OUTPUT);
Serial.begin(9600);
Serial1.begin(38400);
Serial1.print("AT+RESET \r\n");
Ler();
Serial1.print("AT+UART=115200,0,0");
Ler();
Serial1.begin(115200);
Serial1.print("AT+ORGL \r\n");
Ler();
Serial1.print("AT+NAME=dispositivobraille \r\n");
Ler();
Serial1.print("AT+INIT \r\n");
Ler();
Serial1.print("AT+INQ \r\n");
Ler();
Serial.println("PRONTO!");
}
void loop(){
//Comunicação Android->Arduino:
if(frase==0){
while(Serial1.available()){
c=Serial1.read();
frase = String(frase + c);
x=1;
digitalWrite(13,HIGH);
}
delay(100);
if(x==1){
Serial.println(frase);
zerarServo();
imprimirBraille();
frase = 0;
x=0;
digitalWrite(13,LOW);
}
}
//Comunicação Arduino->Android:
if(frase==0){
while(Serial.available()){
c=Serial.read();
frase = String(frase + c);
x=1;
digitalWrite(13,HIGH);
}
delay(100);
if(x==1){
Serial1.println(frase);
frase = 0;
x=0;
digitalWrite(13,LOW);
}
}
}
void Ler(){
String Comando;
while (Serial.available()) {
if (Serial.available() >0) {
char c = Serial.read();
Comando += c;
}
}
if (Comando.length() >0) {
Serial.print(Comando);
}
delay(500);
}
void imprimirBraille(){
int y;
int colesq = 0;
int coldir = 0;
int ciclo;
int paginas = 1;
for(y=0; y<5; y++){
Serial.println(frase[y]);
bitWrite(colesq,0,bitRead(ascii[frase[y+(num_caract*ciclo)]-32],0));
bitWrite(colesq,1,bitRead(ascii[frase[y+(num_caract*ciclo)]-32],1));
bitWrite(colesq,2,bitRead(ascii[frase[y+(num_caract*ciclo)]-32],2));
bitWrite(coldir,0,bitRead(ascii[frase[y+(num_caract*ciclo)]-32],3));
bitWrite(coldir,1,bitRead(ascii[frase[y+(num_caract*ciclo)]-32],4));
bitWrite(coldir,2,bitRead(ascii[frase[y+(num_caract*ciclo)]-32],5));
Serial.println(colesq);
Serial.println(coldir);
Serial.println();
switch (y){
case 0:
a1.write(angulo*coldir);
a2.write(angulo*colesq);
break;
case 1:
b1.write(angulo*coldir);
b2.write(angulo*colesq);
break;
case 2:
c1.write(angulo*coldir);
c2.write(angulo*colesq);
break;
case 3:
d1.write(angulo*coldir);
d2.write(angulo*colesq);
break;
case 4:
e1.write(angulo*coldir);
e2.write(angulo*colesq);
break;
}
}
delay(100);
}
void biblioteca(){ //+32
ascii[0] = 0;
ascii[65] = 1; //'a';
ascii[66] = 3; //'b';
ascii[67] = 9; //'c';
ascii[68] = 25; //'d';
ascii[69] = 17; //'e';
ascii[70] = 11; //'f';
ascii[71] = 27; //'g';
ascii[72] = 19; //'h';
ascii[73] = 10; //'i';
ascii[74] = 26; //'j';
ascii[75] = 5; //'k';
ascii[76] = 7; //'l';
ascii[77] = 13; //'m';
ascii[78] = 29; //'n';
ascii[79] = 21; //'o';
ascii[80] = 15; //'p';
ascii[81] = 31; //'q';
ascii[82] = 23; //'r';
ascii[83] = 14; //'s';
ascii[84] = 30; //'t';
ascii[85] = 37; //'u';
ascii[86] = 39; //'v';
ascii[87] = 52; //'w';
ascii[88] = 45; //'x';
ascii[89] = 61; //'y';
ascii[90] = 53; //'z';
ascii[33] = 1; //'a';
ascii[34] = 3; //'b';
ascii[35] = 9; //'c';
ascii[36] = 25; //'d';
ascii[37] = 17; //'e';
ascii[38] = 11; //'f';
ascii[39] = 27; //'g';
ascii[40] = 19; //'h';
ascii[41] = 10; //'i';
ascii[42] = 26; //'j';
ascii[43] = 5; //'k';
ascii[44] = 7; //'l';
ascii[45] = 13; //'m';
ascii[46] = 29; //'n';
ascii[47] = 21; //'o';
ascii[48] = 15; //'p';
ascii[49] = 31; //'q';
ascii[50] = 23; //'r';
ascii[51] = 14; //'s';
ascii[52] = 30; //'t';
ascii[53] = 37; //'u';
ascii[54] = 39; //'v';
ascii[55] = 52; //'w';
ascii[56] = 45; //'x';
ascii[57] = 61; //'y';
ascii[58] = 53; //'z';
ascii[16] = 26; //'0';
ascii[17] = 1; //'1';
ascii[18] = 3; //'2';
ascii[19] = 9; //'3';
ascii[20] = 25; //'4';
ascii[21] = 17; //'5';
ascii[22] = 11; //'6';
ascii[23] = 27; //'7';
ascii[24] = 19; //'8';
ascii[25] = 10; //'9';
ascii[1] = 22; //'!';
ascii[2] = 38; //'"';
ascii[4] = 48; //''';
ascii[7] = 2; //''';
ascii[8] = 55; //'(';
ascii[9] = 62; //')';
ascii[10] = 20; //'*';
ascii[12] = 2; //',';
ascii[13] = 36; //'-';
ascii[14] = 4; //'.';
ascii[26] = 9; //':';
ascii[27] = 6; //';';
ascii[29] = 54; //'=';
ascii[31] = 34; //'?';
ascii[59] = 42; //'[';
ascii[60] = 51; //'\';
ascii[61] = 59; //']';
ascii[63] = 56; //'_';
ascii[3] = 60; //'#' - sinal de algarismo;
ascii[62] = 40; //'^' - sinal de maiusculo;
}
void zerarServo(){
a1.write(0);
a2.write(0);
b1.write(0);
b2.write(0);
c1.write(0);
c2.write(0);
d1.write(0);
d2.write(0);
e1.write(0);
e2.write(0);
}
The program is working very well with 1, 2 and 3 servos. But when I connect the fourth servo, all servos stop working properly, not responding to .write() function. I intend to use 10 servos, and I made a project before that used 12 servos… so it’s kinda strange O.o
Arduino is connected in the USB port, and the servos are using an external source of 800mA of max. current. 4.5V. Both GNDs are connected.
I’m not using interruptions, or timers. Help plz!
