I am making a 6-axis robotic arm that uses multiple servo motors. I have just started programing with the Arduino so I need help debugging a program that I have piece together from guides through out the internet. The program will compile and upload but when I input values into the serial monitor the servo will not move. Furthermore, I kept the program for one servo just for testing I know that I will have to create an int motorA=0; motorB=1; etc. Any help will be appreciated
reference links:
https://forum.arduino.cc/index.php?topic=242458.0
Hardware:
Arduino Uno
16 channel Arduino Servo shield
5v external power supply
MG995 Servo
Program:
#include <Wire.h>
#include <Adafruit_PWMServoDriver.h>
String readString;
// called this way, it uses the default address 0x40
Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();
#define SERVOMIN 650 // this is the 'minimum' pulse length count (out of 4096)
#define SERVOMAX 2350 // this is the 'maximum' pulse length count (out of 4096)
// our servo # counter
uint8_t servonum = 0;
void setup() {
Serial.begin(9600);
Serial.println("16 channel Servo test!");
pwm.begin();
pwm.setPWMFreq(60); // Analog servos run at ~60 Hz updates
yield();
}
int angleToPulse(int ang){
int pulse = map(ang,0, 180, SERVOMIN,SERVOMAX);// map angle of 0 to 180 to Servo min and Servo max
Serial.print("Angle: ");Serial.print(ang);
Serial.print(" pulse: ");Serial.println(pulse);
return pulse;
}
void loop()
{
//expect single strings like 30c, or 90a, or 180d,
//or combined like 30c,180b,70a,120d,
if (Serial.available())
{
char c = Serial.read(); //gets one byte from serial buffer
if (c == ',')
{
if (readString.length() >1)
{
Serial.println(readString); //prints string to serial port out
int angle = readString.toInt(); //convert readString into a number
Serial.print("writing Angle: ");
Serial.println(angle);
if(readString.indexOf('a') >0) pwm.setPWM(0, 0, angleToPulse(angle) );
readString=""; //clears variable for new input
}
}
else
{
readString += c; //makes the string readString
}
}
}