Hello everyone! I am new to Arduino and recently built a robotic arm. When verifying my code, I received an error message (The error code is in the attachment). How can I make the code work?
#include <Servo.h>
Servo myservoA.attach 3; //control waist (a) port number is 3
Servo myservoB.attach 5; //control shoulder (b) port is 5
Servo myservoC.attach 6; //control forearm (c) is 6
Servo myservoD.attach 9; // Control Forearm rotation (D) port number is 9
Servo myservoE.attach 10; // Control wrist（E）port number is 10 wrist
Servo myservoF.attach 11; // Control wrist rotation (F) port number is 11
int i,pos,myspeed,myshow;
int sea,seb,sec,sed,see,sef;
static int v=0;
String mycommand=""; /// Serial capture #auto: automatic operation #com: computer serial port control #stop: standstill
static int mycomflag=2; // #auto：2 automatic operation , #com： 1 computer serial port control #stop：0 standstill
void myservosetup() //initialization
{
sea=myservoA.read();
seb=myservoB.read();
sec=myservoC.read();
sed=myservoD.read();
see=myservoE.read();
sef=myservoF.read();
myspeed=500;
for(pos=0;pos<=myspeed;pos+=1)
{
myservoA.write(int(map(pos,1,myspeed,sea,66)));
myservoB.write(int(map(pos,1,myspeed,seb,60)));
myservoC.write(int(map(pos,1,myspeed,sec,20)));
myservoD.write(int(map(pos,1,myspeed,sed,60)));
myservoE.write(int(map(pos,1,myspeed,see,90)));
myservoF.write(int(map(pos,1,myspeed,sef,90)));
delay(1);
}
}
void setup()
{
pinMode(13,INPUT);
pinMode(12,INPUT);
Serial.begin(9600);
myshow=0;
mycomflag=2; // the ARM default state: 2 automatic operation
myservoA.attach(3); // Control waist (A) port number is 3
myservoB.attach(5); // Control lorearm（B）port number is 5
myservoC.attach(6); // Control Forearm（C）port number is 6
myservoD.attach(9); // Control Forearm rotation (D) port number is 9
myservoE.attach(10); // Control wrist（E）port number is 10 wrist
myservoF.attach(11); // Control wrist rotation (F) port number is 11
myservoA.write(66);
myservoB.write(60);
myservoC.write(20);
myservoD.write(60);
myservoE.write(90);
myservoF.write(90);
}
void loop()
{
while (Serial.available() > 0)
{
mycommand += char(Serial.read());
delay(2);
}
if (mycommand.length() > 0)
{
if(mycommand=="#auto")
{
mycomflag=2;
Serial.println("auto station");
mycommand="";
}
if(mycommand=="#com")
{
mycomflag=1;
Serial.println("computer control station");
mycommand="";
myservosetup();
}
if(mycommand=="#stop")
{
mycomflag=0;
Serial.println("stop station");
mycommand="";
}
}
if(mycomflag==1) //if read myconflag==1 means computer serial port control
{
for(int m=0;m<mycommand.length();m++) //
{
char ch = mycommand[m]; //Read serial data
switch(ch)
{
case '0'...'9':
v = v*10 + ch - '0'; //Character conversion to decimal
break;
case 'a': //If you post data with a, it means that the first servo data, such as serial port 85a
if(v >= 5 || v <= 175 ) myservoA.write(v);
v = 0;
break;
case 'b': //If you post data with b, it means that the second servo data, such as serial port 85b
myservoB.write(v); //For setting the steering angle of rotation of the statement can be set angle range is 0 ° to 180 °,
// "V" get the value of the input and change the angle, such as 90b is 90°
v = 0;
break;
case 'c':
if(v >= 20 ) myservoC.write(v);
v = 0;
break;
case 'd':
myservoD.write(v);
v = 0;
break;
case 'e':
myservoE.write(v);
v = 0;
break;
case 'f':
myservoF.write(v);
v = 0;
break;
}
}
mycommand="";
} // end if(mycomflag=2)
if(mycomflag==2) //if mycomflag==2 means automatic operation
{
delay(3000);
//Serial.println("auto station");
myservosetup();
myspeed=600;
for(pos = 0; pos <=myspeed; pos += 1)
{
myservoA.write(int(map(pos,1,myspeed,66,10))); //Let A rotation from 66 degrees to 90 degrees (angle can be modified)1
myservoB.write(int(map(pos,1,myspeed,60,100))); //Let B rotation from 60 degrees to 100 degrees (angle can be modified)
delay(1);
}
delay(1000);
myspeed=500;
for(pos = 0; pos <=myspeed; pos += 1)
{
myservoC.write(int(map(pos,1,myspeed,20,40))); // 30-65
myservoD.write(int(map(pos,1,myspeed,60,100))); // 4
myservoE.write(int(map(pos,1,myspeed,90,40))); //
delay(1);
}
delay(1000);
myspeed=1000;
for(pos = 0; pos <=myspeed; pos += 1)
{
myservoB.write(int(map(pos,1,myspeed,100,120))); //
// myservoC.write(int(map(pos,1,myspeed,40,50))); //
delay(1);
}
delay(1000);
myspeed=500;
for(pos = 0; pos <=myspeed; pos += 1)
{
// myservoC.write(int(map(pos,1,myspeed,50,40))); //
myservoD.write(int(map(pos,1,myspeed,100,70))); //
myservoE.write(int(map(pos,1,myspeed,40,90)));
myservoF.write(int(map(pos,1,myspeed,90,50)));
delay(1);
}
delay(1000);
myspeed=1000;
for(pos = 0; pos <=myspeed; pos += 1)
{
myservoA.write(int(map(pos,1,myspeed,10,100))); //
myservoF.write(int(map(pos,1,myspeed,50,110)));
delay(1);
}
delay(1000);
myspeed=500;
for(pos = 0; pos <=myspeed; pos += 1)
{
myservoA.write(int(map(pos,1,myspeed,100,50))); //
myservoC.write(int(map(pos,1,myspeed,40,50))); //
myservoB.write(int(map(pos,1,myspeed,120,70))); //
myservoE.write(int(map(pos,1,myspeed,90,60))); //
delay(1);
}
}
if(mycomflag==0) // Static state
{
myservosetup();
}
}
The error code is in the attachment
arduinoerror.txt (5.91 KB)