I have a 5V-10A power supply for the Arduino to run a robotic arm and control it via Bluetooth through my phone using the HC-05 module. However, when I disconnect the connection between the Arduino and my laptop, I am unable to control the robot arm anymore. I'm not sure why this is happening. Please help me.
Part list: 5V-10A power supply, Adruino Uno R3, HC-05, Robot arm with 7 servor MG996r.
My program:
#include <SoftwareSerial.h>
#include <Servo.h>
Servo servo01;
Servo servo02;
Servo servo03;
SoftwareSerial Bluetooth(3, 4); // Arduino(RX, TX) - HC-05 Bluetooth (TX, RX)
int servo1Pos, servo2Pos, servo3Pos; // current position
int servo1PPos, servo2PPos, servo3PPos; // previous position
int servo01SP[50], servo02SP[50], servo03SP[50]; // for storing positions/steps
int speedDelay = 20;
int index = 0;
String dataIn = "";
void setup() {
servo01.attach(5);
servo02.attach(6);
servo03.attach(7);
Bluetooth.begin(9600); // Default baud rate of the Bluetooth module
Bluetooth.setTimeout(1);
delay(20);
// Robot arm initial position
servo1PPos = 90;
servo01.write(servo1PPos);
servo2PPos = 70;
servo02.write(servo2PPos);
servo3PPos = 70;
servo03.write(servo3PPos);
}
void loop() {
// Check for incoming data
if (Bluetooth.available() > 0) {
dataIn = Bluetooth.readString(); // Read the data as string
// If "Base" slider has changed value - Move Servo 1 to position
if (dataIn.startsWith("s1")) {
String dataInS = dataIn.substring(2, dataIn.length()); // Extract only the number. E.g. from "s1120" to "120"
servo1Pos = dataInS.toInt(); // Convert the string into integer
// We use for loops so we can control the speed of the servo
// If previous position is bigger then current position
if (servo1PPos > servo1Pos) {
for ( int j = servo1PPos; j >= servo1Pos; j--) { // Run servo down
servo01.write(j);
delay(20); // defines the speed at which the servo rotates
}
}
// If previous position is smaller then current position
if (servo1PPos < servo1Pos) {
for ( int j = servo1PPos; j <= servo1Pos; j++) { // Run servo up
servo01.write(j);
delay(20); // defines the speed at which the servo rotates
}
}
servo1PPos = servo1Pos;
}
//Servo2 If "Shoulder" slider has changed value - Move Servo 2 to position
if (dataIn.startsWith("s2")) {
String dataInS = dataIn.substring(2, dataIn.length()); // Extract only the number. E.g. from "s2140" to "140"
servo2Pos = dataInS.toInt(); // Convert the string into integer
// We use for loops so we can control the speed of the servo
// If previous position is bigger then current position
if (servo2PPos > servo2Pos) {
for ( int j = servo2PPos; j >= servo2Pos; j--) { // Run servo down
servo02.write(j);
delay(50); // defines the speed at which the servo rotates
}
}
// If previous position is smaller then current position
if (servo2PPos < servo2Pos) {
for ( int j = servo2PPos; j <= servo2Pos; j++) { // Run servo up
servo02.write(j);
delay(50); // defines the speed at which the servo rotates
}
}
servo2PPos = servo2Pos;
}
//Servo3 If "Shoulder" slider has changed value - Move Servo 3 to position
if (dataIn.startsWith("s2")) {
String dataInS = dataIn.substring(2, dataIn.length()); // Extract only the number. E.g. from "s2140" to "140"
servo3Pos =140 - dataInS.toInt(); // Convert the string into integer
// We use for loops so we can control the speed of the servo
// If previous position is bigger then current position
if (servo3PPos > servo3Pos) {
for ( int j = servo3PPos; j >= servo3Pos; j--) { // Run servo down
servo03.write(j);
delay(50); // defines the speed at which the servo rotates
}
}
// If previous position is smaller then current position
if (servo3PPos < servo3Pos) {
for ( int j = servo3PPos; j <= servo3Pos; j++) { // Run servo up
servo03.write(j);
delay(50); // defines the speed at which the servo rotates
}
}
servo3PPos = servo3Pos;
}
// If button "SAVE" is pressed
if (dataIn.startsWith("SAVE")) {
servo01SP[index] = servo1PPos; // save position into the array
index++; // Increase the array index
}
// If button "RUN" is pressed
if (dataIn.startsWith("RUN")) {
runservo(); // Automatic mode - run the saved steps
}
// If button "RESET" is pressed
if ( dataIn == "RESET") {
memset(servo01SP, 0, sizeof(servo01SP)); // Clear the array data to 0
index = 0; // Index to 0
}
}
}
// Automatic mode custom function - run the saved steps
void runservo() {
while (dataIn != "RESET") { // Run the steps over and over again until "RESET" button is pressed
for (int i = 0; i <= index - 2; i++) { // Run through all steps(index)
if (Bluetooth.available() > 0) { // Check for incomding data
dataIn = Bluetooth.readString();
if ( dataIn == "PAUSE") { // If button "PAUSE" is pressed
while (dataIn != "RUN") { // Wait until "RUN" is pressed again
if (Bluetooth.available() > 0) {
dataIn = Bluetooth.readString();
if ( dataIn == "RESET") {
break;
}
}
}
}
// If speed slider is changed
if (dataIn.startsWith("ss")) {
String dataInS = dataIn.substring(2, dataIn.length());
speedDelay = dataInS.toInt(); // Change servo speed (delay time)
}
}
// Servo 1
if (servo01SP[i] == servo01SP[i + 1]) {
}
if (servo01SP[i] > servo01SP[i + 1]) {
for ( int j = servo01SP[i]; j >= servo01SP[i + 1]; j--) {
servo01.write(j);
delay(speedDelay);
}
}
if (servo01SP[i] < servo01SP[i + 1]) {
for ( int j = servo01SP[i]; j <= servo01SP[i + 1]; j++) {
servo01.write(j);
delay(speedDelay);
}
}
}
}
}
Here is some image:
