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Robot arm Arduino(로봇 팔 만들기)

nanumi 2018.10.02 23:41 조회 수 : 29

Robot arm Arduino(로봇 팔 만들기)

 

 

참고사이트 : https://www.electronicshub.org/robotic-arm/

  • 그림과 같이 플라스틱 조각을 두 기어에 모두 붙입니다. 실제로 물체를 고정시키는 핵심 부품이므로 단단히 붙이십시오.

step12

 

 

 아두이노 CODE

/*NOTE: Four Servos of the Robotic Arm are connected to 4 PWM Pins of Arduino 
and these 4 servos are named a, b, c and d. 

If you want to control servo a, then type "90a/", 
where "90" is the PWM value (range is 0 - 255), 
"a" means servo a and "/" is string parse delimiter. 

Some other examples: 100a/ or 120b/ or 40c/ or 25d/
*/

String readString;
int x=90, y=90, z=90, p=90; 
#include <Servo.h> 
Servo myservoa, myservob, myservoc, myservod;

void setup() 
{
  Serial.begin(9600);


  myservoa.attach(3); 
  myservob.attach(5); 
  myservoc.attach(6);
  myservod.attach(9); 
  myservoa.write(x);
  myservob.write(y);
  myservoc.write(z);
  myservod.write(p);
}

void loop() 
{
  if (Serial.available())  
  {
    char m = Serial.read();
    if (m == '/') 
    {
      if (readString.length() >1) 
      {
        Serial.println(readString);

        int temp = readString.toInt();
        
          Serial.print("writing Angle: ");
          Serial.println(temp);
          if(readString.indexOf('a') >=0)
          {
            if (temp>x)
            {
              for (int i=x; i<temp; i++)
              {
                myservoa.write(i);
                delay(10);
              }
              x=temp;
            }
            else 
            {
            for (int i=x; i>temp; i--)
              {
                myservoa.write(i);
                delay(30);
              }
            }
            x=temp;
         }
//////////////////////////////////////////////////////////////////////////////         
          if(readString.indexOf('b') >=0)
          {
            if (temp>y)
            {
              for (int i=y; i<temp; i++)
             { myservob.write(i);
              delay(10);
             }
              y=temp;
            }
            else 
            {
            for (int i=y; i>temp; i--)
             { 
              myservob.write(i);
              delay(10);
             }
              y=temp;
          }
         }
///////////////////////////////////////////////////////////////////////
          if(readString.indexOf('c') >=0) //myservoc.write(n);
          {
            if (temp>z)
            {
              for (int i=z; i<temp; i++)
              {myservoc.write(i);
              delay(10);}
              z=temp;
            }
            else 
            {
            for (int i=z; i>temp; i--)
             { 
              myservoc.write(i);
              delay(10);
              }
              z=temp;
            }
         }
/////////////////////////////////////////////////////
         if(readString.indexOf('d') >=0)
          {
            if (temp>p)
            {
              for (int i=p; i<temp; i++)
              {
                myservod.write(i);
                delay(10);
              }
              p=temp;
            }
            else 
            {
            for (int i=p; i>temp; i--)
              {
                myservod.write(i);
                delay(30);
              }
            }
            p=temp;
         }

       readString="";
      }
    }  
    else 
    {     
      readString += m;
    }
  }
}

 

 

ARDUINO - 프로그래밍 가능한 로봇 암 (서보 위치의 기록 및 반복)

 

 

 

//myservo[i].detach(); //서보모터를 일정시간 사용하지 않으면 연결을 끊어둔다.

// 아두이노 4자유도 로봇팔 제어
#include <Servo.h> 

#define XPOS 0
#define YPOS 1

const int SERVOS = 4;
int PIN[SERVOS], value[SERVOS], idle[SERVOS], currentAngle[SERVOS], MIN[SERVOS];
int MAX[SERVOS], INITANGLE[SERVOS], previousAngle[SERVOS],ANA[SERVOS];
Servo myservo[SERVOS];

void setup()   {

  //좌우회전 서보모터
  PIN[0] = 9; //서보모터 IO를 9번핀으로 지정
  MIN[0] = 0; //서보모터 최소 회전각도
  MAX[0] = 180; //서보모터 최대 회전각도
  INITANGLE[0] = 90; //서보모터 초기각도
  ANA[0] = 3; //조이스틱스위치입력 IO를 아날로그 A3번핀으로 지정
  //왼쪽 서보모터
  PIN[1] = 6;
  MIN[1] = 30; 
  MAX[1] = 165;
  INITANGLE[1] = 152;
  ANA[1] = 2;
  //오른쪽 서보모터
  PIN[2] = 5;
  MIN[2] = 40;
  MAX[2] = 180;
  INITANGLE[2] = 90;
  ANA[2] = 0;
  //그립퍼 서보모터
  PIN[3] = 10;
  MIN[3] = 60;
  MAX[3] = 180;
  INITANGLE[3] = 60;
  ANA[3] = 1;
  
  for (int i = 0; i < SERVOS; i++){
    myservo[i].attach(PIN[i]);
    myservo[i].write(INITANGLE[i]);
    value[i] = 0;
    idle[i] = 0;
    previousAngle[i]=INITANGLE[i];
  }
}

void loop() {
  delay(20); // 로봇팔 속도조정을 위한 딜레이
 
    for (int i = 0; i < SERVOS; i++){
      value[i] = analogRead(ANA[i]);
      currentAngle[i] = myservo[i].read();
    
      if (value[i] > 612) {
        idle[i] = 0;
      
        if (currentAngle[i] < MAX[i]) ++currentAngle[i];
        if (!myservo[i].attached()){
          myservo[i].attach(PIN[i]);
        }
        myservo[i].write(currentAngle[i]);     
      } else if (value[i] < 412) {
      idle[i] = 0;
      if (currentAngle[i] > MIN[i]) --currentAngle[i];
      if (!myservo[i].attached()){
        myservo[i].attach(PIN[i]);
      }
      myservo[i].write(currentAngle[i]);    
    } else {
      ++idle[i];
    }
    if (idle[i] > 100){
      myservo[i].detach(); //서보모터를 일정시간 사용하지 않으면 연결을 끊어둔다.
      idle[i] = 0;
    }  
  }  
  
}

 

SIMPLE 3 BUTTON CONTROLLER FOR A 4 AXIS ROBOT ARM

 

 

  •  

 

___로봇 팔 4motor 2button 소스__.ino

 

       #include  <Servo.h>

 

Servo myservo1;  // create servo objects to control 4 servos

Servo myservo2; 

Servo myservo3;

Servo myservo4;

// move this to its own initialising code file

int pos1 = 85;                                  // variable to store the servo's position, set start position to 85

int pos2 = 85; 

int pos3 = 85;

int pos4 = 85;

// *

int leftPressed = 0;

int rightPressed = 0;

 

 

const int maxDeg = 173;                         // variable that limits the maximum range of the servo's movement to 175         

const int minDeg = 7;                           // variable that limits the minimum range of the servo's movement to 5

const int movement = 2;                         // variable which sets the default distance to move the servo

 

const int switchPin = 2;                        // the button that controls the servo selection is connected to pin 2

const int leftButton = 3;                       // the buttons that control the left and right movement of the servo 

const int rightButton = 4;

 

const int servoOutput1 = 9;                     // tells the Arduino the location of the signal cable to the servo 

const int servoOutput2 = 10; 

const int servoOutput3 = 11;

const int servoOutput4 = 12;

 

 

byte ledPin1 = 5;                               // led on pin 9

byte ledPin2 = 6;                              // led on pin 10

byte ledPin3 = 7;                              // led on pin 11

byte ledPin4 = 8;                              // led on pin 12

 

byte buttonPresses = 0;                         // how many times the button has been pressed 

byte lastPressCount = 0;                        // to keep track of last press count

 

 

 

 

 

 

void setup() {

  

  pinMode(ledPin1, OUTPUT);                     // set the digital pins to the LEDs as outputs

  pinMode(ledPin2, OUTPUT);

  pinMode(ledPin3, OUTPUT);

  pinMode(ledPin4, OUTPUT);

  

  pinMode(switchPin, INPUT);                    // set the servo select button as an input

  

  pinMode(servoOutput1, OUTPUT);                // set the pins  connected to the servos as outputs

  pinMode(servoOutput2, OUTPUT);

  pinMode(servoOutput3, OUTPUT);

  pinMode(servoOutput4, OUTPUT);

  

  pinMode(leftButton, INPUT);                   // set the left and right control buttons as inputs

  pinMode(rightButton, INPUT); 

 

  myservo1.attach(servoOutput1);                // attaches the servo's signal cable location to the servo object 

  myservo2.attach(servoOutput2);

  myservo3.attach(servoOutput3);

  myservo4.attach(servoOutput4);

 

  Serial.begin(9600);                           // set up serial communication at 9600bps

 

}

 

 

void loop() {

 

  leftPressed = digitalRead(leftButton);      // gives a value to the variables as the state of the switch

  rightPressed = digitalRead(rightButton);

 

  if (digitalRead(switchPin) == HIGH){

    Serial.print ("Button press count = ");          // out to serial

    buttonPresses++;  

    Serial.println(buttonPresses, DEC);                          

    delay(250);

    }

    

  if (buttonPresses == 1){

    

    delay(30);

    digitalWrite(ledPin1, HIGH);

    digitalWrite(ledPin2, LOW);

    digitalWrite(ledPin3, LOW);

    digitalWrite(ledPin4, LOW);

      

      if(leftPressed){

              

        if(pos1 < minDeg){ 

          pos1 = minDeg;

          delay(30);

          myservo1.write(pos1);                   // tells the servo to go to the position stored in the variable ‘pos’ 

          Serial.print ("Servo position: ");

          Serial.println(pos1,DEC);

          }

        

        if(pos1 < maxDeg){ 

          pos1 -= movement;

          delay(30);

          myservo1.write(pos1);                   // tells the servo to go to the position stored in the variable ‘pos’ 

          Serial.print ("Servo position: ");

          Serial.println(pos1,DEC);

          }

 

        }

 

      if(rightPressed){

        

        if(pos1 > maxDeg){

          pos1 = maxDeg;

          delay(30);

          myservo1.write(pos1);                   // tells the servo to go to the position stored in the variable ‘pos’ 

          Serial.print ("Servo position: ");

          Serial.println(pos1,DEC);

          }

    

        if(pos1 > minDeg){

          pos1 += movement;

          delay(30);

          myservo1.write(pos1);                     // tells the servo to go to the position stored in the variable ‘pos’  

          Serial.print ("Servo position: ");

          Serial.println(pos1,DEC);

          }                        

        }

    }

  

  

  

  if (buttonPresses == 2){

    digitalWrite(ledPin1, LOW);

    digitalWrite(ledPin2, HIGH);

    digitalWrite(ledPin3, LOW);

    digitalWrite(ledPin4, LOW);

  

  

    if(leftPressed){

              

        if(pos2 < minDeg){ 

          pos2 = minDeg;

          delay(30);

          myservo2.write(pos2);                   // tells the servo to go to the position stored in the variable ‘pos’ 

          Serial.print ("Servo position: ");

          Serial.println(pos2,DEC);

          }

        

        if(pos2 < maxDeg){ 

          pos2 -= movement;

          delay(30);

          myservo2.write(pos2);                   // tells the servo to go to the position stored in the variable ‘pos’ 

          Serial.print ("Servo position: ");

          Serial.println(pos2,DEC);

          }

 

        }

 

      if(rightPressed){

        

        if(pos2 > maxDeg){

          pos2 = maxDeg;

          delay(30);

          myservo2.write(pos2);                   // tells the servo to go to the position stored in the variable ‘pos’ 

          Serial.print ("Servo position: ");

          Serial.println(pos2,DEC);

          }

    

        if(pos2 > minDeg){

          pos2 += movement;

          delay(30);

          myservo2.write(pos2);                     // tells the servo to go to the position stored in the variable ‘pos’  

          Serial.print ("Servo position: ");

          Serial.println(pos1,DEC);

          }                        

        }

    }

if (buttonPresses == 3){

    digitalWrite(ledPin1, LOW);

    digitalWrite(ledPin2, LOW);

    digitalWrite(ledPin3, HIGH);

    digitalWrite(ledPin4, LOW);

    

    if(leftPressed){

      

      if(pos3 < maxDeg){ 

        pos3 += movement;

        delay(30);

        myservo3.write(pos3); 

        Serial.print ("Servo position: ");

        Serial.println(pos3,DEC);

        }                   

      }

      

    if(rightPressed){

      

      if(pos3 > minDeg){ 

        pos3 -= movement;

        delay(30);

        myservo3.write(pos3); 

        Serial.print ("Servo position: ");

        Serial.println(pos3,DEC);

        }                                

      }  

   }

 

if (buttonPresses == 4){

    digitalWrite(ledPin1, LOW);

    digitalWrite(ledPin2, LOW);

    digitalWrite(ledPin3, LOW);

    digitalWrite(ledPin4, HIGH);

    

    if(leftPressed){

      

      if(pos4 < maxDeg){ 

        pos4 += movement;

        delay(30);

        myservo4.write(pos4); 

        Serial.print ("Servo position: ");

        Serial.println(pos4,DEC);

        }                   

      }

      

    if(rightPressed){

      

      if(pos4 > minDeg){ 

        pos4 -= movement;

        delay(30);

        myservo4.write(pos4); 

        Serial.print ("Servo position: ");

        Serial.println(pos4,DEC);

        }                                

      }  

   }

   

if (buttonPresses == 5) {

    buttonPresses = 1;

    }

 

if (lastPressCount != buttonPresses){            // only do output if the count has changed

  

    Serial.print ("Servo Selected = ");     // out to serial

    Serial.println(buttonPresses, DEC);

    Serial.print ("Servo1 position: ");

    Serial.println(pos1,DEC);

    Serial.print ("Servo2 position: ");

    Serial.println(pos2,DEC);

    Serial.print ("Servo3 position: ");

    Serial.println(pos3,DEC);

    Serial.print ("Servo4 position: ");

    Serial.println(pos4,DEC);

    lastPressCount = buttonPresses; }

 

 

}

 

                                                              

  

 

 

 

#include <Servo.h> Servo servo[4]; const byte servoPin[4] = {2,3,4,5}; void setup() { for(int i=0;i<4;i++){ servo[i].attach(servoPin[i]); servo[i].write(90); } delay(1000); } void loop() { int angle1 = map(analogRead(A0),0,1023,0,180); int angle2 = map(analogRead(A1),0,1023,0,180); int angle3 = map(analogRead(A2),0,1023,0,180); int angle4 = map(analogRead(A3),0,1023,0,180); servo[0].write(angle1); servo[1].write(angle2); servo[2].write(angle3); servo[3].write(angle4); delay(100); }

 

 

 

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