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/*
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DIY Arduino Robot Arm Smartphone Control
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by Dejan, www.HowToMechatronics.com
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*/
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#include <SoftwareSerial.h>
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#include <Servo.h>
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Servo servo01;
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Servo servo02;
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Servo servo03;
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Servo servo04;
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Servo servo05;
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Servo servo06;
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SoftwareSerial Bluetooth(3, 4); // Arduino(RX, TX) - HC-05 Bluetooth (TX, RX)
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int servo1Pos, servo2Pos, servo3Pos, servo4Pos, servo5Pos, servo6Pos; // current position
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int servo1PPos, servo2PPos, servo3PPos, servo4PPos, servo5PPos, servo6PPos; // previous position
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int servo01SP[50], servo02SP[50], servo03SP[50], servo04SP[50], servo05SP[50], servo06SP[50]; // for storing positions/steps
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int speedDelay = 20;
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int index = 0;
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String dataIn = "";
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void setup() {
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servo01.attach(5);
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servo02.attach(6);
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servo03.attach(7);
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servo04.attach(8);
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servo05.attach(9);
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servo06.attach(10);
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Bluetooth.begin(9600); // Default baud rate of the Bluetooth module
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Serial.begin(9600);
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Bluetooth.setTimeout(5);
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delay(20);
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// Robot arm initial position
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servo1PPos = 55;
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servo01.write(servo1PPos);
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servo2PPos = 120;
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servo02.write(servo2PPos);
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servo3PPos = 120;
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servo03.write(servo3PPos);
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servo4PPos = 80;
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servo04.write(servo4PPos);
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servo5PPos = 5;
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servo05.write(servo5PPos);
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servo6PPos = 80;
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servo06.write(servo6PPos);
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}
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void loop() {
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// Check for incoming data
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if (Bluetooth.available() > 0) {
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dataIn = Bluetooth.readString(); // Read the data as string
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Serial.println(dataIn);
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// If "Waist" slider has changed value - Move Servo 1 to position
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if (dataIn.startsWith("s1")) {
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String dataInS = dataIn.substring(2, dataIn.length()); // Extract only the number. E.g. from "s1120" to "120"
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servo1Pos = dataInS.toInt(); // Convert the string into integer
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// We use for loops so we can control the speed of the servo
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// If previous position is bigger then current position
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if (servo1PPos > servo1Pos) {
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for ( int j = servo1PPos; j >= servo1Pos; j--) { // Run servo down
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servo01.write(j);
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delay(20); // defines the speed at which the servo rotates
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}
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}
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// If previous position is smaller then current position
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if (servo1PPos < servo1Pos) {
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for ( int j = servo1PPos; j <= servo1Pos; j++) { // Run servo up
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servo01.write(j);
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delay(20);
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}
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}
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servo1PPos = servo1Pos; // set current position as previous position
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}
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// Move Servo 2
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if (dataIn.startsWith("s2")) {
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String dataInS = dataIn.substring(2, dataIn.length());
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servo2Pos = dataInS.toInt();
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if (servo2PPos > servo2Pos) {
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for ( int j = servo2PPos; j >= servo2Pos; j--) {
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servo02.write(j);
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delay(50);
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}
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}
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if (servo2PPos < servo2Pos) {
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for ( int j = servo2PPos; j <= servo2Pos; j++) {
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servo02.write(j);
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delay(50);
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}
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}
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servo2PPos = servo2Pos;
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}
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// Move Servo 3
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if (dataIn.startsWith("s3")) {
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String dataInS = dataIn.substring(2, dataIn.length());
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servo3Pos = dataInS.toInt();
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if (servo3PPos > servo3Pos) {
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for ( int j = servo3PPos; j >= servo3Pos; j--) {
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servo03.write(j);
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delay(30);
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}
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}
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if (servo3PPos < servo3Pos) {
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for ( int j = servo3PPos; j <= servo3Pos; j++) {
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servo03.write(j);
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delay(30);
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}
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}
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servo3PPos = servo3Pos;
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}
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// Move Servo 4
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if (dataIn.startsWith("s4")) {
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String dataInS = dataIn.substring(2, dataIn.length());
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servo4Pos = dataInS.toInt();
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if (servo4PPos > servo4Pos) {
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for ( int j = servo4PPos; j >= servo4Pos; j--) {
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servo04.write(j);
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delay(30);
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}
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}
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if (servo4PPos < servo4Pos) {
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for ( int j = servo4PPos; j <= servo4Pos; j++) {
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servo04.write(j);
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delay(30);
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}
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}
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servo4PPos = servo4Pos;
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}
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// Move Servo 5
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if (dataIn.startsWith("s5")) {
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String dataInS = dataIn.substring(2, dataIn.length());
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servo5Pos = dataInS.toInt();
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if (servo5PPos > servo5Pos) {
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for ( int j = servo5PPos; j >= servo5Pos; j--) {
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servo05.write(j);
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delay(30);
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}
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}
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if (servo5PPos < servo5Pos) {
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for ( int j = servo5PPos; j <= servo5Pos; j++) {
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servo05.write(j);
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delay(30);
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}
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}
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servo5PPos = servo5Pos;
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}
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// Move Servo 6
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if (dataIn.startsWith("s6")) {
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String dataInS = dataIn.substring(2, dataIn.length());
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servo6Pos = dataInS.toInt();
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if (servo6PPos > servo6Pos) {
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for ( int j = servo6PPos; j >= servo6Pos; j--) {
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servo06.write(j);
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delay(30);
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}
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}
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if (servo6PPos < servo6Pos) {
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for ( int j = servo6PPos; j <= servo6Pos; j++) {
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servo06.write(j);
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delay(30);
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}
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}
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servo6PPos = servo6Pos;
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}
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// If button "SAVE" is pressed
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if (dataIn.startsWith("SAVE")) {
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servo01SP[index] = servo1PPos; // save position into the array
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servo02SP[index] = servo2PPos;
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servo03SP[index] = servo3PPos;
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servo04SP[index] = servo4PPos;
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servo05SP[index] = servo5PPos;
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servo06SP[index] = servo6PPos;
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index++; // Increase the array index
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}
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// If button "RUN" is pressed
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if (dataIn.startsWith("RUN")) {
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runservo(); // Automatic mode - run the saved steps
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}
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// If button "RESET" is pressed
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if ( dataIn == "RESET") {
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memset(servo01SP, 0, sizeof(servo01SP)); // Clear the array data to 0
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memset(servo02SP, 0, sizeof(servo02SP));
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memset(servo03SP, 0, sizeof(servo03SP));
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memset(servo04SP, 0, sizeof(servo04SP));
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memset(servo05SP, 0, sizeof(servo05SP));
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memset(servo06SP, 0, sizeof(servo06SP));
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index = 0; // Index to 0
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}
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}
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}
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// Automatic mode custom function - run the saved steps
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void runservo() {
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while (dataIn != "RESET") { // Run the steps over and over again until "RESET" button is pressed
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for (int i = 0; i <= index - 2; i++) { // Run through all steps(index)
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if (Bluetooth.available() > 0) { // Check for incomding data
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dataIn = Bluetooth.readString();
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if ( dataIn == "PAUSE") { // If button "PAUSE" is pressed
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while (dataIn != "RUN") { // Wait until "RUN" is pressed again
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if (Bluetooth.available() > 0) {
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dataIn = Bluetooth.readString();
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if ( dataIn == "RESET") {
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break;
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}
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}
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}
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}
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// If speed slider is changed
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if (dataIn.startsWith("ss")) {
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String dataInS = dataIn.substring(2, dataIn.length());
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speedDelay = dataInS.toInt(); // Change servo speed (delay time)
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}
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}
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// Servo 1
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if (servo01SP[i] == servo01SP[i + 1]) {
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}
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if (servo01SP[i] > servo01SP[i + 1]) {
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for ( int j = servo01SP[i]; j >= servo01SP[i + 1]; j--) {
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servo01.write(j);
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delay(speedDelay);
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}
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}
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if (servo01SP[i] < servo01SP[i + 1]) {
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for ( int j = servo01SP[i]; j <= servo01SP[i + 1]; j++) {
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servo01.write(j);
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delay(speedDelay);
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}
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}
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// Servo 2
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if (servo02SP[i] == servo02SP[i + 1]) {
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}
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if (servo02SP[i] > servo02SP[i + 1]) {
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for ( int j = servo02SP[i]; j >= servo02SP[i + 1]; j--) {
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servo02.write(j);
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delay(speedDelay);
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}
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}
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if (servo02SP[i] < servo02SP[i + 1]) {
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for ( int j = servo02SP[i]; j <= servo02SP[i + 1]; j++) {
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servo02.write(j);
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delay(speedDelay);
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}
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}
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// Servo 3
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if (servo03SP[i] == servo03SP[i + 1]) {
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}
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if (servo03SP[i] > servo03SP[i + 1]) {
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for ( int j = servo03SP[i]; j >= servo03SP[i + 1]; j--) {
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servo03.write(j);
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delay(speedDelay);
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}
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}
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if (servo03SP[i] < servo03SP[i + 1]) {
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for ( int j = servo03SP[i]; j <= servo03SP[i + 1]; j++) {
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servo03.write(j);
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delay(speedDelay);
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}
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}
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// Servo 4
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if (servo04SP[i] == servo04SP[i + 1]) {
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}
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if (servo04SP[i] > servo04SP[i + 1]) {
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for ( int j = servo04SP[i]; j >= servo04SP[i + 1]; j--) {
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servo04.write(j);
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delay(speedDelay);
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}
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}
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if (servo04SP[i] < servo04SP[i + 1]) {
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for ( int j = servo04SP[i]; j <= servo04SP[i + 1]; j++) {
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servo04.write(j);
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delay(speedDelay);
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}
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}
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// Servo 5
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if (servo05SP[i] == servo05SP[i + 1]) {
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}
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if (servo05SP[i] > servo05SP[i + 1]) {
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for ( int j = servo05SP[i]; j >= servo05SP[i + 1]; j--) {
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servo05.write(j);
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delay(speedDelay);
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}
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}
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if (servo05SP[i] < servo05SP[i + 1]) {
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for ( int j = servo05SP[i]; j <= servo05SP[i + 1]; j++) {
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servo05.write(j);
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delay(speedDelay);
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}
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}
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// Servo 6
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if (servo06SP[i] == servo06SP[i + 1]) {
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}
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if (servo06SP[i] > servo06SP[i + 1]) {
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for ( int j = servo06SP[i]; j >= servo06SP[i + 1]; j--) {
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servo06.write(j);
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delay(speedDelay);
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}
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}
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if (servo06SP[i] < servo06SP[i + 1]) {
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for ( int j = servo06SP[i]; j <= servo06SP[i + 1]; j++) {
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servo06.write(j);
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delay(speedDelay);
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}
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}
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}
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}
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}
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