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#include <Servo.h>
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//Settings
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const boolean isRight = 1; // Right : 1, Left : 2
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const int outThumbMin = 0; //Right:close, Left:open, = minimum thumb angle
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const int outThumbMax = 30; //maximum thumb angle
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const int outIndexMin = 54; //min index angle
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const int outIndexMax = 142; //max index angle
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const int outOtherMin = 60; //min otherfingers angle
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const int outOtherMax = 140; //max otherfingers angle
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int pinServoThumb = 6 ; //Pin servo is attached on
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int pinServoIndex = 3 ;
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int pinServoOther = 5 ;
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int pinP1 = A0; //Pin Potentiometer 1
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int pinP2 = A1; //Pin Potentiometer 2
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int pinP3 = A2; //Pin Potentiometer 3
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//Hardware Servo
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Servo servoThumb; //ThumbFinger
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Servo servoIndex; //IndexFinger
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Servo servoOther; //OtherFingers
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int posP1 = 0; //Potentiometer 1 value
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int posP2 = 0;
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int posP3 = 0;
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int P1Min = 0; //Potentiometer 1 minimum value
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int P1Max = 1023; //Potentiometer 1 maximum value
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int P2Min = 0;
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int P2Max = 1023;
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int P3Min = 0;
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int P3Max = 1023;
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void setup() {
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Serial.begin(9600);
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servoIndex.attach(pinServoIndex);
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servoOther.attach(pinServoOther);
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servoThumb.attach(pinServoThumb);
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while (millis() < 3000) { //First 3 seconds initialisation
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// servoThumb.write(outThumbMin);
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delay (100);
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// servoIndex.write(outIndexMin);
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delay (100);
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// servoOther.write(outOtherMin);
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delay (100);
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}
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delay (2000); // delay 2sec
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}
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void loop() {
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posP1 = map(analogRead(A0),0,1023,outThumbMin, outThumbMax); //map potentiometer min and max value to min and max servomotor angle
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servoThumb.write(posP1); //apply the angle
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Serial.print (analogRead(A0)); Serial.print ("\t"); Serial.print (posP1); Serial.print ("\t"); //Write data in the monitor
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delay (10);
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posP2 = map(analogRead(A1),0,1023,outIndexMin, outIndexMax);
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servoIndex.write(posP2);
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Serial.print (analogRead(A1)); Serial.print ("\t"); Serial.print (posP2); Serial.print ("\t");
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delay (10);
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posP3 = map(analogRead(A2),0,1023,outOtherMax, outOtherMin);
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servoOther.write(posP3);
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Serial.print (analogRead(A2)); Serial.print ("\t"); Serial.print (posP3); Serial.println ("\t");
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delay (10);
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}
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