Help With Arduino Robot Arm Record & Playback With SD Card, Bluetooth

Hi, I need some help please with the following code - lots of errors occur when I try to verify it.

The author is unavailable for help & the code appears to be in the public domain.

Check out the clip, it looks awesome!

https://www.youtube.com/watch?time_continue=1&v=7A1WL60wMe0

https://github.com/Dileepmeom/Arduino-Robotic-Arm-

//# Arduino-Robotic-Arm---Copt-Cat //This project controls the Cartesian robotic arm using Arduino, Motion sequence can be recorded and played back just like //Industrial robot does /* COPY CAT Servo controlled Robot 5-axis Cartesian robot

This software logs the angular movement of joints by reading the servo angles and stores it in the SD card, reproduces the movement by the reading back from the SD card.

The circuit:

analog sensors on analog ins 0, 1, and 2 SD card attached to SPI bus as follows: ** MOSI - pin 11 ** MISO - pin 12 ** CLK - pin 13 ** CS - pin 4

created 24 Nov 2010 modified 9 Apr 2012 by Tom Igoe

This example code is in the public domain.

*/

include include define TRUE 1 define FALSE 0 // On the Ethernet Shield, CS is pin 4. Note that even if it's not // used as the CS pin, the hardware CS pin (10 on most Arduino boards // 53 on the Mega) must be left as an output or the SD library // functions will not work. const int chipSelect = 4; // constants won't change. They're used here to // set pin numbers: const int buttonPin = 2; // the number of the pushbutton pin const int servo3 = 5, servo4 = 6,servo5 = 5; // PWM for servo 3 // variables will change: int buttonState = 0; // variable for reading the pushbutton status int recievedchar = 0,dataON=0; int SDdata = 0; Servo myservo1; // create servo object to control a servo Servo myservo2; // create servo object to control a servo Servo myservo3; // create servo object to control a servo Servo myservo4; // create servo object to control a servo Servo myservo5; // create servo object to control a servo int servo1angle = 0,servo2angle = 0; unsigned long current_servo_micros, prev_servo_micros; unsigned long currentMillis,previousMillis = 0; int scheduler = 0; int servointerval = 20; int S3_microlocal; char servoON=0; void setup() { // Open serial communications and wait for port to open: Serial.begin(9600); while (!Serial) { ; // wait for serial port to connect. Needed for Leonardo only }

pinMode(buttonPin, INPUT_PULLUP);

Serial.print("Initializing SD card..."); // make sure that the default chip select pin is set to // output, even if you don't use it: pinMode(10, OUTPUT);

// see if the card is present and can be initialized: if (!SD.begin(chipSelect)) { Serial.println("Card failed, or not present"); // don't do anything more: return; } Serial.println("card initialized.");

}

void loop() {

long servo3ticks = 1000, servo4ticks = 1000, servo5ticks = 1000; // interval for servo cyle time /

/ read the state of the pushbutton value: buttonState = digitalRead(buttonPin); recievedchar = Serial.read(); // make a string for assembling the data to log: String dataString = ""; String arraystring = ""; String SDstring = ""; char firstseperator=0; unsigned long sensorarray[10]; int servoangle[5]; char arrayindex = 0;

// open the file. note that only one file can be open at a time, // so you have to close this one before opening another. if(dataON == TRUE) {

// read three sensors and append to the string: for (int analogPin = 0; analogPin < 5; analogPin++) { int sensor = analogRead(analogPin); sensorarray[analogPin] = sensor; dataString += String(sensor); if (analogPin < 4) { dataString += ","; } }

File dataFile1 = SD.open("datalog.txt", FILE_WRITE); // if the file is available, write to it: if (dataFile1) { if(buttonState == HIGH) {

// print to the serial port too: // Serial.println(dataString);

/////////////////////////// debug code ///////////////////// for (arrayindex= 0; arrayindex < 5; arrayindex++) { int arrayvalue = sensorarray[arrayindex]; //arraystring += String(arrayvalue); }

servo1angle = map(sensorarray[0], 102, 433, 0, 170); arraystring += servo1angle; arraystring += ","; servo2angle = map(sensorarray[1], 84, 468, 0, 180); arraystring += servo2angle; arraystring += ","; servo3ticks = map(sensorarray[2], 90, 393, 0, 150); arraystring += servo3ticks; arraystring += ","; servo4ticks = map(sensorarray[3], 107, 445,0, 180); arraystring += servo4ticks; arraystring += ","; servo5ticks = map(sensorarray[4], 151, 406, 10, 140); arraystring += servo5ticks; arraystring += ","; // Serial.println(arraystring);

//// WRITE TO SD CARD // dataFile1.println(arraystring); dataFile1.close(); ///////////////////////////////////////////////////////////////// delay(10); } else { dataFile1.close(); // print to the serial port too: Serial.println("No signal for writing"); }

} // if the file isn't open, pop up an error: else { Serial.println("error opening datalog.txt"); } }

// the reading's most significant digit is at position 15 in the reportString:

////// switch case starts ///////////////////////// switch (recievedchar) { case 'D': { dataON = TRUE; Serial.print("Recording"); Serial.print("\n"); myservo1.detach(); myservo2.detach(); myservo3.detach(); myservo4.detach(); myservo5.detach(); break; } case 'S': { dataON = FALSE; Serial.print("Stopped"); Serial.print("\n"); break; } case 'R': { myservo1.attach(5); // attaches the servo on pin 9 to the servo object myservo2.attach(3); // attaches the servo on pin 9 to the servo object myservo3.attach(8); // attaches the servo on pin 9 to the servo object myservo4.attach(7); // attaches the servo on pin 9 to the servo object myservo5.attach(9); // attaches the servo on pin 9 to the servo object

File dataFile1 = SD.open("datalog.txt"); Serial.print("Playing Back Motions"); Serial.print("\n");

// if the file is available, write to it: if (dataFile1) { while (dataFile1.available()) {

SDdata = dataFile1.read(); SDstring += (char)SDdata; // if(isDigit(SDdata)) // { // SDstring += (char)SDdata; // } // else // { // // int Sensordata = (inString.toInt()); // SDstring += ("_"); // }

if(SDdata == '\n') {

digitalWrite(servo4, LOW); String reportString = SDstring; // Serial.print("\n"); // Serial.println(reportString); // Serial.print("\n");

int seperator[5]={0}; int n=0,startfrom=0; for(n=1;n<=5;n++) { seperator[n]= reportString.indexOf(',',startfrom); startfrom = seperator[n]+1; // Serial.print(seperator[n]); // Serial.print("\n"); }

seperator[0]=-1;

for(int count=0;count<=4;count++) { String sens1data = ""; for(int index = (seperator[count]+1); index < seperator[count+1]; index++) { char mostSignificantDigit =SDstring.charAt(index); sens1data += String(mostSignificantDigit); // Serial.print(index); // Serial.print(",");

} servoangle[count+1] = sens1data.toInt(); // Serial.print(servoangle[count+1]); // Serial.print(sens1data); // Serial.print("\n"); }

delay(15); SDstring = "";

} // myservo1.write(0); // myservo2.write(100); // myservo3.write(100); // myservo4.write(100); // myservo5.write(10);

myservo1.write(servoangle[1]); myservo2.write(servoangle[2]); myservo3.write(servoangle[3]); myservo4.write(servoangle[4]); myservo5.write(servoangle[5]);

}

dataFile1.close(); myservo1.detach(); myservo2.detach(); myservo3.detach(); myservo4.detach(); myservo5.detach(); }

// if the file isn't open, pop up an error: else { Serial.println("error opening datalog.txt"); } break; }

case 'E': { if(SD.exists("datalog.txt")) { Serial.print("datalog.txt file found, preparing to delete"); SD.remove("datalog.txt"); Serial.print("\n"); Serial.print("file deleted..."); } break; } }

}

hello this should work.

/*/# Arduino-Robotic-Arm---Copt-Cat //This project controls the Cartesian robotic arm using Arduino, Motion sequence can be recorded and played back just like //Industrial robot does /* COPY CAT Servo controlled Robot 5-axis Cartesian robot

This software logs the angular movement of joints by reading the servo angles and stores it in the SD card, reproduces the movement by the reading back from the SD card.

The circuit:

analog sensors on analog ins 0, 1, and 2 SD card attached to SPI bus as follows: ** MOSI - pin 11 ** MISO - pin 12 ** CLK - pin 13 ** CS - pin 4

created 24 Nov 2010 modified 9 Apr 2012 by Tom Igoe

This example code is in the public domain.

*/
#include <SPI.h>
#include <SD.h>
#include <Servo.h>
// On the Ethernet Shield, CS is pin 4. Note that even if it's not
// used as the CS pin, the hardware CS pin (10 on most Arduino boards
// 53 on the Mega) must be left as an output or the SD library
// functions will not work.
const int chipSelect = 4; // constants won't change. They're used here to
// set pin numbers:
const int buttonPin = 2; // the number of the pushbutton pin
const int servo3 = 5, servo4 = 6, servo5 = 5; // PWM for servo 3
// variables will change:
int buttonState = 0;
// variable for reading the pushbutton status
int recievedchar = 0, dataON = 0;
int SDdata = 0;
Servo myservo1; // create servo object to control a servo
Servo myservo2; // create servo object to control a servo
Servo myservo3; // create servo object to control a servo
Servo myservo4; // create servo object to control a servo
Servo myservo5; // create servo object to control a servo
int servo1angle = 0, servo2angle = 0;
unsigned long current_servo_micros, prev_servo_micros;
unsigned long currentMillis, previousMillis = 0;
int scheduler = 0;
int servointerval = 20;
int S3_microlocal;
char servoON = 0;
void setup() {
// Open serial communications and wait for port to open:
Serial.begin(9600); while (!Serial) {
;
// wait for serial port to connect. Needed for Leonardo only
}

pinMode(buttonPin, INPUT_PULLUP);

Serial.print("Initializing SD card...");
// make sure that the default chip select pin is set to
// output, even if you don't use it:
pinMode(10, OUTPUT);

// see if the card is present and can be initialized:
if (!SD.begin(chipSelect)) {
Serial.println("Card failed, or not present");
// don't do anything more: return;
}
Serial.println("card initialized.");

}

void loop() {

long servo3ticks = 1000, servo4ticks = 1000, servo5ticks = 1000; // interval for servo cyle time /

// read the state of the pushbutton value:
buttonState = digitalRead(buttonPin);
recievedchar = Serial.read();
// make a string for assembling the data to log:
String dataString = "";
String arraystring = "";
String SDstring = "";
char firstseperator = 0;
unsigned long sensorarray[10];
int servoangle[5];
char arrayindex = 0;

// open the file. note that only one file can be open at a time,
// so you have to close this one before opening another.
if (dataON == 1) {

// read three sensors and append to the string:
for (int analogPin = 0; analogPin < 5; analogPin++) {
int sensor = analogRead(analogPin);
sensorarray[analogPin] = sensor;
dataString += String(sensor);
if (analogPin < 4) {
dataString += ",";
}
}

File dataFile1 = SD.open("datalog.txt", FILE_WRITE); // if the file is available, write to it:
if (dataFile1) {
if (buttonState == HIGH) {

// print to the serial port too: //
Serial.println(dataString);

/////////////////////////// debug code /////////////////////
for (arrayindex = 0; arrayindex < 5; arrayindex++) {
int arrayvalue = sensorarray[arrayindex];
//arraystring += String(arrayvalue); }
}

servo1angle = map(sensorarray[0], 102, 433, 0, 170);
arraystring += servo1angle;
arraystring += ",";
servo2angle = map(sensorarray[1], 84, 468, 0, 180);
arraystring += servo2angle;
arraystring += ",";
servo3ticks = map(sensorarray[2], 90, 393, 0, 150);
arraystring += servo3ticks;
arraystring += ",";
servo4ticks = map(sensorarray[3], 107, 445, 0, 180);
arraystring += servo4ticks;
arraystring += ",";
servo5ticks = map(sensorarray[4], 151, 406, 10, 140);
arraystring += servo5ticks;
arraystring += ","; // Serial.println(arraystring);

//// WRITE TO SD CARD //
dataFile1.println(arraystring);
dataFile1.close(); /////////////////////////////////////////////////////////////////
delay(10);
}
else {
dataFile1.close(); // print to the serial port too:
Serial.println("No signal for writing");
}
}

// if the file isn't open, pop up an error:
else {
Serial.println("error opening datalog.txt");
}
}

// the reading's most significant digit is at position 15 in the reportString:

////// switch case starts /////////////////////////
switch (recievedchar) {
case 'D': {
dataON = 1;
Serial.print("Recording");
Serial.print("\n");
myservo1.detach();
myservo2.detach();
myservo3.detach();
myservo4.detach();
myservo5.detach();
break;
}
case 'S': {
dataON = 0;
Serial.print("Stopped");
Serial.print("\n"); break;
} case 'R': {
myservo1.attach(5); // attaches the servo on pin 9 to the servo object
myservo2.attach(3); // attaches the servo on pin 9 to the servo object
myservo3.attach(8); // attaches the servo on pin 9 to the servo object
myservo4.attach(7); // attaches the servo on pin 9 to the servo object
myservo5.attach(9); // attaches the servo on pin 9 to the servo object


File dataFile1 = SD.open("datalog.txt"); Serial.print("Playing Back Motions"); Serial.print("\n");

// if the file is available, write to it: if (dataFile1) { while (dataFile1.available()) {

SDdata = dataFile1.read(); SDstring += (char)SDdata; //
if (isDigit(SDdata)) // { // SDstring += (char)SDdata; // } // else // { // // int Sensordata = (inString.toInt()); // SDstring += ("_"); // }

if (SDdata == '\n') {

digitalWrite(servo4, LOW); String reportString = SDstring; // Serial.print("\n"); // Serial.println(reportString); // Serial.print("\n");

int seperator[5] = {0}; int n = 0, startfrom = 0; for (n = 1; n <= 5; n++) {
seperator[n] = reportString.indexOf(',', startfrom); startfrom = seperator[n] + 1; // Serial.print(seperator[n]); // Serial.print("\n"); }

seperator[0] = -1;

for (int count = 0; count <= 4; count++) {
String sens1data = ""; for (int index = (seperator[count] + 1); index < seperator[count + 1]; index++) {
char mostSignificantDigit = SDstring.charAt(index); sens1data += String(mostSignificantDigit); // Serial.print(index); // Serial.print(",");

} servoangle[count + 1] = sens1data.toInt(); // Serial.print(servoangle[count+1]); // Serial.print(sens1data); // Serial.print("\n"); }

delay(15); SDstring = "";

} // myservo1.write(0); // myservo2.write(100); // myservo3.write(100); // myservo4.write(100); // myservo5.write(10);

myservo1.write(servoangle[1]); myservo2.write(servoangle[2]); myservo3.write(servoangle[3]); myservo4.write(servoangle[4]); myservo5.write(servoangle[5]);

}

dataFile1.close(); myservo1.detach(); myservo2.detach(); myservo3.detach(); myservo4.detach(); myservo5.detach();
}

// if the file isn't open, pop up an error:
else {
Serial.println("error opening datalog.txt");
}
}
break;

case 'E': {
if (SD.exists("datalog.txt")) {
Serial.print("datalog.txt file found, preparing to delete");
SD.remove("datalog.txt");
Serial.print("\n");
Serial.print("file deleted...");
} break;
}
}
}