Introduction: RobotArmValgfag_EAL
Vi har fået til opgave at lave en Robot arm som bliver styret af en Arduino Uno der er bygget ind i en kontroller fra en gammel fjernstyret helikopter.
Step 1:
Vi startede med at splitte helikopter og fjernbetjening, modificeret så der var plads til et Arduino Uno board, og 2 joystick.
Step 2:
Vi har forbundet fjernbetjeningen med robot armen via to patch
kabler.
Step 3: Forbindelses Diagram
forbindelses diagrammet viser hvordan ledningerne er forbundet, mellem Arduino og robotarmens 4 motorer, ultralydssensor og de andre ting.
Step 4: Programmet
/*
Controlling a servo position using a potentiometer (variable resistor) by Michal Rinott
modified on 8 Nov 2013 by Scott Fitzgerald http://www.arduino.cc/en/Tutorial/Knob
modified on 20 May 2016 by Troels & Jonas, students from Erhvervsakademiet Lillebælt */
#include
Servo myservo; // create servo object to control a servo 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
int potpin = 0; // analog pin used to connect the potentiometer int val; // variable to read the value from the analog pin int valop=90;
int potpin1 = 1; // analog pin used to connect the potentiometer int val1; // variable to read the value from the analog pin int valop1=90;
int potpin2 = 2; // analog pin used to connect the potentiometer int val2; // variable to read the value from the analog pin int valop2=90;
int potpin3 = 3; // analog pin used to connect the potentiometer int val3; // variable to read the value from the analog pin int valop3=90;
#define trigPin 13 #define echoPin 12 #define led 10 #define led2 11
void setup() {
myservo.attach(9); // attaches the servo on pin 9 to the servo object
myservo1.attach(3); // attaches the servo on pin 10 to the servo object
myservo2.attach(5); // attaches the servo on pin 5 to the servo object
myservo3.attach(6); // attaches the servo on pin 6 to the servo objectpinMode(trigPin, OUTPUT); pinMode(echoPin, INPUT); pinMode(led, OUTPUT); pinMode(led2, OUTPUT);
Serial.begin(9600); }
void loop() {
val = analogRead(potpin); // reads the value of the potentiometer (value between 0 and 1023)
// val = map(val, 0, 1023, 0, 1023);
//Serial.print("valop_");
//Serial.println(valop);
// waits for the servo to get thereif (val<600&&val>300){
myservo.write (valop=valop);
delay(10);
//Serial.print("val_");
//Serial.println(val);
}if (val>600&&val<1200){
myservo.write (valop=valop +3);
delay(10);
}if (val<300&&val>1){
myservo.write (valop=valop -3);
delay(10);
} val1 = analogRead(potpin1); // reads the value of the potentiometer (value between 0 and 1023)
//val = map(val, 0, 1023, 0, 1023);
if (val1<600&&val1>400){
myservo1.write (valop1=valop1);
delay(20);
//Serial.print("val1_");
//Serial.println(val1);
delay (10);
}if (val1>600&&val1<1200){
myservo1.write (valop1=valop1 +3);
delay(10);}
if (val1<300&&val1>1){
myservo1.write (valop1=valop1 -3);
delay(10);
}//Serial.print("valop1_");
//Serial.println(valop1);
val2 = analogRead(potpin2); // reads the value of the potentiometer (value between 0 and 1023)
//val = map(val, 0, 1023, 0, 1023);
if (val2<600&&val2>400){
myservo2.write (valop2=valop2);
delay(20);
//Serial.print("val2_");
// Serial.println(val2);
}if (val2>600&&val2<1200){
myservo2.write (valop2=valop2 +3);
delay(10);}
if (val2<300&&val2>1){
myservo2.write (valop2=valop2 -3);
delay(10);
} //Serial.print("valop2_");
//Serial.println(valop2);
val3 = analogRead(potpin3); // reads the value of the potentiometer (value between 0 and 1023)
//val = map(val, 0, 1023, 0, 1023);
if (val3<600&&val3>400){
myservo3.write (valop3=valop3);
delay(20);
Serial.print("val3_");
Serial.println(val3);
}if (val3>600&&val3<1200){
myservo3.write (valop3=valop3 +3);
delay(10);}
if (val3<300&&val3>1){
myservo3.write (valop3=valop3 -3);
delay(10);
} Serial.print("valop3_");
Serial.println(valop3);
long duration, distance;
digitalWrite(trigPin, LOW); // Added this line
delayMicroseconds(2); // Added this line
digitalWrite(trigPin, HIGH);
// delayMicroseconds(1000); - Removed this line
delayMicroseconds(10); // Added this line
digitalWrite(trigPin, LOW);
duration = pulseIn(echoPin, HIGH);
distance = (duration/2) / 29.1;
if (distance < 4) { // This is where the LED On/Off happens
digitalWrite(led,HIGH); // When the Red condition is met, the Green LED should turn off
digitalWrite(led2,LOW);
}
else {
digitalWrite(led,LOW);
digitalWrite(led2,HIGH);
}
if (distance >= 200 || distance <= 0){
Serial.println("Out of range");
}
else {
Serial.print(distance);
Serial.println(" cm");
}
delay(500);}
