# MATLAB Robotic Mixologist

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Ever wish to have your drinks mixed perfectly for you in a matter of seconds? Well look no further the Robotic Mixologist is here to take away the time it takes to stir your drinks. This project utilizes the RobotGeek Snapper Arm to function as your very own bartender. All you have to do is put the desired beverage of your choice in a glass and let the MATLAB code do the rest.

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## Step 1: Project Parts

5x Metal Gear 9G Servos

1x RobotGeek Small Workbench

1x RobotGeek Sensor Shield

Assembly Hardware

Tools Needed: 2.5mm Hex Driver

1.5mm Hex Driver

## Step 2: Assembly

We will be using the gripper as a transport system for ice and also as a stirring mechanism to mix drinks to your desired flavor. Pictured is an aerial and horizontal view of the final assembly for the arm snatcher. Our micro controller came assembled already for the most part other than having to print out a new arm piece that was broken. For a general assembly guide follow the attached link to get your arm snatcher up and running.

## Step 3: Wiring

Wiring is the hardest part next to the MATLAB code so make sure that all of your wires are in the correct place. The main thing is to plug in the usb into your computer to connect the circuit board to your MATLAB code(grey usb pictured). Once you have it connected, all you need to do is make sure the servos are in the right inputs. Each servo is designed to move a specific part(i.e. elbow, shoulder, base). Once you connect the servos to the designated spots on the circuit you can plug in the wires into any of the (+) and (-), for more details look at the picture above to get an idea.

## Step 4: MATLAB Code

Each servo, as mentioned before, is connected to a specific part. In order for these parts to move one would need to write code, we chose to operate through MATLAB. We used a for loop in a move function which we would recall in our main function to move the specific parts. For example, in the code we have servos connected to pins on the board ranging from D3-D7 and to generate movement we just typed in degrees of rotation for each part. We also used delays in our function in order for the robot to operate smoothly. For more code related problems just visit MATLABs general help page.

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