Teachable Robotic Arm
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- adafruit_support_bill
- Posts: 88037
- Joined: Sat Feb 07, 2009 10:11 am
Re: Teachable Robotic Arm
If you describe in detail what works and/or does not work we might be able to help you debug it.
- adafruit_support_rick
- Posts: 35092
- Joined: Tue Mar 15, 2011 11:42 am
Re: Teachable Robotic Arm
There are lots of syntax errors in the code you posted. Is that what you're referring to?
I cleaned those up, but left the logic alone:
I cleaned those up, but left the logic alone:
Code: Select all
//Code Produced
//By Mark Edward Landergan
//Science Fair 2013
//Robotic Arm
#include <Servo.h>
#include <EEPROM.h>
#define CALIB_MAX 512
#define CALIB_MIN 100
#define SAMPLE_DELAY 25 // in ms, 50ms seems good
uint8_t recordButtonPin = 6;
uint8_t playButtonPin = 7;
uint8_t servo1Pin = 8;
uint8_t servo2Pin = 9;
uint8_t servo3Pin = 10;
uint8_t servo4Pin = 11;
uint8_t servo5Pin = 12;
uint8_t servo6Pin = 13;
uint8_t servo1FeedbackPin = A0;
uint8_t servo2FeedbackPin = A1;
uint8_t servo3FeedbackPin = A2;
uint8_t servo4FeedbackPin = A3;
uint8_t servo5FeedbackPin = A4;
uint8_t servo6FeedbackPin = A5;
uint8_t ledPin = 3;
uint16_t addr = 0;
Servo servo1;
Servo servo2;
Servo servo3;
Servo servo4;
Servo servo5;
Servo servo6;
void setup() {
Serial.begin(9600);
pinMode(recordButtonPin, INPUT);
digitalWrite(recordButtonPin, HIGH);
pinMode(playButtonPin, INPUT);
digitalWrite(playButtonPin, HIGH);
pinMode(ledPin, OUTPUT);
Serial.println("Servo RecordPlay");
}
void loop() {
if (! digitalRead(recordButtonPin)) {
delay(10);
// wait for released
while (! digitalRead(recordButtonPin));
delay(20);
// OK released!
recordAllServos(servo1Pin, servo1FeedbackPin, recordButtonPin);
}
if (! digitalRead(playButtonPin)) {
delay(10);
// wait for released
while (! digitalRead(playButtonPin));
delay(20);
// OK released!
playAllServo(servo1Pin, playButtonPin);
}
}
void playAllServo(uint8_t servo1Pin, uint8_t buttonPin) {
Serial.println("Playing");
servo1.attach(servo1Pin);
servo2.attach(servo2Pin);
servo3.attach(servo3Pin);
servo4.attach(servo4Pin);
servo5.attach(servo5Pin);
servo5.attach(servo6Pin);
while (digitalRead(buttonPin)) {
uint8_t x = EEPROM.read(addr);
Serial.print("Read EE Servo 1: ");
Serial.print(x);
if (x == 255) break;
// map to 0-180 degrees
x = map(x, 0, 254, 0, 180);
Serial.print(" -> ");
Serial.println(x);
servo1.write(x);
addr++;
x = EEPROM.read(addr);
Serial.print("Read EE Servo 2: ");
Serial.print(x);
if (x == 255) break;
// map to 0-180 degrees
x = map(x, 0, 254, 0, 180);
Serial.print(" -> ");
Serial.println(x);
servo2.write(x);
addr++;
x = EEPROM.read(addr);
Serial.print("Read EE Servo 3: ");
Serial.print(x);
if (x == 255) break;
// map to 0-180 degrees
x = map(x, 0, 254, 0, 180);
Serial.print(" -> ");
Serial.println(x);
servo3.write(x);
addr++;
x = EEPROM.read(addr);
Serial.print("Read EE Servo 4: ");
Serial.print(x);
if (x == 255) break;
// map to 0-180 degrees
x = map(x, 0, 254, 0, 180);
Serial.print(" -> ");
Serial.println(x);
servo4.write(x);
addr++;
x = EEPROM.read(addr);
Serial.print("Read EE Servo 5: ");
Serial.print(x);
if (x == 255) break;
// map to 0-180 degrees
x = map(x, 0, 254, 0, 180);
Serial.print(" -> ");
Serial.println(x);
servo5.write(x);
addr++;
x = EEPROM.read(addr);
Serial.print("Read EE Servo 6: ");
Serial.print(x);
if (x == 255) break;
// map to 0-180 degrees
x = map(x, 0, 254, 0, 180);
Serial.print(" -> ");
Serial.println(x);
servo6.write(x);
addr++;
}
Serial.println("Done");
servo1.detach();
delay(250);
}
void recordAllServos(uint8_t servo1Pin, uint8_t servo1FeedbackPin, uint8_t buttonPin) {
uint16_t addr = 0;
Serial.println("Recording");
digitalWrite(ledPin, HIGH);
pinMode(servo1FeedbackPin, INPUT);
pinMode(servo2FeedbackPin, INPUT);
pinMode(servo3FeedbackPin, INPUT);
pinMode(servo4FeedbackPin, INPUT);
pinMode(servo5FeedbackPin, INPUT);
pinMode(servo6FeedbackPin, INPUT);
while (digitalRead(buttonPin))
{
readAllServo(servo1FeedbackPin);
readAllServo(servo2FeedbackPin);
readAllServo(servo3FeedbackPin);
readAllServo(servo4FeedbackPin);
readAllServo(servo5FeedbackPin);
readAllServo(servo6FeedbackPin);
if (addr == 1024) break;
delay(SAMPLE_DELAY);
}
if (addr != 1024) EEPROM.write(addr, 255);
digitalWrite(ledPin, LOW);
Serial.println("Done");
delay(250);
}
void readAllServo(uint8_t servo1FeedbackPin)
{
uint16_t a = analogRead(servo1FeedbackPin);
Serial.print("Read analog pin ");
Serial.print(servo1FeedbackPin);
Serial.print(": ");
Serial.print(a);
if (a < CALIB_MIN) a = CALIB_MIN;
if (a > CALIB_MAX) a = CALIB_MAX;
a = map(a, CALIB_MIN, CALIB_MAX, 0, 254);
Serial.print(" -> ");
Serial.println(a);
EEPROM.write(addr, a); //save servo 1 values to eeprom
addr++;
}
Please be positive and constructive with your questions and comments.