![]() The main block ( "Loop") is really quite simple: Doing that, the program would be executed again or even you could have more than one stored program. ![]() Alternatively, you could keep these data arrays in the Arduino EEPROM, for example. Note that I'm not keeping the "stored" position and at the end of the "robot" program, the index is back to zero and the robot will wait for the recording of a new sequence (the program is lost). Int positionIndex = 0 // Index to be used at position array used for recorded tasks Those will be the final values to be used for the settings (change my original values at ArmDefine.h.įor ”recording" the sets of coordinates (or steps) that the robot should play, I will use data arrays: ![]() Them, start varying the pots (one by one) and follow in the Serial Monitor (or LCD) what should be the minimum and maximum values where the arm works properly. What I suggest is that initially the potentiometers (pots) remain at its midpoint and the Mapping of the PWM outputs are set to the default values: Max = 255, Min = 0 and Mid = 126 ( "#defines" above). The code included in this tutorial, has two sets of parameters for the robotic arms that I tested in my project (of course only a group of constants should be used): // MeArm 4-DOFĮach type of arm has a different set of parameters and it is important that you find the right for yours. This file also should set the minimum, maximum and initial servo's angles. The most prudent is to clearly define them and let his remarks on a unique file: The project is not complicated, but it has many variables. The above drawing shows the complete circuit The standard Arduino library "Servo.h" was developed for analog servos and can be modified if necessary, for a better functioning with digital servos. Also worth checking out if the servos are digital or analog, as though they are mechanically similar, the digital works with a frequency of 300Hz while the analog, 50Hz. It is important that the servos have time to get to a certain point before receiving a new command. If the servos have problems and vibrate a lot, make adjustments at the "delays" of your code. Be sure to connect all the "Grounds" (external Power Source with the Arduino GND pin). A common practice is also using 470uF capacitors between VCC and GND to minimize the noise generated by the DC motors inside the servors. An external power supply of 5 or 6V should work without problems (check the DataSheet of your servors to verify the proper voltage range). The DC power for the servos should be separated from the Arduino and other components. But for the propose of this project worked fine. The proper choice of servos are very important (there are cheap Chinese servos who are very poorly constructed such as MG995, which unfortunately are the ones that came with my SanSmart 3DOF AARM). Note that is not uncommon see "Stepper Motors" used at the base for greater torque and precision. Servo motors will be used to drive the joints, connected directly to the Arduino.
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