Thank you for your generous response.
Firstly I did exactly like you told me. I disconnected the reciever module and the turned off the ps2 controller. and then I tried to program the botboarduino with the code you provde to me. When I tried to verify the code at the first time, some errors showed up to me and they were indicating that was some mistakes in the first few lines of the code, which I finally managed to fix them and make the code work perfectly and be uploaded to the board. The final version of the code I used is:
(The lines in red, were previously wrong and I edited them and made them like this untill the code was verifed by this form and uploaded)
[highlight=#ff0000]#if ARDUINO >= 100[/highlight]
[highlight=#ff0000]#include “Arduino.h”[/highlight]
[highlight=#ff0000]#if defined(ARDUINO) && ARDUINO >= 100[/highlight]
[highlight=#ff0000] #include “Arduino.h”[/highlight]
[highlight=#ff0000] #else[/highlight]
[highlight=#ff0000] #include “WProgram.h”[/highlight]
[highlight=#ff0000] #endif[/highlight]
[highlight=#ff0000]#endif[/highlight]
#include <Servo.h>
#include <math.h>
//comment to disable the Force Sensitive Resister on the gripper
//#define FSRG
//Select which arm by uncommenting the corresponding line
//#define AL5A
//#define AL5B
#define AL5D
//uncomment for digital servos in the Shoulder and Elbow
//that use a range of 900ms to 2100ms
//#define DIGITAL_RANGE
#ifdef AL5A
const float A = 3.75;
const float B = 4.25;
#elif defined AL5B
const float A = 4.75;
const float B = 5.00;
#elif defined AL5D
const float A = 5.75;
const float B = 7.375;
#endif
//Arm Servo pins
#define Base_pin 2
#define Shoulder_pin 3
#define Elbow_pin 4
#define Wrist_pin 10
#define Gripper_pin 11
#define WristR_pin 12
//Onboard Speaker
#define Speaker_pin 5
//Radians to Degrees constant
const float rtod = 57.295779;
//Arm Speed Variables
float Speed = 1.0;
int sps = 3;
//Servo Objects
Servo Elb;
Servo Shldr;
Servo Wrist;
Servo Base;
Servo Gripper;
Servo WristR;
//Arm Current Pos
float X = 4;
float Y = 4;
float Z = 90;
int G = 90;
float WA = 0;
int WR = 90;
//Arm temp pos
float tmpx = 4;
float tmpy = 4;
float tmpz = 90;
int tmpg = 90;
int tmpwr = 90;
float tmpwa = 0;
//boolean mode = true;
int Arm(float x, float y, float z, int g, float wa, int wr) //Here’s all the Inverse Kinematics to control the arm
{
float M = sqrt((yy)+(xx));
if(M <= 0)
return 1;
float A1 = atan(y/x);
if(x <= 0)
return 1;
float A2 = acos((AA-BB+MM)/((A2)M));
float Elbow = acos((AA+BB-MM)/((A*2)*B));
float Shoulder = A1 + A2;
Elbow = Elbow * rtod;
Shoulder = Shoulder * rtod;
if((int)Elbow <= 0 || (int)Shoulder <= 0)
return 1;
float Wris = abs(wa - Elbow - Shoulder) - 90;
#ifdef DIGITAL_RANGE
Elb.writeMicroseconds(map(180 - Elbow, 0, 180, 900, 2100 ));
Shldr.writeMicroseconds(map(Shoulder, 0, 180, 900, 2100));
#else
Elb.write(180 - Elbow);
Shldr.write(Shoulder);
#endif
Wrist.write(180 - Wris);
Base.write(z);
WristR.write(wr);
#ifndef FSRG
Gripper.write(g);
#endif
Y = tmpy;
X = tmpx;
Z = tmpz;
WA = tmpwa;
#ifndef FSRG
G = tmpg;
#endif
return 0;
}
void setup()
{
Serial.begin(9600);
Base.attach(Base_pin);
Shldr.attach(Shoulder_pin);
Elb.attach(Elbow_pin);
Wrist.attach(Wrist_pin);
Gripper.attach(Gripper_pin);
WristR.attach(WristR_pin);
Arm(tmpx, tmpy, tmpz, tmpg, tmpwa, tmpwr);
}
const float posDeltaX = 0.25;
const float posDeltaY = 0.25;
const float posDeltaZ = 2.5;
const float posDeltaWa = 2.5;
const int posDeltaG = 5;
const int posDeltaWr = 5;
long lastReferenceTime;
unsigned char action;
#define actionUp 119 // w
#define actionDown 115 // s
#define actionLeft 97 // a
#define actionRight 100 // d
#define actionRotCW 101 // e
#define actionRotCCW 113 // q
#define actionGripperOpen 114 // r
#define actionGripperClose 116 // t
#define actionWristUp 122 // z
#define actionWristDown 120 // x
#define actionWristRotCW 103 // g
#define actionWristRotCCW 102 // f
void loop()
{
if(Serial.available() > 0)
{
// Read character
action = Serial.read();
if(action > 0)
{
// Set action
switch(action)
{
case actionUp:
tmpy += posDeltaY;
break;
case actionDown:
tmpy -= posDeltaY;
break;
case actionLeft:
tmpx += posDeltaX;
break;
case actionRight:
tmpx -= posDeltaX;
break;
case actionRotCW:
tmpz += posDeltaZ;
break;
case actionRotCCW:
tmpz -= posDeltaZ;
break;
case actionGripperOpen:
tmpg += posDeltaG;
break;
case actionGripperClose:
tmpg -= posDeltaG;
break;
case actionWristUp:
tmpwa += posDeltaWa;
break;
case actionWristDown:
tmpwa -= posDeltaWa;
break;
case actionWristRotCW:
tmpwr += posDeltaWr;
break;
case actionWristRotCCW:
tmpwr -= posDeltaWr;
break;
}
// Display position
Serial.print("tmpx = “); Serial.print(tmpx, DEC); Serial.print(”\ttmpy = “); Serial.print(tmpy, DEC); Serial.print(”\ttmpz = “); Serial.print(tmpz, DEC); Serial.print(”\ttmpg = “); Serial.print(tmpg, DEC); Serial.print(”\ttmpwa = “); Serial.print(tmpwa, DEC); Serial.print(”\ttmpwr = "); Serial.println(tmpwr, DEC);
// Move arm
Arm(tmpx, tmpy, tmpz, tmpg, tmpwa, tmpwr);
// Pause for 100 ms between actions
lastReferenceTime = millis();
while(millis() <= (lastReferenceTime + 100)){};
}
}
}
Other than that, I find myself completely disabled to perform any operation or even use the serial monitor to control the arm because of some problems that happen when I turn on the power switches, In the next videos, I tried to connect the arm with the power sources in 4 different ways. The videos will show clearly what happens in every situation.
1 - Using 2 power sources. 6VDC/ 5A and 9V battery
youtube.com/watch?v=D7lqJxZk2zw
2 - Using 2 power sources. 6VDC/ 2A and 9V battery
youtube.com/watch?v=AZjtQfy-L1U
Using 1 power source. 6VDC/ 5A
youtube.com/watch?v=33sTjtw0ufY
Using 1 power sources. 6VDC/ 2A
youtube.com/watch?v=KZsBcLkIFLcHELP…
