low memory
reduce the array size from arrays joint0 - 3. you dont need 180 steps as it is in the defintion. set the variable ‘top’ to array size -1
Understanding Code
Hey Pinaut,
Excellent robot and great tutorial. I’m new to this and I was having some trouble understanding the code.
In void mapping() {
ist[0] = map(SensVal[0], 150, 900, 600, 2400);// drehen
ist[1] = map(SensVal[1], 1000, 100, 550, 2400);// Schulter
ist[2] = map(SensVal[2], 120, 860, 400, 2500);// Hand
ist[3] = map(SensVal[3], 1023, 0, 500, 2500);// Zange
}
where did you get the values for the map e.g. 150, 900, 600, 2400. In other words why did you choose those numbers for the 4 servos?
also in calc_pause() {
temp = map(temp, 0, 680, 0 ,6);
}
why did you choose 0 and 680?
One general question, why did you choose the gripper pot to set the delay?
If anyone can explain why also, it will be much appreciated!
Thanks
Hello! I made your robotic
Hello! I made your robotic arm but i have a problem in automatic replay mode : after I set him , after every cicle the arm make a big pause … a few seconds . After another set the time is different… it is very annoying . What is the problem?
Hello Pinaut!Thank you for
Hello Pinaut!
Thank you for sharing your awesome robot.
Yours is the one that finally made me want to build my own.
I only have three questions, since I’m not sure if that matters:
I do not want the teach and play mode (for now), do I need to change the code for this?
I only want to move the arm and the robot follows it.
Is it enough to get rid of the switches or will the software detect an error?
Will a power supply of 4,5V be enough? I want to use 3 standard AA batteries.
Thank you very much in advance!
I made one
Hi Pinaut.
Thanks for sharing your code project.
I did a model and designed it for 3D printing.
here’s a video link of what I did,
https://www.youtube.com/watch?v=DuBjqT2WJe4
totally inspired by yours, obviously.
Posted on Thingiverse : http://www.thingiverse.com/thing:1684471
Regards,
Hello. I’m new to this so it
Hello. I’m new to this so it would be really great if you could give the instructions on how to build this robotic arm with Arduino UNO along with a list of the things I will need with the quantity of each item. You didn’t mention the quantity of each of the parts that’s why I’m asking.
Making code for 6 servo
Hi Pinaut,
i am trying to make a teach code for 6 servos. Can you help me modify your code to make it run for 6 servos. any help will be appreciated.
Thanks
Pay for understanding of code
Hi, I would pay someone to help me understand the code. Especially the coder, if you are willing to help me understand the code, I will compensate you well.
Thank you,
servos are shaky, not precise
i connected all servos with pot to ard. nano,
when power on the servos are rotating small _ back _ forth.
no stability in servos please respond.
im doing it for a college project.
Diagram
Hello, I am a novice at Arduino area and really liked your project, however I condificuldade the diagram of the pins: Analog 0, A1, A2, A3 Correct Already the pins; OD =? DI =? I’m sorry, but as I am novice do not understand anomeclatura used. Thank you
Hello. I tried to change the
Hello. I tried to change the code for 6 servos but i cant move the arm . After i load the code, the led(13) remain opened and the arm blocked . Can you help me with the code? #include <Servo.h> Servo servo_0; Servo servo_1; Servo servo_2; Servo servo_3; Servo servo_4; int count0, arrayStep, arrayMax, countverz, Taster, stepsMax, steps, time = 1000, del = 1000, temp; unsigned int verz = 0; long previousMillis1 = 0; long previousMillis2 = 0; long previousMillis3 = 0; long previousMillis4 = 0; long previousMillis5 = 0; long previousMillis6 = 0; long previousMicros = 0; unsigned long currentMillis = millis(); unsigned long currentMicros = micros(); int Delay[7] = {0,0,1,3,15,60,300}; int SensVal[6]; float dif[6], ist[6], sol[6], dir[6]; int joint0[180]; int joint1[180]; int joint2[180]; int joint3[180]; int joint4[180]; int joint5[180]; int top = 179; boolean playmode = false, Step = false; void setup() { pinMode(7, INPUT); pinMode(12, INPUT); pinMode(13, OUTPUT); digitalWrite(13, HIGH); servo_0.attach(3); servo_1.attach(6); servo_2.attach(10); servo_3.attach(5); servo_4.attach(11); servo_5.attach(9); Serial.begin(9600); Serial.println(“mini robot ready…”); digitalWrite(13, LOW); } void loop() // here we go! { currentMillis = millis(); // all is about timing currentMicros = micros(); // read the button Button(); if(!playmode) // manualy modus { if(currentMillis - previousMillis1 > 25) { if (arrayStep < top) { previousMillis1 = currentMillis; readPot(); mapping(); move_servo(); //record(); } } } else if(playmode) { if (Step) { digitalWrite(13, HIGH); if (arrayStep < arrayMax) { arrayStep += 1; Read(); calculate(); Step = 0; digitalWrite(13, LOW); } else // array read finished > start over { arrayStep = 0; calc_pause(); countverz = 0; while(countverz < verz) { countverz += 1; calc_pause(); digitalWrite(13, HIGH); delay(25); digitalWrite(13, LOW); delay(975); } } //Serial.println(arrayStep); } else // do the servos! { if (currentMicros - previousMicros > time) { // previousMicros = currentMicros; play_servo(); } } } while (digitalRead(7) == true) { digitalWrite(13, HIGH); delay(500); digitalWrite(13, LOW); delay(500); } } void calc_pause() { readPot(); temp = SensVal[6];/ if (temp < 0) temp = 0; temp = map(temp, 0, 680, 0 ,6); verz = Delay[temp]; // verz = delay in second /Serial.print(temp); Serial.print(" “); Serial.print(verz); Serial.print(” "); Serial.println(countverz);/ } void readPot() { SensVal[0] = analogRead(sensorPin0); SensVal[0] += 0; SensVal[1] = analogRead(sensorPin1); SensVal[1] += 0; SensVal[2] = analogRead(sensorPin2); SensVal[2] += 0; SensVal[3] = analogRead(sensorPin3); SensVal[3] += 0; SensVal[4] = analogRead(sensorPin4); SensVal[4] += 0; SensVal[5] = analogRead(sensorPin5); SensVal[5] += 0; //Serial.print(SensVal[2]);Serial.print(" “); // CHECK } void mapping() { ist[0] = map(SensVal[0], 0, 1023,600, 2400);// rotire ist[1] = map(SensVal[1], 0, 1023, 550, 2400);// cot ist[2] = map(SensVal[2], 120, 860, 400, 2500);// umar ist[3] = map(SensVal[3], 0, 1023, 500, 2500);// baza ist[4] = map(SensVal[4], 120, 860, 400, 2500);// incheietura ist[5] = map(SensVal[5], 0, 1023, 500, 2500);// gheara //Serial.println(ist[2]); // CHECK } void record() { joint0[arrayStep] = ist[0]; // write positions in servo array joint1[arrayStep] = ist[1]; joint2[arrayStep] = ist[2]; joint3[arrayStep] = ist[3]; joint4[arrayStep] = ist[4]; joint5[arrayStep] = ist[5]; } void Read() { sol[0] = joint0[arrayStep]; // read from the array sol[1] = joint1[arrayStep]; sol[2] = joint2[arrayStep]; sol[3] = joint3[arrayStep]; sol[4] = joint4[arrayStep]; sol[5] = joint5[arrayStep]; } void move_servo() { servo_0.writeMicroseconds(ist[3]); // send milissecond values to servos servo_1.writeMicroseconds(ist[2]); servo_2.writeMicroseconds(ist[0]); servo_3.writeMicroseconds(ist[1]); servo_4.writeMicroseconds(ist[4]);/////? servo_5.writeMicroseconds(ist[5]);//////? } void calculate() { // travel distance for each servo dif[0] = abs(ist[0]-sol[0]); dif[1] = abs(ist[1]-sol[1]); dif[2] = abs(ist[2]-sol[2]); dif[3] = abs(ist[3]-sol[3]); dif[4] = abs(ist[4]-sol[4]); dif[5] = abs(ist[5]-sol[5]); // biggest travel way from all 4 servos stepsMax = max(dif[0],dif[1]); stepsMax = max(stepsMax,dif[2]); stepsMax = max(stepsMax,dif[3]); stepsMax = max(stepsMax,dif[4]); stepsMax = max(stepsMax,dif[5]); stepsMax /= 12; if (stepsMax < 500) del = 650; else del = 301; if (sol[0] < ist[0]) dir[0] = 0-dif[0]/stepsMax; else dir[0] = dif[0]/stepsMax; if (sol[1] < ist[1]) dir[1] = 0-dif[1]/stepsMax; else dir[1] = dif[1]/stepsMax; if (sol[2] < ist[2]) dir[2] = 0-dif[2]/stepsMax; else dir[2] = dif[2]/stepsMax; if (sol[3] < ist[3]) dir[3] = 0-dif[3]/stepsMax; else dir[3] = dif[3]/stepsMax; if (sol[4] < ist[4]) dir[4] = 0-dif[4]/stepsMax; else dir[4] = dif[4]/stepsMax; if (sol[5] < ist[5]) dir[5] = 0-dif[5]/stepsMax; else dir[5] = dif[5]/stepsMax; //Serial.println(dir4); } void play_servo() { steps += 1; if (steps < stepsMax) // sure we not reach the end from a move { //time = del5;// anfahr rampe if(steps == 20) time = del4; else if(steps == 40) time = del3; else if(steps == 80) time = del2; else if(steps == 100) time = del-1; // cannot explain here is not del1 if(steps == stepsMax-200) time = del2; else if(steps == stepsMax-80) time = del3; else if(steps == stepsMax-40) time = del4; else if(steps == stepsMax-20) time = del*5; ist[0] += dir[0]; // set new pos ist[1] += dir[1]; ist[2] += dir[2]; ist[3] += dir[3]; ist[4] += dir[4]; ist[5] += dir[5]; servo_0.writeMicroseconds(ist[3]); // Zange servo_1.writeMicroseconds(ist[2]); // Hand servo_2.writeMicroseconds(ist[0]); // Schulter servo_3.writeMicroseconds(ist[1]); // Ellbogen servo_4.writeMicroseconds(ist[4]); // Schulter servo_5.writeMicroseconds(ist[5]); // Ellbogen } else { Step = 1; steps = 0; } } void data_out() // just to write the recorded data to serial { int i = 0; while(i < arrayMax) { digitalWrite(13, HIGH); i += 1; Serial.print(joint0[i]); Serial.print(”, “); } Serial.println(“Joint0”); i = 0; while(i < arrayMax) { digitalWrite(13, HIGH); i += 1; Serial.print(joint1[i]); Serial.print(”, “); } Serial.println(“Joint1”); i = 0; while(i < arrayMax) { digitalWrite(13, HIGH); i += 1; Serial.print(joint2[i]); Serial.print(”, “); } Serial.println(“Joint2”); i = 0; while(i < arrayMax) { digitalWrite(13, HIGH); i += 1; Serial.print(joint3[i]); Serial.print(”, "); } Serial.println(“Joint3”); } void Button() // check buttons for single and doubleclick { if (digitalRead(12) == false) { delay(20);/ if (digitalRead(12) == true) { if (Taster == 0) { Taster = 1; previousMillis3 = currentMillis; //Serial.print("Status Record "); Serial.println(Taster); } else if ((Taster == 1) && (currentMillis - previousMillis3 < 250)) { Taster = 2; //Serial.println(Taster); } /else if ((Taster == 2) && (currentMillis - previousMillis3 < 500)) { Taster = 3; Serial.println(Taster); }/ } } if ((Taster == 1) && (currentMillis - previousMillis3 > 1000)) // write to array { arrayStep += 1; arrayMax = arrayStep; record(); Taster = 0; playmode = false; Serial.print("Record Step: "); Serial.println(arrayStep); digitalWrite(13, HIGH); delay(100); digitalWrite(13, LOW); } else if (Taster == 2) { arrayStep = 0; playmode = true; Taster = 0; Step = 1; Serial.println("playmode "); data_out(); delay(250); digitalWrite(13, LOW); } /if (Taster == 3) { // ++ arrayStep // playmode = 1; Taster = 0; Serial.println("Clear "); }/ if (currentMillis - previousMillis3 > 2000) { Taster = 0; //Serial.println("restart "); } }
Hello. I tried to change the
Hello. I tried to change the code for 6 servos but i cant move the arm . After i load the code, the led(13) remain opened and the arm blocked . Can you help me with the code? Main code:
#include <Servo.h> Servo servo_0; Servo servo_1; Servo servo_2; Servo servo_3; Servo servo_4; int count0, arrayStep, arrayMax, countverz, Taster, stepsMax, steps, time = 1000, del = 1000, temp; unsigned int verz = 0; long previousMillis1 = 0; long previousMillis2 = 0; long previousMillis3 = 0; long previousMillis4 = 0; long previousMillis5 = 0; long previousMillis6 = 0; long previousMicros = 0; unsigned long currentMillis = millis(); unsigned long currentMicros = micros(); int Delay[7] = {0,0,1,3,15,60,300}; int SensVal[6]; float dif[6], ist[6], sol[6], dir[6]; int joint0[180]; int joint1[180]; int joint2[180]; int joint3[180]; int joint4[180]; int joint5[180]; int top = 179; boolean playmode = false, Step = false; void setup() { pinMode(7, INPUT); pinMode(12, INPUT); pinMode(13, OUTPUT); digitalWrite(13, HIGH); servo_0.attach(3); servo_1.attach(6); servo_2.attach(10); servo_3.attach(5); servo_4.attach(11); servo_5.attach(9); Serial.begin(9600); Serial.println(“mini robot ready…”); digitalWrite(13, LOW); } void loop() // here we go! { currentMillis = millis(); // all is about timing currentMicros = micros(); // read the button Button(); if(!playmode) // manualy modus { if(currentMillis - previousMillis1 > 25) { if (arrayStep < top) { previousMillis1 = currentMillis; readPot(); mapping(); move_servo(); //record(); } } } else if(playmode) { if (Step) { digitalWrite(13, HIGH); if (arrayStep < arrayMax) { arrayStep += 1; Read(); calculate(); Step = 0; digitalWrite(13, LOW); } else // array read finished > start over { arrayStep = 0; calc_pause(); countverz = 0; while(countverz < verz) { countverz += 1; calc_pause(); digitalWrite(13, HIGH); delay(25); digitalWrite(13, LOW); delay(975); } } //Serial.println(arrayStep); } else // do the servos! { if (currentMicros - previousMicros > time) { // previousMicros = currentMicros; play_servo(); } } } while (digitalRead(7) == true) { digitalWrite(13, HIGH); delay(500); digitalWrite(13, LOW); delay(500); } } void calc_pause() { readPot(); temp = SensVal[6];/ if (temp < 0) temp = 0; temp = map(temp, 0, 680, 0 ,6); verz = Delay[temp]; // verz = delay in second /Serial.print(temp); Serial.print(" “); Serial.print(verz); Serial.print(” "); Serial.println(countverz);/ } void readPot() { SensVal[0] = analogRead(sensorPin0); SensVal[0] += 0; SensVal[1] = analogRead(sensorPin1); SensVal[1] += 0; SensVal[2] = analogRead(sensorPin2); SensVal[2] += 0; SensVal[3] = analogRead(sensorPin3); SensVal[3] += 0; SensVal[4] = analogRead(sensorPin4); SensVal[4] += 0; SensVal[5] = analogRead(sensorPin5); SensVal[5] += 0; //Serial.print(SensVal[2]);Serial.print(" “); // CHECK } void mapping() { ist[0] = map(SensVal[0], 0, 1023,600, 2400);// rotire ist[1] = map(SensVal[1], 0, 1023, 550, 2400);// cot ist[2] = map(SensVal[2], 120, 860, 400, 2500);// umar ist[3] = map(SensVal[3], 0, 1023, 500, 2500);// baza ist[4] = map(SensVal[4], 120, 860, 400, 2500);// incheietura ist[5] = map(SensVal[5], 0, 1023, 500, 2500);// gheara //Serial.println(ist[2]); // CHECK } void record() { joint0[arrayStep] = ist[0]; // write positions in servo array joint1[arrayStep] = ist[1]; joint2[arrayStep] = ist[2]; joint3[arrayStep] = ist[3]; joint4[arrayStep] = ist[4]; joint5[arrayStep] = ist[5]; } void Read() { sol[0] = joint0[arrayStep]; // read from the array sol[1] = joint1[arrayStep]; sol[2] = joint2[arrayStep]; sol[3] = joint3[arrayStep]; sol[4] = joint4[arrayStep]; sol[5] = joint5[arrayStep]; } void move_servo() { servo_0.writeMicroseconds(ist[3]); // send milissecond values to servos servo_1.writeMicroseconds(ist[2]); servo_2.writeMicroseconds(ist[0]); servo_3.writeMicroseconds(ist[1]); servo_4.writeMicroseconds(ist[4]);/////? servo_5.writeMicroseconds(ist[5]);//////? } void calculate() { // travel distance for each servo dif[0] = abs(ist[0]-sol[0]); dif[1] = abs(ist[1]-sol[1]); dif[2] = abs(ist[2]-sol[2]); dif[3] = abs(ist[3]-sol[3]); dif[4] = abs(ist[4]-sol[4]); dif[5] = abs(ist[5]-sol[5]); // biggest travel way from all 4 servos stepsMax = max(dif[0],dif[1]); stepsMax = max(stepsMax,dif[2]); stepsMax = max(stepsMax,dif[3]); stepsMax = max(stepsMax,dif[4]); stepsMax = max(stepsMax,dif[5]); stepsMax /= 12; if (stepsMax < 500) del = 650; else del = 301; if (sol[0] < ist[0]) dir[0] = 0-dif[0]/stepsMax; else dir[0] = dif[0]/stepsMax; if (sol[1] < ist[1]) dir[1] = 0-dif[1]/stepsMax; else dir[1] = dif[1]/stepsMax; if (sol[2] < ist[2]) dir[2] = 0-dif[2]/stepsMax; else dir[2] = dif[2]/stepsMax; if (sol[3] < ist[3]) dir[3] = 0-dif[3]/stepsMax; else dir[3] = dif[3]/stepsMax; if (sol[4] < ist[4]) dir[4] = 0-dif[4]/stepsMax; else dir[4] = dif[4]/stepsMax; if (sol[5] < ist[5]) dir[5] = 0-dif[5]/stepsMax; else dir[5] = dif[5]/stepsMax; //Serial.println(dir4); } void play_servo() { steps += 1; if (steps < stepsMax) // sure we not reach the end from a move { //time = del5;// anfahr rampe if(steps == 20) time = del4; else if(steps == 40) time = del3; else if(steps == 80) time = del2; else if(steps == 100) time = del-1; // cannot explain here is not del1 if(steps == stepsMax-200) time = del2; else if(steps == stepsMax-80) time = del3; else if(steps == stepsMax-40) time = del4; else if(steps == stepsMax-20) time = del*5; ist[0] += dir[0]; // set new pos ist[1] += dir[1]; ist[2] += dir[2]; ist[3] += dir[3]; ist[4] += dir[4]; ist[5] += dir[5]; servo_0.writeMicroseconds(ist[3]); // Zange servo_1.writeMicroseconds(ist[2]); // Hand servo_2.writeMicroseconds(ist[0]); // Schulter servo_3.writeMicroseconds(ist[1]); // Ellbogen servo_4.writeMicroseconds(ist[4]); // Schulter servo_5.writeMicroseconds(ist[5]); // Ellbogen } else { Step = 1; steps = 0; } } void data_out() // just to write the recorded data to serial { int i = 0; while(i < arrayMax) { digitalWrite(13, HIGH); i += 1; Serial.print(joint0[i]); Serial.print(”, “); } Serial.println(“Joint0”); i = 0; while(i < arrayMax) { digitalWrite(13, HIGH); i += 1; Serial.print(joint1[i]); Serial.print(”, “); } Serial.println(“Joint1”); i = 0; while(i < arrayMax) { digitalWrite(13, HIGH); i += 1; Serial.print(joint2[i]); Serial.print(”, “); } Serial.println(“Joint2”); i = 0; while(i < arrayMax) { digitalWrite(13, HIGH); i += 1; Serial.print(joint3[i]); Serial.print(”, "); } Serial.println(“Joint3”); } void Button() // check buttons for single and doubleclick { if (digitalRead(12) == false) { delay(20);/ if (digitalRead(12) == true) { if (Taster == 0) { Taster = 1; previousMillis3 = currentMillis; //Serial.print("Status Record "); Serial.println(Taster); } else if ((Taster == 1) && (currentMillis - previousMillis3 < 250)) { Taster = 2; //Serial.println(Taster); } /else if ((Taster == 2) && (currentMillis - previousMillis3 < 500)) { Taster = 3; Serial.println(Taster); }/ } } if ((Taster == 1) && (currentMillis - previousMillis3 > 1000)) // write to array { arrayStep += 1; arrayMax = arrayStep; record(); Taster = 0; playmode = false; Serial.print("Record Step: "); Serial.println(arrayStep); digitalWrite(13, HIGH); delay(100); digitalWrite(13, LOW); } else if (Taster == 2) { arrayStep = 0; playmode = true; Taster = 0; Step = 1; Serial.println("playmode "); data_out(); delay(250); digitalWrite(13, LOW); } /if (Taster == 3) { // ++ arrayStep // playmode = 1; Taster = 0; Serial.println("Clear "); }/ if (currentMillis - previousMillis3 > 2000) { Taster = 0; //Serial.println("restart "); } }
Keyword Arduino
if(steps == 20) time = del4;
else if(steps == 40) time = del3;
else if(steps == 80) time = del2;
else if(steps == 100) time = del-1;
hello Pinaut, i a newbie , i don’t know the word “time” had highlight orange. what function ? and 4th line, why not time = del1 ? tks you so much
Wild and EEPROM
Hi, do you have any suggestion for me? my servos are too wild and shaky. They are totally not following the servos. Is it because I used 10k potentiometers? And I wanted it to saved in EEPROM or any storage, do you have any reference you can share with me? thank you 
Wild and EEPROM
hi, any suggestion? my servos are too wild and shaky, Is it because I used 10k ptentiometers? And I wanted it to save it in EEPROM, but i don’t have any idea about it. So I was thinking if you have any refrence you could share to me? thank you
Wild and EEPROM
hi, any suggestion? my servos are too wild and shaky, Is it because I used 10k ptentiometers? And I wanted it to save it in EEPROM, but i don’t have any idea about it. So I was thinking if you have any refrence you could share to me? thank you
Replace arduino mini pro with arduino nano in this project
Hello What modifications do I need to do so that I can use this code in an arduino nano instead of a mini pro?
can I use this ?
Can I use this ?
** @pinaut May I know your**
@pinaut May I know your contact information? i have some questions want to ask you
Project Entry
Good day! Sir, can I use this project as an entry for our website. Rest assured that I am to credit the entry to you.