How to make Simple Programmable Robotic Arm using Arduino \ Harish Projects

 

COMPONENTS AND SUPPLIES

	Arduino UNO Can be any 5V Arduino board such as the mega	×	1
	Breadboard (generic)	×	1
	Jumper wires (generic)	×	1
	Rotary potentiometer (generic)	×	3
	SparkFun Pushbutton switch 12mm	×	3
	LED (generic)	×	5
	Resistor 221 ohm	×	5
	Capacitor 10 µF Optional; you don't need it if you don't have it	×	1
	Servos (Tower Pro MG996R) I recommend micro servos as they draw less power	×	3
	Resistor 10k ohm	×	2

ABOUT THIS PROJECT

About

This is just a simple robot arm made out of readily available materials and instruments, such as micro servos, cardboard, and hot glue, designed for beginners. The code and circuit can be improved, so feel free to make changes and learn!

Features

It can record and play five positions using potentiometers and buttons. (But you can add as many as you want).

Making video.

//Arduino Code//

//Code written by Ryan Chan; it is pretty inefficient, but gets the job done, I challenge you to make it more efficient!

//*IMPORTANT CHANGES IN VERSION 2: LEDs 4 and 5 have been moved to pins 7 and 8 respectively; Buttons 1 and 2 have been moved to pins 12 and 13 respectively. This is to make wiring easier.

#include <Servo.h>

Servo servo1; //Servos
Servo servo2;
Servo servo3;

const int LED1 = 2; //LEDs
const int LED2 = 3;
const int LED3 = 4;
const int LED4 = 7;
const int LED5 = 8;

const int button1 = 12; //Buttons
const int button2 = 13;

int button1Presses = 0; //Button values
boolean button2Pressed = false;

const int pot1 = A0; //Potentimeters
const int pot2 = A1; 
const int pot3 = A2;

int pot1Val; //Potentimeter values
int pot2Val;
int pot3Val;
int pot1Angle;
int pot2Angle;
int pot3Angle;

int servo1PosSaves[] = {1,1,1,1,1}; //position saves
int servo2PosSaves[] = {1,1,1,1,1};
int servo3PosSaves[] = {1,1,1,1,1};

void setup() {
  servo1.attach(5); // Set up everything and will run once; attach servos and define the pin modes
  servo2.attach(6);
  servo3.attach(9);
  
  pinMode(LED1, OUTPUT);
  pinMode(LED2, OUTPUT);
  pinMode(LED3, OUTPUT);
  pinMode(LED4, OUTPUT);
  pinMode(LED5, OUTPUT);
  pinMode(button1, INPUT);
  pinMode(button2, INPUT);

  Serial.begin(9600);
}

void loop() {
  // put your main code here, to run repeatedly: 
  pot1Val = analogRead(pot1); // This will read the values from the potentimeters and store it...
  pot1Angle = map(pot1Val, 0, 1023, 0, 179); // ... and this will map the values from the potentiometers to values the servos can use and store it for later use
  pot2Val = analogRead(pot2); 
  pot2Angle = map(pot2Val, 0, 1023, 0, 179);
  pot3Val = analogRead(pot3);
  pot3Angle = map(pot3Val, 0, 1023, 0, 179);
  
  servo1.write(pot1Angle); // These will make the servos move to the mapped angles
  servo2.write(pot2Angle);
  servo3.write(pot3Angle);
  
  if(digitalRead(button1) == HIGH){ // This will check how many times button1 is pressed and save the positions to an array depending on how many times it is pressed; switch/case works like a if statement
    button1Presses++;
    switch(button1Presses){
      case 1:
        servo1PosSaves[0] = pot1Angle;
        servo2PosSaves[0] = pot2Angle;
        servo3PosSaves[0] = pot3Angle;
        digitalWrite(LED1, HIGH);
        Serial.println("Pos 1 Saved");
        break;
      case 2:
         servo1PosSaves[1] = pot1Angle;
         servo2PosSaves[1] = pot2Angle;
         servo3PosSaves[1] = pot3Angle;
         digitalWrite(LED2, HIGH);
         Serial.println("Pos 2 Saved");
         break;
      case 3:
         servo1PosSaves[2] = pot1Angle;
         servo2PosSaves[2] = pot2Angle;
         servo3PosSaves[2] = pot3Angle;
         digitalWrite(LED3, HIGH);
         Serial.println("Pos 3 Saved");
         break;
       case 4:
         servo1PosSaves[3] = pot1Angle;
         servo2PosSaves[3] = pot2Angle;
         servo3PosSaves[3] = pot3Angle;
         digitalWrite(LED4, HIGH);
         Serial.println("Pos 4 Saved");
         break;
       case 5:
         servo1PosSaves[4] = pot1Angle;
         servo2PosSaves[4] = pot2Angle;
         servo3PosSaves[4] = pot3Angle;
         digitalWrite(LED5, HIGH);
         Serial.println("Pos 5 Saved");
         break;
    }
  }

  if(digitalRead(button2) == HIGH){ // Pretty self-explnatory here
    button2Pressed = true;   
  }
  
  if(button2Pressed){ // if the boolean button2Press is true, then the servos will run though all their saved positions
    for(int i = 0; i < 5; i++){
        servo1.write(servo1PosSaves[i]);
        servo2.write(servo2PosSaves[i]);
        servo3.write(servo3PosSaves[i]);
        Serial.println(" potentimeter Angles: ");
        Serial.println(servo1PosSaves[i]);
        Serial.println(servo2PosSaves[i]);
        Serial.println(servo3PosSaves[i]);
        delay(1050);
      }
  }
  delay(300);
} 

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