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Arduino Code

This code controls 4 servos (myservoA, myservoB, myservoC, myservoD) by receiving direction and angle commands over serial. It initializes the servos, sets up serial communication to receive formatted data (e.g. <A,90>), parses the data into a direction and angle, and uses the direction to determine which servo to move to the angle position.

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Bien
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69 views

Arduino Code

This code controls 4 servos (myservoA, myservoB, myservoC, myservoD) by receiving direction and angle commands over serial. It initializes the servos, sets up serial communication to receive formatted data (e.g. <A,90>), parses the data into a direction and angle, and uses the direction to determine which servo to move to the angle position.

Uploaded by

Bien
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as TXT, PDF, TXT or read online on Scribd
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#include <Servo.

h>
int Angle = 0;
Servo myservoA; // create servo object to control a servo
Servo myservoB; // create servo object to control a servo
Servo myservoC; // create servo object to control a servo
Servo myservoD; // create servo object to control a servo

const byte numChars = 7;


char receivedChars[numChars]; // an array to store the received data

char Dir[numChars] = {0};


int Mspeed = 200;
boolean newData = false;

void setup() {
Serial.begin(9600);
myservoA.attach(5); // attaches the servo on pin 5 to the servo object
myservoB.attach(6); // attaches the servo on pin 6 to the servo object
myservoC.attach(7); // attaches the servo on pin 7 to the servo object
myservoD.attach(8); // attaches the servo on pin 8 to the servo object
}

void loop() {
recvWithStartEndMarkers();
if (newData ==true){
parseData();
Motoraction();
newData = false;
}
}

void recvWithStartEndMarkers() {
static boolean recvInProgress = false;
static byte ndx = 0;
char startMarker = '<';
char endMarker = '>';
char rc;

while (Serial.available() > 0 && newData == false) {


rc = Serial.read();

if (recvInProgress == true) {
if (rc != endMarker) {
receivedChars[ndx] = rc;
ndx++;
if (ndx >= numChars) {
ndx = numChars - 1;
}
}
else {
receivedChars[ndx] = '\0'; // terminate the string
recvInProgress = false;
ndx = 0;
newData = true;
}
}

else if (rc == startMarker) {


recvInProgress = true;
}
}
}

void parseData() {
char * strtokIndx; // this is used by strtok() as an index
strtokIndx = strtok(receivedChars,","); // get the first part - the string
strcpy(Dir, strtokIndx); // copy it to messageFromPC
strtokIndx = strtok(NULL, ","); // this continues where the previous call left
off
Angle = atoi(strtokIndx); // convert this part to an integer
//strtokIndx = strtok(NULL, ",");
//floatFromPC = atof(strtokIndx); // convert this part to a float

void Motoraction() {
if (Dir[0] == 'A') {
if (Angle>0){
myservoA.write(Angle); // sets the servo position according to
the scaled value
Serial.println(Angle);
delay(15); // waits for the servo to get there
}
}
if (Dir[0] == 'B') {
if (Angle>0){
myservoB.write(Angle); // sets the servo position according to
the scaled value
Serial.println(Angle);
delay(15); // waits for the servo to get there
}
}
if (Dir[0] == 'C') {
if (Angle>0){
myservoC.write(Angle); // sets the servo position according to
the scaled value
Serial.println(Angle);
delay(15); // waits for the servo to get there
}
}
if (Dir[0] == 'D') {
if (Angle>0){
myservoD.write(Angle); // sets the servo position according to
the scaled value
Serial.println(Angle);
delay(15); // waits for the servo to get there
}
}
}

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