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The Program For Control of The Manipulator of The Robotic Site

The program code controls 6 servo motors to manipulate a robotic arm. It attaches each servo to a controller object and sets its range of motion. The main loop cycles through positions for the servos, holding each for 5 seconds before moving to the next. If a sensor is triggered, it stops all servo movement.

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Сергій Сиротинський
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50 views

The Program For Control of The Manipulator of The Robotic Site

The program code controls 6 servo motors to manipulate a robotic arm. It attaches each servo to a controller object and sets its range of motion. The main loop cycles through positions for the servos, holding each for 5 seconds before moving to the next. If a sensor is triggered, it stops all servo movement.

Uploaded by

Сергій Сиротинський
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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The program for control of the manipulator of the robotic site

#include <VarSpeedServo.h>
VarSpeedServo myservo1, myservo2, myservo3, myservo4, myservo5,
myservo6; // create servo object to control a servo
void setup() { // initialize serial:
pinMode(45,OUTPUT);
pinMode(44, OUTPUT);
myservo1.attach(2,740,2365); // attaches the servo on pin 2 to the servo object
myservo2.attach(3,760,2365); // attaches the servo on pin 3 to the servo object
myservo3.attach(4,720,2365); // attaches the servo on pin 4 to the servo object
myservo4.attach(5,720,2300); // attaches the servo on pin 5 to the servo object
myservo5.attach(10,670,2300); // attaches the servo on pin 10 to the servo
object
myservo6.attach(11,720,2300); // attaches the servo on pin 11 to the servo
object
myservo1.write(0,35,false);
myservo2.write(0,35,false);
myservo3.write(0,35,false);
myservo4.write(0,35,false);
myservo5.write(0,35,false);
myservo6.write(0,35,false);
delay(2000);
}
void loop()
{
myservo1.write(0,15,true);
myservo2.write(44,15,false);
myservo3.write(0,15,false);
myservo4.write(35,15,false);
myservo5.write(0,15,false);
myservo6.write(0,15,false);
delay(5000);
myservo1.write(0,15,false);
myservo2.write(44,15,false);
myservo3.write(0,15,false);
myservo4.write(35,15,false);
myservo5.write(0,15,false);
myservo6.write(50,15,false);
delay(5000);
myservo1.write(84,15,false);
myservo2.write(35,15,false);
myservo3.write(12,15,false);
myservo4.write(0,15,false);
myservo5.write(0,15,false);
myservo6.write(0,15,false);
delay(5000);}
A program that will manage the work of the entire site
#include <VarSpeedServo.h>
VarSpeedServo myservo1, myservo2, myservo3, myservo4, myservo5,
myservo6;
void setup() {
pinMode(45,OUTPUT);
pinMode(44, OUTPUT);
myservo1.attach(2,740,2365); // attaches the servo on pin 2 to the servo object
myservo2.attach(3,760,2365); // attaches the servo on pin 3 to the servo object
myservo3.attach(4,720,2365); // attaches the servo on pin 4 to the servo object
myservo4.attach(5,720,2300); // attaches the servo on pin 5 to the servo object
myservo5.attach(10,670,2300); // attaches the servo on pin 10 to the servo
object
myservo6.attach(11,720,2300); // attaches the servo on pin 11 to the servo
object
myservo1.write(0,35,false);
myservo2.write(0,35,false);
myservo3.write(0,35,false);
myservo4.write(0,35,false);
myservo5.write(0,35,false);
myservo6.write(0,35,false);
delay(2000);
}
void loop()
{
myservo1.write(0,15,true);
myservo2.write(44,15,false);
myservo3.write(0,15,false);
myservo4.write(35,15,false);
myservo5.write(0,15,false);
myservo6.write(0,15,false);
delay(5000);
myservo1.write(0,15,false);
myservo2.write(44,15,false);
myservo3.write(0,15,false);
myservo4.write(35,15,false);
myservo5.write(0,15,false);
myservo6.write(50,15,false);
delay(5000);
myservo1.write(84,15,false);
myservo2.write(35,15,false);
myservo3.write(12,15,false);
myservo4.write(0,15,false);
myservo5.write(0,15,false);
myservo6.write(0,15,false);
delay(5000);}
while (analogRead(A1)>750)
{
digitalWrite(44,HIGH);
digitalWrite(45,LOW);
}
else{
digitalWrite(44,LOW);
digitalWrite(45,LOW); //45 - вліво
delay(5000);
}
Program code with lock function
#include <VarSpeedServo.h>
VarSpeedServo myservo1, myservo2, myservo3, myservo4, myservo5,
myservo6;
void setup() {
pinMode(45,OUTPUT);
pinMode(44, OUTPUT);
attachInterrupt(digitalPinToInterrupt(21),servoStop,RISING);
myservo1.attach(2,740,2365); // attaches the servo on pin 2 to the servo object
myservo2.attach(3,760,2365); // attaches the servo on pin 3 to the servo object
myservo3.attach(4,720,2365); // attaches the servo on pin 4 to the servo object
myservo4.attach(5,720,2300); // attaches the servo on pin 5 to the servo object
myservo5.attach(10,670,2300); // attaches the servo on pin 10 to the servo
object
myservo6.attach(11,720,2300); // attaches the servo on pin 11 to the servo
object
myservo1.write(0,35,false);
myservo2.write(0,35,false);
myservo3.write(0,35,false);
myservo4.write(0,35,false);
myservo5.write(0,35,false);
myservo6.write(0,35,false);
delay(2000);
}
void loop()
{

myservo1.write(0,15,true);
myservo2.write(44,15,false);
myservo3.write(0,15,false);
myservo4.write(35,15,false);
myservo5.write(0,15,false);
myservo6.write(0,15,false);
delay(5000);
myservo1.write(0,15,false);
myservo2.write(44,15,false);
myservo3.write(0,15,false);
myservo4.write(35,15,false);
myservo5.write(0,15,false);
myservo6.write(50,15,false);
delay(5000);
myservo1.write(84,15,false);
myservo2.write(35,15,false);
myservo3.write(12,15,false);
myservo4.write(0,15,false);
myservo5.write(0,15,false);
myservo6.write(0,15,false);
delay(5000);}

while (analogRead(A1)>750)
{
digitalWrite(44,HIGH);
digitalWrite(45,LOW);
}
else{
digitalWrite(44,LOW);
digitalWrite(45,LOW); //45 - вліво
delay(5000);
}
void servostop(){
myservo1.stop();
myservo2.stop();
myservo3.stop();
myservo4.stop();
myservo5.stop();
myservo6.stop();
}

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