#include

Servo myservo; // Objek untuk mengontrol servo

void setup() {
myservo.attach(9); // Servo motor terhubung ke pin 9
}
void loop()
{ // Gerakan servo berlawanan arah jarum jam (counterclockwise)
for (int pos = 90; pos >= 180; pos += 1) {
myservo.write(pos);
delay(15);
} delay(1000); // Tunggu 1 detik
}}

#include <Servo.h>
Servo myservo; // Objek untuk mengontrol servo
void setup() {
myservo.attach(9); // Servo motor terhubung ke pin 9
}
void loop() {
// Gerakan servo berlawanan arah jarum jam (counterclockwise)
for (int pos = 90; pos >= 0; pos -= 1) {
myservo.write(pos);
delay(15);
}
delay(1000); // Tunggu 1 detik
}
#include <Servo.h>
Servo servo1;
Servo servo2;
Servo servo3;
Servo servo4;
void setup() {
servo1.attach(9); // Servo 1 dihubungkan ke pin 9
servo2.attach(10); // Servo 2 dihubungkan ke pin 10
servo3.attach(11); // Servo 3 dihubungkan ke pin 11
servo4.attach(12); // Servo 4 dihubungkan ke pin 12
}
void loop() {
// Langkah 1
moveServo(servo1, 75);
moveServo(servo2, 65);
moveServo(servo3, 50);
moveServo(servo4, 135);
delay(200);
// Langkah 2
moveServo(servo1, 35);
moveServo(servo2, 100);
moveServo(servo3, 100);
moveServo(servo4, 180);
delay(200);
// Langkah 3
moveServo(servo1, 0);
moveServo(servo2, 145);
moveServo(servo3, 130);
moveServo(servo4, 180);
delay(200);
// Langkah 4
moveServo(servo1, 15);
moveServo(servo2, 125);
moveServo(servo3, 90);
moveServo(servo4, 90);
delay(200);
// Langkah 5
moveServo(servo1, 50);
moveServo(servo2, 95);
moveServo(servo3, 100);
moveServo(servo4, 45);
delay(200);
// Langkah 6
moveServo(servo1, 75);
moveServo(servo2, 65);
moveServo(servo3, 130);
moveServo(servo4, 20);
delay(200);
}
void moveServo(Servo servo, int angle) {
servo.write(angle);
delay(500);
}
#include <Servo.h>
#define SERVO_BASE 9
#define SERVO_SHOULDER 10
#define SERVO_ELBOW 11
#define SERVO_GRIPPER 12
Servo myservo_1; // create servo object to control a servo
Servo myservo_2;
Servo myservo_3;
Servo myservo_4;
unsigned char Data_String[25],Data_Index = 0,New_Data_Rec_Flag = 0;
unsigned int Received_Servo_Value[4],Final_Servo_Val[4];
unsigned char Index_i = 0,Index_j = 0,Counter_to_Refresh = 0;
void setup() {
Serial.begin(9600);
myservo_1.attach(SERVO_BASE); // attaches the servo on pin 2 to the servo
object
myservo_2.attach(SERVO_SHOULDER); // attaches the servo on pin 3 to the
servo object
myservo_3.attach(SERVO_ELBOW); // attaches the servo on pin 4 to the servo
object
myservo_4.attach(SERVO_GRIPPER); // attaches the servo on pin 5 to the
servo
object
myservo_1.write(90);
delay(200);
myservo_2.write(90);
delay(200);
myservo_3.write(90);
delay(200);
myservo_4.write(90);
delay(200);
Received_Servo_Value[0] = 90; // Default values
Received_Servo_Value[1] = 90;
Received_Servo_Value[2] =90;
Received_Servo_Value[3] =45;
Final_Servo_Val[0] = 90; // Default values
Final_Servo_Val[1] = 90;
Final_Servo_Val[2] =90;
Final_Servo_Val[3] =45;
}
void loop()
{
if(New_Data_Rec_Flag==0)
{
if (Serial.available()) // check whether bluetooth data is available
{
// read incoming serial data:
char inChar = Serial.read(); // read bluetooth data one by one
//Serial.print(inChar);
if(inChar==0x0A) // End character of bluetooth data
{
Data_String[Data_Index] = inChar;
Data_Index = 0;
New_Data_Rec_Flag = 1;
}
else
{
if(inChar!=0x2C) // removing ascii value, except for 0x2C which is
ascii for ,
{
inChar = inChar - 0x30; // removing Ascii value of 0, so that we can get
exat value
}
Data_String[Data_Index] = inChar;
Data_Index++;
}
}
}
if(New_Data_Rec_Flag==1)
{
Received_Servo_Value[0] =0;
Received_Servo_Value[1] =0;
Received_Servo_Value[2] =0;
Received_Servo_Value[3] =0;
for(Index_i = 0,Index_j = 0;;)
{
if(Data_String[Index_j]==0x2C)
{
Index_j++;
Index_i++;
Serial.print("A ");
}
else if(Data_String[Index_j]==0x0A)
{
New_Data_Rec_Flag = 0;
Serial.print("B ");
break;
}
else
{
Received_Servo_Value[Index_i] = Received_Servo_Value[Index_i] * 10
+ Data_String[Index_j];
Index_j++;
Serial.print("C ");
}
}
Serial.print(Received_Servo_Value[0]);
Serial.print(" ");
Serial.print(Received_Servo_Value[1]);
Serial.print(" ");
Serial.print(Received_Servo_Value[2]);
Serial.print(" ");
Serial.println(2*Received_Servo_Value[3]);
}
Counter_to_Refresh++;
delay(1);
if(Counter_to_Refresh >= 10) // delay of 10 msec = 1 msec * 10, this willallow
smooth movement of servos
{
Counter_to_Refresh = 0;
if(Received_Servo_Value[0]!=Final_Servo_Val[0])
{
if(Received_Servo_Value[0]>Final_Servo_Val[0])
{
Final_Servo_Val[0]++;
}
if(Received_Servo_Value[0]<Final_Servo_Val[0])
{
Final_Servo_Val[0]--;
}
myservo_1.write(180 - Final_Servo_Val[0]); // adjuted as per app
}
if(Received_Servo_Value[1]!=Final_Servo_Val[1])
{
if(Received_Servo_Value[1]>Final_Servo_Val[1])
{
Final_Servo_Val[1]++;
}
if(Received_Servo_Value[1]<Final_Servo_Val[1])
{
Final_Servo_Val[1]--;
}
myservo_2.write(Final_Servo_Val[1]);
}
if(Received_Servo_Value[2]!=Final_Servo_Val[2])
{
if(Received_Servo_Value[2]>Final_Servo_Val[2])
{
Final_Servo_Val[2]++;
}
if(Received_Servo_Value[2]<Final_Servo_Val[2])
{
Final_Servo_Val[2]--;
}
myservo_3.write(Final_Servo_Val[2]);
}
if(Received_Servo_Value[3]!=Final_Servo_Val[3])
{
if(Received_Servo_Value[3]>Final_Servo_Val[3])
{
Final_Servo_Val[3]++;
}
if(Received_Servo_Value[3]<Final_Servo_Val[3])
{
Final_Servo_Val[3]--;
}
myservo_4.write(180 - (2*Final_Servo_Val[3])); // adjuted as per app
}
}
}