KureBas Robotics
Published

Gesture Controlled Trainable Arduino Robot Arm via Bluetooth

KureBasArm is a robotic arm that can movable from mobile phone manually or by sensors from your phone. You can record and play your movement

IntermediateFull instructions provided10 hours29,136

Things used in this project

Story

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Schematics

Easy setup !!!

There is no schema. Because the setup is very easy according the video.

Code

KureBasArm

C/C++
#include <AFMotor.h>
#include <Wire.h>
#include <Adafruit_PWMServoDriver.h>
Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();
#define MIN_PULSE_WIDTH       650
#define MAX_PULSE_WIDTH       2350
#define DEFAULT_PULSE_WIDTH   1500
#define FREQUENCY             50

void setup() {
  pwm.begin();
  pwm.setPWMFreq(FREQUENCY);
  Serial.begin(9600);
}

void loop() {
   //Read from bluetooth and write to usb serial
  if(Serial.available()>= 2 )
  {
    unsigned int servopos = Serial.read();
    unsigned int servopos1 = Serial.read();
    unsigned int realservo = (servopos1 *256) + servopos; 
    Serial.println(realservo); 
    
    if (realservo >= 1000 && realservo <1180){
    int servo1 = realservo;
    servo1 = map(servo1, 1000,1180,0,180);
    pwm.setPWM(3, 0, pulseWidth(servo1));
    Serial.println("servo 1 ON");
    delay(10);

    }
    
    if (realservo >=2000 && realservo <2180){
      int servo2 = realservo;
      servo2 = map(servo2,2000,2180,0,180);
       pwm.setPWM(5, 0, pulseWidth(servo2));
      Serial.println("servo 2 On");
      delay(10);
      
    }
    
    if (realservo >=3000 && realservo < 3180){
      int servo3 = realservo;
      servo3 = map(servo3, 3000, 3180,0,180);
       pwm.setPWM(8, 0, pulseWidth(servo3));
      Serial.println("servo 3 On");
      delay(10);
    }
    if (realservo >=4000 && realservo < 4180){
      int servo4 = realservo;
      servo4 = map(servo4, 4000, 4180,0,180);
       pwm.setPWM(13, 0, pulseWidth(servo4));
      Serial.println("servo 4 On");
      delay(10);
    }
    
    if (realservo >=5000 && realservo < 5180){
      int servo5 = realservo;
      servo5 = map(servo5, 5000, 5180,0,180);
       pwm.setPWM(11, 0, pulseWidth(servo5));
      Serial.println("servo 5 On");
      delay(10);
    }
    
    if (realservo >=6000 && realservo < 6180){
      int servo6 = realservo;
      servo6 = map(servo6, 6000, 6180,0,90);
      pwm.setPWM(15, 0, pulseWidth(servo6));
      Serial.println("servo 6 On");
      delay(10);
    }
 
  }
  
}

int pulseWidth(int angle)
{
  int pulse_wide, analog_value;
  pulse_wide   = map(angle, 0, 180, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
  analog_value = int(float(pulse_wide) / 1000000 * FREQUENCY * 4096);
  return analog_value;
}

Credits

KureBas Robotics

KureBas Robotics

3 projects • 90 followers
I am a student of computer engineering.

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