Kareem Khaleelahmed barakat
Published © GPL3+

Android Controlled 6DoF Robotic Arm

Most 6DoF robotic arms come with a control board with RS-232 for desktop control, we adapt the control for use with android devices simply.

BeginnerWork in progress2 hours15,238
Android Controlled 6DoF Robotic Arm

Things used in this project

Hardware components

DeviceHub.net 6DoF Robotic Arm
×1
Arduino UNO & Genuino UNO
Arduino UNO & Genuino UNO
×1
1Sheeld
1Sheeld
×1
USB-A to B Cable
USB-A to B Cable
×1
9V 1A Switching Wall Power Supply
9V 1A Switching Wall Power Supply
×1

Software apps and online services

Arduino IDE
Arduino IDE

Story

Read more

Code

Untitled file

Arduino
#define CUSTOM_SETTINGS
#define INCLUDE_GAMEPAD_SHIELD
#define INCLUDE_ACCELEROMETER_SENSOR_SHIELD

/* Include 1Sheeld library. */
#include <OneSheeld.h>
#include <Servo.h>


Servo myservo1;  // create servo object to control a servo
Servo myservo2;
Servo myservo3;
Servo myservo4;
Servo myservo5;
Servo myservo6;
int count1 = 0;
int count2 = 0;
int count3 = 0;
int count4 = 0;
int count5 = 0;

void setup() 
{
  /* Start communication. */
  OneSheeld.begin();
  myservo1.attach(3);  //the pin for the servo control
  myservo2.attach(5);
  myservo3.attach(6);
  myservo4.attach(9);
  myservo5.attach(10);
  myservo6.attach(11);
}

void loop() 
{
  
  /* Turn on the LED when the red button is pressed. */
  if(GamePad.isRedPressed())
  {
        count3+=20;
        if (count3<=180&&count3>=0){
           myservo3.write(count3);
        }
        else if (count3>=180)
        {
          count3=180;
        }
  }
 else if (GamePad.isBluePressed())
  {
        count3-=20;
        if (count3<=180&&count3>=0){
           myservo3.write(count3);
        }
        else if (count3<=0)
        {
          count3=0;
        }
  }

  else if(GamePad.isOrangePressed())
  {
        count4+=20;
        if (count4<=180&&count4>=0){
           myservo4.write(count4);
        }
        else if (count4>=180)
        {
          count4=180;
        }
  }
 else if (GamePad.isGreenPressed())
  {
        count4-=20;
        if (count4<=180&&count4>=0){
           myservo4.write(count4);
        }
        else if (count4<=0)
        {
          count4=0;
        }
  }

  /* If up is pressed, move the car forward. */
  if(GamePad.isUpPressed())
  {
            count5+=20;
        if (count5<=180&&count2>=0){
           myservo5.write(count5);
        }
        else if (count5>=180)
        {
          count5=180;
        }

  }
  /* If down is pressed, move the car backwards. */
  else if (GamePad.isDownPressed())
  {
     count5-=20;
        if (count5<=180&&count5>=0){
           myservo1.write(count5);
        }
        else if (count5<=0)
        {
          count5=0;
        }
    
  }
  /* If right is pressed, turn the car to the right. */
  else if (GamePad.isRightPressed())
  {
        count1+=20;
        if (count1<=180&&count1>=0){
           myservo1.write(count1);
        }
        else if (count1>=180)
        {
          count1=180;
        }
  }
    /* If left is pressed, turn the car to the left. */
  else if(GamePad.isLeftPressed())
  {
         count1-=20;
        if (count1<=180&&count1>=0){
           myservo1.write(count1);
        }
        else if (count1<=0)
        {
          count1=0;
        }
        
 
  }
  
  else 
  {
    myservo1.write(count1);    myservo3.write(count3);
    myservo4.write(count4);
    myservo5.write(count5);
  }
  
   if(AccelerometerSensor.getX() >=3 && AccelerometerSensor.getX()<=9)
  {
    myservo6.write(map(AccelerometerSensor.getX(),3,9,0,180));
  }

 else if (AccelerometerSensor.getY() >=-3 && AccelerometerSensor.getY()<=3)
 {
   myservo2.write(map(AccelerometerSensor.getY(),-3,3,0,180));
 }
  
  /* If nothing is pressed stop all motors. */
  else {
    myservo6.write(0);
    myservo2.write(0);
    
  }

  
}

Code for arduino IDE use

Credits

Kareem Khaleel

Kareem Khaleel

1 project • 4 followers
ahmed barakat

ahmed barakat

1 project • 3 followers
control engineer 4th year Mansoura university interested in robotics and embedded systems worked in many projects and teams such as ROVs and Mars Rovers
Thanks to 1Sheeld.

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