Sep 23,2022

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Robot Arm to implement CV projects

If you train it correctly, this Robot Arm will collaborate with you in the implementation of your new CV projects

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Published: Sep 23,2022

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Smart Soldering Iron TS101-BC2

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Smart Soldering Iron TS101-BC2

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Raspberry Pi 5 7 Inch Touch Screen IPS 1024x600 HD LCD HDMI-compatible Display for RPI 4B 3B+ OPI 5 AIDA64 PC Secondary Screen（Without Speaker）

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Topic

DIY Electronics

Arduino

Robotics

Arduino DIY Robot Robotics

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	servomotor	x 6
	Breadboard 830 Point Solderless PCB Bread Board MB-102 MB102 Test Develop DIY	x 1
	HC-05	x 1
	A000053 Arduino	x 1
	19.5V 4.7A Power Supply Domallk	x 1
	S1621-46 Harwin Inc.	x 50

	arduino IDE Arduino
	MIT App Inventor MIT
	Python 3.9 Python Community
	Microsoft Visual Studio

	#include <Servo.h>
	#include <SoftwareSerial.h>
	SoftwareSerial Bluetooth(3, 4); // RX, TX

	Servo servo1; //BASE
	Servo servo2; //HOMBRO1
	Servo servo3; //HOMBRO2 no se usa en este proyecto, la idea principal era usar 2 servos para HOMBRO
	Servo servo4; //CODO1
	Servo servo5; //CODO2
	Servo servo6; //MUÑECA
	Servo servo7; //GRIPPER

	//10rapido 15medio 20lento
	int s1Vel = 15; //BASE
	int s2Vel = 25; //HOMBRO
	int s4Vel = 20; //CODO1
	int s5Vel = 20; //CODO2
	int s6Vel = 15; //MUÑECA
	int s7Vel = 15; //GRIPPER

	int index=0;

	int velG=25;


	int s1Act,s2Act,s3Act,s4Act,s5Act,s6Act,s7Act; //posicion actual de los servos
	int s1Ant,s2Ant,s3Ant,s4Ant,s5Ant,s6Ant,s7Ant; //posicion anterior de los servos
	int s1[50],s2[50],s3[50],s4[50],s5[50],s6[50],s7[50]; //matrices para almacenas las posiciones de cada servo

	String bt,btS;


	void setup(){
	Serial.begin(115200);
	Bluetooth.begin(9600);
	Bluetooth.setTimeout(10);
	servo1.attach(5,510,1200); //ancho min y max exclusivo para MG996R base
	servo2.attach(11,650,1400); //ancho min y max exclusivo para MG946R hombro1
	servo3.attach(6,650,1400); //ancho min y max exclusivo para MG946R hombro2
	servo4.attach(7,650,1400); //ancho min y max exclusivo para MG946R codo1
	servo5.attach(8,650,1400); //ancho min y max exclusivo para MG995 codo2
	servo6.attach(9,800,1290); //ancho min y max exclusivo para MG995 muneca
	servo7.attach(10,700,1290); //ancho min y max exclusivo para MG995 gripper

	s1Ant=90; //BASE
	servo1.write(s1Ant);
	//Importante empezar s2 y s3 complementados a 180°;es decir; s2+s3=180;
	s2Ant=100; //HOMBRO1
	s3Ant=80; //HOMBRO2
	servo2.write(s2Ant);
	servo3.write(s3Ant);

	s4Ant=115; //CODO1
	servo4.write(s4Ant);

	s5Ant=60; //CODO2
	servo5.write(s5Ant);

	s6Ant=90; //MUÑECA
	servo6.write(s6Ant);

	s7Ant=60; //GRIPPER
	servo7.write(s7Ant);

	delay(50);
	}

	void loop() {

	if(Bluetooth.available()>0){

	bt = Bluetooth.readString(); // leemos cadena
	//////////////////////////// SERVO 1 - BASE /////////////////////////////////////////////////////////////////////////////////
	if(bt.startsWith("s1")){ // comprueba si la cadena comienza con "s1"
	btS = bt.substring(2,bt.length()); // extraigo los caracteres desde la poisicion 2 en adelante ejem:"s1120" a "120"
	s1Act = btS.toInt(); //convierto de string a entero
	//MUEVO EL SERVOMOTOR CON UN BARRIDO
	if(s1Ant > s1Act){
	for(int j=s1Ant; j>=s1Act; j--){
	servo1.write(j);
	delay(s1Vel);}}
	else{
	for(int j=s1Ant; j<=s1Act; j++){
	servo1.write(j);
	delay(s1Vel);}}

	s1Ant = s1Act;} //el angulo movido(s1Act) se convierte en la posicion anterior

	//////////////////////////// SERVO 2 y 3 - HOMBRO 1 y 2 /////////////////////////////////////////////////////////////////////////////////
	if(bt.startsWith("s2")){
	btS = bt.substring(2,bt.length());
	s2Act = btS.toInt();
	Serial.println(s2Act);
	if(s2Ant > s2Act){
	for(int j=s2Ant; j>=s2Act; j--){
	servo2.write(j);
	servo3.write(180-j);
	delay(s2Vel);}}
	else{
	for(int j=s2Ant; j<=s2Act; j++){
	servo2.write(j);
	servo3.write(180-j);
	delay(s2Vel);}}

	s2Ant = s2Act;}

	//////////////////////////// SERVO 4 - CODO1 /////////////////////////////////////////////////////////////////////////////////
	if(bt.startsWith("s3")){
	btS = bt.substring(2,bt.length());
	s4Act = btS.toInt();

	if(s4Ant > s4Act){
	for(int j=s4Ant; j>=s4Act; j--){
	servo4.write(j);
	delay(s4Vel);}}
	else{
	for(int j=s4Ant; j<=s4Act; j++){
	servo4.write(j);
	delay(s4Vel);}}

	s4Ant = s4Act;}

	//////////////////////////// SERVO 5 - CODO2 /////////////////////////////////////////////////////////////////////////////////
	if(bt.startsWith("s4")){
	btS = bt.substring(2,bt.length());
	s5Act = btS.toInt();

	if(s5Ant > s5Act){
	for(int j=s5Ant; j>=s5Act; j--){
	servo5.write(j);
	delay(s5Vel);}}
	else{
	for(int j=s5Ant; j<=s5Act; j++){
	servo5.write(j);
	delay(s5Vel);}}

	s5Ant = s5Act;}

	//////////////////////////// SERVO 6 - MUÑECA /////////////////////////////////////////////////////////////////////////////////
	if(bt.startsWith("s5")){
	btS = bt.substring(2,bt.length());
	s6Act = btS.toInt();
	Serial.println(s6Act);
	if(s6Ant > s6Act){
	for(int j=s6Ant; j>=s6Act; j--){
	servo6.write(j);
	delay(s6Vel);}}
	else{
	for(int j=s6Ant; j<=s6Act; j++){
	servo6.write(j);
	delay(s6Vel);}}

	s6Ant = s6Act;}

	//////////////////////////// SERVO 7 - GRIPPER /////////////////////////////////////////////////////////////////////////////////
	if(bt.startsWith("s6")){
	btS = bt.substring(2,bt.length());
	s7Act = btS.toInt();

	if(s7Ant > s7Act){
	for(int j=s7Ant; j>=s7Act; j--){
	servo7.write(j);
	delay(s7Vel);}}
	else{
	for(int j=s7Ant; j<=s7Act; j++){
	servo7.write(j);
	delay(s7Vel);}}

	s7Ant = s7Act;}

	//////////////////////////// SAVE //////////////////////////////////////////////////
	if(bt.startsWith("SAVE")){
	s1[index]= s1Ant;
	s2[index]= s2Ant;
	s4[index]= s4Ant;
	s5[index]= s5Ant;
	s6[index]= s6Ant;
	s7[index]= s7Ant;
	index++;}
	///////////////////////// RESET ///////////////////////////////////////////////////
	if(bt.startsWith("RESET")){
	//memset se utiliza para rellenar un bloque de memoria con un valor determinado
	//memeset("matriz","dato a rellenar","tamaño de la matriz")
	memset(s1,0,sizeof(s1)); //rellena con el valor de "0" todas las posiciones de la matriz
	memset(s2,0,sizeof(s2));
	memset(s4,0,sizeof(s4));
	memset(s5,0,sizeof(s5));
	memset(s6,0,sizeof(s6));
	memset(s7,0,sizeof(s7));
	index=0;}
	//////////////////////////// RUN ////////////////////////////////////////////////////
	if(bt.startsWith("RUN")){
	//Ejecuta los pasos una y otra vez hasta que se pulse el botón "RESET" o espera hasta que se vuelva a pulsar "RESET"
	while(bt.startsWith("RESET") != true){//MIENTRAS NO SE PRESIONE 'RESET' SE MANTIENE EN EL BUCLE y SOLO FUNCIONA BOTON "PAUSE"
	for(int i=0; i<= index-2;i++){
	if(Bluetooth.available()>0){
	bt = Bluetooth.readString();
	if(bt.startsWith("PAUSE") == true){
	//Ejecuta los pasos una y otra vez hasta que se pulse el botón "RUN" o espera hasta que se vuelva a pulsar "RUN"
	while(bt.startsWith("RUN") != true){//MIENTRAS NO SE PRESIONE 'RUN' SE MANTIENE EN EL BUCLE Y SOLO FUNCIONA BOTON "RESET"
	if(Bluetooth.available()>0){
	bt = Bluetooth.readString();
	if(bt.startsWith("RESET") == true){
	break;}
	}
	}
	}//end if(PAUSE)
	if(bt.startsWith("ss")){
	btS = bt.substring(2,bt.length());
	velG = btS.toInt();}
	}//end 1er Bluetooth.available
	//////// SERVO 1 ////////////////////////
	if(s1[i] == s1[i+1]){}

	if(s1[i] > s1[i+1]){
	for(int j = s1[i]; j >= s1[i+1];j--){
	servo1.write(j);
	delay(velG);}}

	if(s1[i] < s1[i+1]){
	for(int j = s1[i]; j <= s1[i+1];j++){
	servo1.write(j);
	delay(velG);}}
	//////// SERVO 2 y 3 /////////////////////
	if(s2[i] == s2[i+1]){}

	if(s2[i] > s2[i+1]){
	for(int j = s2[i]; j >= s2[i+1];j--){
	servo2.write(j);
	servo3.write(180-j);
	delay(velG);}}

	if(s2[i] < s2[i+1]){
	for(int j = s2[i]; j <= s2[i+1];j++){
	servo2.write(j);
	servo3.write(180-j);
	delay(velG);}}
	//////// SERVO 4 ////////////////////////
	if(s4[i] == s4[i+1]){}

	if(s4[i] > s4[i+1]){
	for(int j = s4[i]; j >= s4[i+1];j--){
	servo4.write(j);
	delay(velG);}}

	if(s4[i] < s4[i+1]){
	for(int j = s4[i]; j <= s4[i+1];j++){
	servo4.write(j);
	delay(velG);}}
	//////// SERVO 5 ////////////////////////
	if(s5[i] == s5[i+1]){}

	if(s5[i] > s5[i+1]){
	for(int j = s5[i]; j >= s5[i+1];j--){
	servo5.write(j);
	delay(velG);}}

	if(s5[i] < s5[i+1]){
	for(int j = s5[i]; j <= s5[i+1];j++){
	servo5.write(j);
	delay(velG);}}
	//////// SERVO 6 ////////////////////////
	if(s6[i] == s6[i+1]){}

	if(s6[i] > s6[i+1]){
	for(int j = s6[i]; j >= s6[i+1];j--){
	servo6.write(j);
	delay(velG);}}

	if(s6[i] < s6[i+1]){
	for(int j = s6[i]; j <= s6[i+1];j++){
	servo6.write(j);
	delay(velG);}}
	//////// SERVO 7 ////////////////////////
	if(s7[i] == s7[i+1]){}

	if(s7[i] > s7[i+1]){
	for(int j = s7[i]; j >= s7[i+1];j--){
	servo7.write(j);
	delay(velG);}}

	if(s7[i] < s7[i+1]){
	for(int j = s7[i]; j <= s7[i+1];j++){
	servo7.write(j);
	delay(velG);}}
	}// end FOR INDEX
	}//end 1er WHILE "RESET"
	}

	}//if(Bluetooth.available()>0){
	}//end void loop

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