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Robotic Manipulator Control Program

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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9 views6 pages

Robotic Manipulator Control Program

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

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);
[Link](2,740,2365); // attaches the servo on pin 2 to the servo object
[Link](3,760,2365); // attaches the servo on pin 3 to the servo object
[Link](4,720,2365); // attaches the servo on pin 4 to the servo object
[Link](5,720,2300); // attaches the servo on pin 5 to the servo object
[Link](10,670,2300); // attaches the servo on pin 10 to the servo
object
[Link](11,720,2300); // attaches the servo on pin 11 to the servo
object
[Link](0,35,false);
[Link](0,35,false);
[Link](0,35,false);
[Link](0,35,false);
[Link](0,35,false);
[Link](0,35,false);
delay(2000);
}
void loop()
{
[Link](0,15,true);
[Link](44,15,false);
[Link](0,15,false);
[Link](35,15,false);
[Link](0,15,false);
[Link](0,15,false);
delay(5000);
[Link](0,15,false);
[Link](44,15,false);
[Link](0,15,false);
[Link](35,15,false);
[Link](0,15,false);
[Link](50,15,false);
delay(5000);
[Link](84,15,false);
[Link](35,15,false);
[Link](12,15,false);
[Link](0,15,false);
[Link](0,15,false);
[Link](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);
[Link](2,740,2365); // attaches the servo on pin 2 to the servo object
[Link](3,760,2365); // attaches the servo on pin 3 to the servo object
[Link](4,720,2365); // attaches the servo on pin 4 to the servo object
[Link](5,720,2300); // attaches the servo on pin 5 to the servo object
[Link](10,670,2300); // attaches the servo on pin 10 to the servo
object
[Link](11,720,2300); // attaches the servo on pin 11 to the servo
object
[Link](0,35,false);
[Link](0,35,false);
[Link](0,35,false);
[Link](0,35,false);
[Link](0,35,false);
[Link](0,35,false);
delay(2000);
}
void loop()
{
[Link](0,15,true);
[Link](44,15,false);
[Link](0,15,false);
[Link](35,15,false);
[Link](0,15,false);
[Link](0,15,false);
delay(5000);
[Link](0,15,false);
[Link](44,15,false);
[Link](0,15,false);
[Link](35,15,false);
[Link](0,15,false);
[Link](50,15,false);
delay(5000);
[Link](84,15,false);
[Link](35,15,false);
[Link](12,15,false);
[Link](0,15,false);
[Link](0,15,false);
[Link](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);
[Link](2,740,2365); // attaches the servo on pin 2 to the servo object
[Link](3,760,2365); // attaches the servo on pin 3 to the servo object
[Link](4,720,2365); // attaches the servo on pin 4 to the servo object
[Link](5,720,2300); // attaches the servo on pin 5 to the servo object
[Link](10,670,2300); // attaches the servo on pin 10 to the servo
object
[Link](11,720,2300); // attaches the servo on pin 11 to the servo
object
[Link](0,35,false);
[Link](0,35,false);
[Link](0,35,false);
[Link](0,35,false);
[Link](0,35,false);
[Link](0,35,false);
delay(2000);
}
void loop()
{

[Link](0,15,true);
[Link](44,15,false);
[Link](0,15,false);
[Link](35,15,false);
[Link](0,15,false);
[Link](0,15,false);
delay(5000);
[Link](0,15,false);
[Link](44,15,false);
[Link](0,15,false);
[Link](35,15,false);
[Link](0,15,false);
[Link](50,15,false);
delay(5000);
[Link](84,15,false);
[Link](35,15,false);
[Link](12,15,false);
[Link](0,15,false);
[Link](0,15,false);
[Link](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(){
[Link]();
[Link]();
[Link]();
[Link]();
[Link]();
[Link]();
}

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