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CE/SEL of PS2

CLK of PS2

Project 3: Control the Robot Arm by Joysticks

3.1 Servo Control

Description

In the previous projects, we set the square wave and angles of

servos.

Now, we use libraries of servos to control the angle of a servo.

We only need to put the servo folder in the libraries folder

where the Arduino IDE location is installed, then open the

Arduino IDE, the library file will take effect.

Connection Diagram

Summary of Contents for 4DOF

Page 1: ...Keyestudio 4DOF Robot Arm Kit for Arduino DIY...

Page 2: ...IDE 73 2 Installing Driver of V4 0 Board 74 3 Arduino IDE Setting 79 Project 2 4DOF Rotation and Pin Control 85 1 Joint Rotation and Servo Angle Settings 85 2 Pin Control 86 Project 3 Control the Robo...

Page 3: ...trols the Robotic Arm 168 Project 5 PS2 controlled Robot Arm Extension 179 5 1 PS2 Joypad Key Test 179 5 2 PS2 Joypad Control 189 5 3 PS2 Controlling Posture Memory 205 5 4 PS2 Controls Posture Memory...

Page 4: ...r routine life interesting Combined with STEM education DIY products can greatly cultivate teenagers imagination and creativity Therefore we Keyestudio R D group rolls out an amazing 4DOF mechanical a...

Page 5: ...andle we provide joystick modules the second one is App and the third one is wireless PS2 joystick module not included in this kit I believe that you can t help getting down with this kit Next let s g...

Page 6: ...io servo motor drive shield are as follows VIN voltage VIN DC 7 15V VIN current 5A Two channl 5V output 5V 3A PS2 interface compatible with Sony PS2 receiver can be plugged directly into the expansion...

Page 7: ...kit and inside the packaging you will find all the parts and screws listed below Note Peel the plastic film off the board first when you install robotic arm No Item QTY Picture 1 Keyestudio V4 0 Contr...

Page 8: ...5 4 Acrylic Handle 1 5 MeArm ABS Cylindrical Holder 1 6 180 Black Servo 4 7 BT 24 Module 1 8 Keyestudio Joystick Module 2 9 3D PS2 Joystick Cap 2...

Page 9: ...driver 1 11 Galvanized Wrench 1 12 M3 6MM Round Head Screws 12 13 M3 10MM Round Head Screws 22 14 M3 14MM Flat Head Screws 2 15 M3 12MM Round Head Screws 12 16 M3 24 6MM Copper Pillar 4 17 M3 6mm 6m m...

Page 10: ...xagon Nuts 24 20 M1 2x5MM Phillips Self tapping Screws 8 21 M2x5MM Phillips Self tapping Screws 10 22 M3 304 Stainless Steel Flat Washer 10 23 M2x8MM Phillips Self tapping Screws 2 24 M3 16MM Flat Hea...

Page 11: ...8 26 Female Female 50CM Jumper Wire 10 27 Black 3 100MM Cable Ties 7 28 18650 2 Slot Battery Holder 1...

Page 12: ...9 4 Assembly Guide 1 Install the base of the robotic arm Components Needed...

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Page 16: ...13 The base is installed successfully...

Page 17: ...14 2 Mount servos onto the base Components Needed...

Page 18: ...15...

Page 19: ...16 Assemble a servo left onto the left board...

Page 20: ...17 Components Needed...

Page 21: ...e the left servo Attach this left servo to G V and S 6 of servo motor driver shield upload the following code plug in power and press the rest button on the V4 0 board Then the left servo rotates to 1...

Page 22: ...include Servo h Servo myservo create servo object to control a servo void setup Serial begin 9600 delay 1000 void loop myservo attach 6 Change pin to adjust one by one myservo write 180 Angle delay 10...

Page 23: ...20...

Page 24: ...21 a Fix the arm...

Page 25: ...22...

Page 26: ...23 Mount a servo right onto the right board Components Needed...

Page 27: ...24 Note the breach direction of acrylic board...

Page 28: ...vo to G V and S A0 of servo motor driver shield upload the following code plug in power and press the rest button on the V4 0 board Then the left servo rotates to 0 Set the servo to 0 include Servo h...

Page 29: ...26 void setup Serial begin 9600 delay 1000 void loop myservo attach A0 Change pin to adjust one by one myservo write 0 Angle delay 1000...

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Page 31: ...28...

Page 32: ...29 Install the holder part...

Page 33: ...30 Fix the left part and the mount part together...

Page 34: ...31...

Page 35: ...32 Fix the right part and the ABS holder together...

Page 36: ...33 Note the direction of the ABS holder...

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Page 40: ...37 Install the middle part...

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Page 47: ...44 Assemble the claw...

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Page 52: ...Initialize the servo Attach this left servo to G V and S 9 of servo motor driver shield upload the following code plug in power and press the rest button on the V4 0 board Then the left servo rotates...

Page 53: ...50 Set the servo to 0 include Servo h Servo myservo create servo object to control a servo void setup Serial begin 9600 delay 1000 void loop...

Page 54: ...51 myservo attach 9 Change pin to adjust one by one myservo write 0 Angle delay 1000 Mount gear wheels...

Page 55: ...52...

Page 56: ...53 Components Needed...

Page 57: ...54...

Page 58: ...itialize the servo Attach this left servo to G V and S A1 of sevro motor driver shield upload the following code plug in power and press the rest button on the V4 0 board Then the left servo rotates t...

Page 59: ...56 Set the servo to 80 include Servo h Servo myservo create servo object to control a servo void setup Serial begin 9600 delay 1000 void loop...

Page 60: ...57 myservo attach A1 Change pin to adjust one by one myservo write 80 Angle delay 1000 Install the robotic arm...

Page 61: ...58...

Page 62: ...59 Mount the control part...

Page 63: ...60...

Page 64: ...61 Wiring up Guide...

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Page 69: ...66 5 Robot Arm Projects Project 1 Install Arduino IDE and Driver Keyestudio V4 0 Development Board...

Page 70: ...67 Keyestudio V4 0 development board is an Arduino uno comp atible board which is based on ATmega328P MCU and with a cp2102 Chip as a UART to USB converter...

Page 71: ...n called the SPI serial peripheral interface and can be considered an extension of the output In fact slave the output devices to the SPI bus host When connecting to PC program the firmware to ATMEGA3...

Page 72: ...nMode digitalWrite and digitalRead functions 4 GND GND 5 AREF Reference voltage 0 5V for analog inputs Used with analogReference Configures the reference voltage used for analog input i e the value us...

Page 73: ...nd the label TX transmit When Arduino board communicates via serial port send the message TX led flashes 13 RX LED Onboard you can find the label RX receive When Arduino board communicates via serial...

Page 74: ...Power Jack Arduino board can be supplied with an external power DC7 12V from the DC power jack 17 Microcontr oller Each Arduino board has its own microcontroller You can regard it as the brain of you...

Page 75: ...the outputs for working with the 5V or 3 3V 19 RESET Header Connect an external button to reset the board The function is the same as reset button 20 Power Pin 3V3 A 3 3 volt supply generated by the o...

Page 76: ...et control board we need to download Arduino IDE and driver firstly You could download Arduino IDE from the official website https www arduino cc click the SOFTWARE on the browse bar click DOWNLOADS t...

Page 77: ...ortable installation 2 Installing Driver of V4 0 Board Let s install the driver of keyestudio V4 0 board The USB TTL chip on V4 0 board adopts CP2102 serial chip The driver program of this chip is inc...

Page 78: ...ly please open the device manager of computer Right click Computer Properties Device Manager The yellow exclamation mark on the page implies an unsuccessful installation and you should double click th...

Page 79: ...76 Click OK to enter the following page Click browse my computer for updated driver software...

Page 80: ...77 Click Browse then search the driver of CP2102 and click Next There is a DRIVERS folder in Arduino software installed package open driver folder and check the driver of CP210X series chips...

Page 81: ...78 When opening the device manager we will find the yellow exclamation mark disappear The driver of CP2102 is installed successfully...

Page 82: ...79 3 Arduino IDE Setting...

Page 83: ...80 Click icon and open Arduino IDE When downloading the sketch to the board you must select the correct name of Arduino board that matches the board connected to your computer As shown below...

Page 84: ...81 Then select the correct COM port you can see the corresponding COM port after the driver is successfully installed...

Page 85: ...82...

Page 86: ...s or not B B Used to upload the sketch to your Arduino board C C Used to create shortcut window of a new sketch D D Used to directly open an example sketch E E Used to save the sketch F F Used to send...

Page 87: ...Rotate toward the rightmost Rotate toward the leftmost Servo 2 right side Rocker arm connected to Servo 2 draws back stretch out Servo 3 left side Rocker arm connected to Servo 3 stretches out draw ba...

Page 88: ...85 Project 2 4DOF Rotation and Pin Control 1 Joint Rotation and Servo Angle Settings...

Page 89: ...o 1 baseplate A1 Servo 2 right side A0 Servo 3 left side 6 Servo 4 clamp claw 9 Right Joystick X A2 Right Joystick Y A5 Right Joystick Z B 7 Left Joystick X A3 Left Joystick Y A4 Left Joystick Z B 8 D...

Page 90: ...the previous projects we set the square wave and angles of servos Now we use libraries of servos to control the angle of a servo We only need to put the servo folder in the libraries folder where the...

Page 91: ...88 Test Code 1 include Servo h Servo myservo create servo object to control a servo void setup Serial begin 9600 delay 1000 void loop myservo attach A0 modify each pin to adjust...

Page 92: ...oad the code plug in power and press the reset button Then the servo will automatically rotate to 0 Automatic Movement Description In the previous section you have learned to set the servo angle In fa...

Page 93: ...Servo h Servo myservo1 create servo object to control a servo Servo myservo2 Servo myservo3 Servo myservo4 int pos1 80 pos2 60 pos3 130 pos4 0 void setup myservo1 attach A1 attaches the servo on pin...

Page 94: ...yservo4 attach 9 myservo1 write pos1 delay 1000 myservo2 write pos2 myservo3 write pos3 myservo4 write pos4 delay 1500 void loop turn right for pos1 pos1 0 pos1 myservo1 write pos1 delay 5 delay 5ms u...

Page 95: ...00 pos4 myservo4 write pos4 delay 1000 right servo rotates to 100 degrees for pos2 pos2 50 pos2 myservo2 write pos2 delay 5 left servo rotates to 5 degrees for pos3 pos3 50 pos3 myservo3 write pos3 de...

Page 96: ...s4 myservo4 write pos4 delay 1000 left servo rotates to100 degrees rocker arm lifts for pos3 pos3 120 pos3 myservo3 write pos3 delay 5 delay 1000 turn to left for pos1 pos1 180 pos1 myservo1 write pos...

Page 97: ...arm for pos3 pos3 50 pos3 myservo3 write pos3 delay 5 delay 1000 open the claw for pos4 pos4 100 pos4 myservo4 write pos4 delay 1000 lift up the arm for pos3 pos3 120 pos3 myservo3 write pos3 delay 5...

Page 98: ...ress the reset button Then the robot arm will rotate to right stretch out the arm lower and enable claw then it will withdraw lift rotate to left stretch out lower and make claw open This series of ac...

Page 99: ...down or 0 not press Check out the value printed on the serial monitor Connection Diagram Test Code 3 const int right_X A2 define the right X pin to A2 const int right_Y A5 define the right Y pin to A...

Page 100: ...eft key to INPUT pinMode left_key INPUT Serial begin 9600 set the baud rate to 9600 void loop int x1 y1 z1 define the variable used to save the joystick value it reads int x2 y2 z2 x1 analogRead right...

Page 101: ...print right_Y Serial println y1 DEC Serial print right_key Serial println z1 DEC Serial println right Serial print left_X Serial println x2 DEC Serial print left_Y Serial println y2 DEC Serial print l...

Page 102: ...99 set the baud rate to 9600 you should see the analog value of the right Joystick pin X Y...

Page 103: ...es to control 4DOF robot arm realize different motions At first set the boot posture The Joystick control is shown as below table Right Joystick Servo Left Joystick Servo X1 50 Servo 1 gradually reduc...

Page 104: ...ally increases to 180 push the left joystick to the left the claw opens Y1 1000 Servo 2 gradually reduces to 0 that is lift up the robot upper arm Y2 1000 Servo 3 gradually reduces to 35 that is stret...

Page 105: ...102 www keyestudio com...

Page 106: ...e 4 include Servo h add the servo libraries Servo myservo1 create servo object to control a servo Servo myservo2 Servo myservo3 Servo myservo4 int pos1 80 pos2 60 pos3 130 pos4 0 define the variable o...

Page 107: ...ine the right key pin to 7 that is the value of Z const int left_X A3 define the left X pin to A3 const int left_Y A4 define the left X pin to A4 const int left_key 8 define the left key pin to 8 that...

Page 108: ...A1 myservo2 attach A0 set the control pin of servo 2 to A0 myservo3 attach 6 set the control pin of servo 3 to D6 myservo4 attach 9 set the control pin of servo 4 to D9 x1 analogRead right_X read the...

Page 109: ...obi lower arm dabi claw void zhuazi claw if x2 50 if push the left joystick to the right pos4 pos4 2 current angle of servo 4 subtracts 2 change the value you subtract thus change the closed speed of...

Page 110: ...p subtraction when reduce to 2 if x2 1000 if push the left joystick to the left pos4 pos4 8 current angle of servo 4 plus 8 change the value you plus thus change the open speed of claw Serial println...

Page 111: ...s 1 myservo1 write pos1 servo 1 operates the motion the arm turns right delay 5 if pos1 1 limit the angle when turn right pos1 1 if x1 1000 if push the right joystick to the let pos1 pos1 1 pos1 plus...

Page 112: ...t joystick upward pos2 pos2 1 myservo2 write pos2 the upper arm will lift delay 5 if pos2 0 limit the lifting angle pos2 0 if y1 50 if push the right joystick downward pos2 pos2 1 myservo2 write pos2...

Page 113: ...ower arm void dabi if y2 50 if push the left joystick upward pos3 pos3 1 myservo3 write pos3 lower arm will stretch out delay 5 if pos3 180 limit the stretched angle pos3 180 if y2 1000 if push the le...

Page 114: ...tack the shield onto it and wire them up then 4DOF robot arm will keep the initial position You can control the robot arm with Joysticks 3 4 Add Memory Function Memorize One Posture Description In the...

Page 115: ...variables for saving the angle value of 4 servos use the Joystick to control a posture Press the key Z1 of right Joystick to save the angle value of 4 servos press the key Z2 of left Joystick to make...

Page 116: ...servo1 create servo object to control a servo Servo myservo2 Servo myservo3 Servo myservo4 int pos1 80 pos2 60 pos3 130 pos4 0 define the variable of 4 servo angle and assign the initial value that is...

Page 117: ...define the left X pin to A3 const int left_Y A4 define the left Y pin to A4 const int left_key 8 define the left key pin to 8 that is Z value int x1 y1 z1 define the variable used to save the joystick...

Page 118: ...myservo3 attach 6 set the control pin of servo 3 to D6 myservo4 attach 9 set the control pin of servo 4 to D9 x1 analogRead right_X read the right X value y1 analogRead right_Y read the right Y value...

Page 119: ...the angle value of each servo s2 myservo2 read s3 myservo3 read s4 myservo4 read if z2 1 if the left key is pressed delay 10 if z2 1 pos1 myservo1 read record the angle value of 4 servos in current p...

Page 120: ...y for 5ms controlling the rotation speed of servo else if angle of servo 1 is greater than the value stored in array 1 while pos1 s1 while loop rotate the servo to the position of the value stored in...

Page 121: ...118 www keyestudio com while pos2 s2 myservo2 write pos2 pos2 delay 5 else while pos2 s2 myservo2 write pos2 pos2 delay 5 the explanation is the same as servo 1 if pos3 s3 while pos3 s3...

Page 122: ...119 www keyestudio com myservo3 write pos3 pos3 delay 5 else while pos3 s3 myservo3 write pos3 pos3 delay 5 the explanation is the same as servo 1 if pos4 s4 while pos4 s4 myservo4 write pos4...

Page 123: ...120 www keyestudio com pos4 delay 5 else while pos4 s4 myservo4 write pos4 pos4 delay 5 claw zhuazi turn zhuandong upper arm...

Page 124: ...subtracts 2 change the value you subtract thus change the closed speed of claw Serial println pos4 myservo4 write pos4 servo 4 operates the action claw is gradually closed delay 5 if pos4 2 if pos4 v...

Page 125: ...e the open speed of claw Serial println pos4 myservo4 write pos4 servo 4 operates the motion the claw gradually opens delay 5 if pos4 90 limit the largest angle when open pos4 90 turn void zhuandong i...

Page 126: ...n right pos1 1 if x1 1000 if push the right joystick to the left pos1 pos1 1 pos1 plus 1 myservo1 write pos1 robot arm turns left delay 5 if pos1 180 limit the angle when turn left pos1 180 upper arm...

Page 127: ...rite pos2 the upper arm will lift delay 5 if pos2 0 limit the lifting angle pos2 0 if y1 50 if push the right joystick downward pos2 pos2 1 myservo2 write pos2 the upper arm will go down delay 5 if po...

Page 128: ...pward pos3 pos3 1 myservo3 write pos3 the lower arm will stretch out delay 5 if pos3 35 limit the stretched angle pos3 35 if y2 50 if push the left joystick downward pos3 pos3 1 myservo3 write pos3 th...

Page 129: ...the key Z2 of left Joystick to operate a servo posture saved in the variable Memorize Multiple Postures Description In the previous section we have set the angle of 4 servos to make the robot arm rem...

Page 130: ...127 www keyestudio com That is make robot arm memorize a group of actions and you can set the memorizing speed in the code Connection Diagram...

Page 131: ...myservo1 create servo object to control a servo Servo myservo2 Servo myservo3 Servo myservo4 int pos1 80 pos2 60 pos3 130 pos4 0 define the variable of 4 servo angle and assign the initial value that...

Page 132: ...pin to 8 that is Z value int x1 y1 z1 define the variable used to save the joystick value int x2 y2 z2 int s1 s2 s3 s4 int jiyi1 10 define 4 array separately used to save the angle of four servo int...

Page 133: ...set baud rate to 9600 void loop myservo1 attach A1 set the control pin of servo 1 to A1 myservo2 attach A0 set the control pin of servo 2 to A0 myservo3 attach 6 set the control pin of servo 3 to D6 m...

Page 134: ...uce the speed overall if z1 1 if the right joystick key is pressed delay 10 delay for eliminating shake if z1 1 judge again if the right key is pressed s1 myservo1 read read the angle value of each se...

Page 135: ...t value of i to j delay 100 Serial println i on the serial monitor print out the value i if z2 1 if the left joystick key is pressed delay 10 if z2 1 judge again if the left key is pressed i 0 assign...

Page 136: ...ray myservo1 write pos1 servo 1 performs the action delay 5 delay 5ms controlling the servo rotating speed pos1 pos1 plus 1 Serial println pos1 else if the current servo 1 angle is greater than the va...

Page 137: ...com the explanation is the same as the previous servo if pos2 jiyi2 k while pos2 jiyi2 k myservo2 write pos2 delay 5 pos2 Serial println pos1 else while pos2 jiyi2 k myservo2 write pos2 delay 5 pos2 S...

Page 138: ...eyestudio com the explanation is the same as the previous servo if pos3 jiyi3 k while pos3 jiyi3 k myservo3 write pos3 delay 5 pos3 Serial println pos1 else while pos3 jiyi3 k myservo3 write pos3 dela...

Page 139: ...io com Serial println pos1 the explanation is the same as the previous servo if pos4 jiyi4 k while pos4 jiyi4 k myservo4 write pos4 delay 5 pos4 Serial println pos1 else while pos4 jiyi4 k myservo4 wr...

Page 140: ...137 www keyestudio com pos4 Serial println pos1 claw zhuazi turn zhuandong upper arm xiaobi lower arm dabi claw void zhuazi...

Page 141: ...osed delay 5 if pos4 2 if pos4 value subtracts to 2 the claw in 37 degrees we have tested is closed should change the value based on the fact pos4 2 stop subtraction when reduce to 2 if x2 1000 if pus...

Page 142: ...to the right pos1 pos1 1 pos1 subtracts 1 myservo1 write pos1 servo 1 operates the motion and robot arm turns right delay 5 if pos1 1 limit the angle when turn right pos1 1 if x1 1000 if push the righ...

Page 143: ...y 5 if pos1 180 limit the angle when turn left pos1 180 upper arm void xiaobi if y1 1000 if push the right joystick upward pos2 pos2 1 myservo2 write pos2 the upper arm will lift delay 5 if pos2 0 lim...

Page 144: ...1 myservo2 write pos2 the upper arm will go down delay 5 if pos2 180 limit the declining angle pos2 180 lower arm void dabi if y2 1000 if push the left joystick upward pos3 pos3 1 myservo3 write pos3...

Page 145: ...ower arm will draw back delay 5 if pos3 180 limit the retracted angle pos3 180 Test Result Wire it up stack the shield onto V4 0 upload the code Powered on press the key Z1 of right Joystick to save t...

Page 146: ...xt you can press the left button to perform actions saved Memorize Several Postures And Loop Description In the previous section we have introduced how to make 4DOF robot arm to memorize and perform a...

Page 147: ...144 www keyestudio com...

Page 148: ...myservo4 int pos1 80 pos2 60 pos3 130 pos4 0 define the variable of 4 servo angle and assign the initial value that is the boot posture angle value const int right_X A2 define the right X pin to A2 c...

Page 149: ...can save angle data of 0 20 servo int jiyi3 20 if need to save more data just change the number 20 to be more larger number int jiyi4 20 int i 0 for loop int j 0 save the last value of i void setup b...

Page 150: ...gRead left_Y read the left Y value z2 digitalRead left_key read the left Z value delay 5 delay used to reduce the joystick value read that is reduce the whole speed if z1 1 if the joystick right key i...

Page 151: ...0ms Serial println i print out the value i if z2 1 if the left joystick key is pressed delay 10 delay for eliminating shake if z2 1 judge again if the left key is pressed pos1 myservo1 read memorize t...

Page 152: ...println pos1 else if the current servo 1 angle is greater than the value stored in array 1 while pos1 jiyi1 k while loop make servo turn to the position of value stored in the array myservo1 write po...

Page 153: ...pos1 else while pos2 jiyi2 k myservo2 write pos2 delay 5 pos2 Serial println pos1 the explanation is the same as the previous servo if pos3 jiyi3 k while pos3 jiyi3 k myservo3 write pos3 delay 5 pos3...

Page 154: ...lay 5 pos3 Serial println pos1 the explanation is the same as the previous servo if pos4 jiyi4 k while pos4 jiyi4 k myservo4 write pos4 delay 5 pos4 Serial println pos1 else while pos4 jiyi4 k myservo...

Page 155: ...he key z1 is pressed pos1 jiyi1 j 1 assign the last angle value saved in array to pos pos2 jiyi2 j 1 for exiting the loop still access to joystick control pos3 jiyi3 j 1 pos4 jiyi4 j 1 i 0 assign i as...

Page 156: ...is gradually closed delay 5 if pos4 2 if pos4 value subtracts to 2 the claw in 37 degrees we have tested is closed should change the value based on the fact pos4 2 stop subtraction when reduce to 2 i...

Page 157: ...subtracts 1 myservo1 write pos1 servo 1 performs the action the robot arm turns right delay 5 if pos1 1 limit the right turning angle pos1 1 if x1 1000 if push the right joystick to the left pos1 pos1...

Page 158: ...stick upward pos2 pos2 1 myservo2 write pos2 the robot arm will lift delay 5 if pos2 0 limit the lifting angle pos2 0 if y1 50 if push the right joystick downward pos2 pos2 1 myservo2 write pos2 the r...

Page 159: ...ward pos3 pos3 1 myservo3 write pos3 the lower arm will stretch out delay 5 if pos3 35 limit the stretched angle pos3 35 if y2 50 if push the right joystick downward pos3 pos3 1 myservo3 write pos3 th...

Page 160: ...ion Press the key Z1 again start to memorize the posture after that press the key Z2 to loop the memorized actions Move the thumbsticks and press the button of right thumbstick then move them and pres...

Page 161: ...id IOS system Specification Bluetooth protocol Bluetooth Specification V5 1 BLE Working distance In an open environment achieve 40m ultra long distance communication Operating frequency 2 4GHz ISM ban...

Page 162: ...ature 10 to 65 degrees Celsius Bluetooth Control Key Test Description Next we are going to introduce the use method for BT 24 Bluetooth module To easily use the BT 24 Bluetooth module to control the r...

Page 163: ...in the experiment we will test each key to get the corresponding value Installation Steps for Android system APP for Android mobile Enter google play search keyes arm https play google com store apps...

Page 164: ...161 www keyestudio com 1 Download and install the interface shown below 2 Upload code and power on Led of Bluetooth module blinks Start Bluetooth and open App to click CONNECT to connect...

Page 165: ...162 www keyestudio com 3 Upload code on control board after power on LED blinks on Bluetooth module Start Bluetooth and open App to click connect Bluetooth is connected...

Page 166: ...163 www keyestudio com For IOS system 2 Open App Store 3 Search keyes arm on APP Store then click downlaod...

Page 167: ...Special Note Remove the Bluetooth module please when uploading the Test Code Otherwise the program will fail to upload After uploading the Test Code then connect the Bluetooth and Bluetooth module to...

Page 168: ...165 www keyestudio com Test Code void setup Serial begin 9600 set the serial baud rate to 9600...

Page 169: ...etooth if Serial available if receive the value val Serial read assign the value read to val Serial println val After connecting Bluetooth module open serial port monitor to set baud rate to 9600 Pres...

Page 170: ...functions of control keys Connect APP to bt 24 Bluetooth module Turn off Bluetooth Press to send F Release to send S Left servo goes front Left servo stops motion Press to send L Release to send S Cl...

Page 171: ...Right servo stretches out Right servo stops motion Press to send l Release to send S The base servo turns left Base servo stops Mode 2 Press to send r Release to send S Base Servo turns right Base Ser...

Page 172: ...is experiment we ll control 4DOF robotic arm movement via APP Note After uploading test code successfully unplug the USB data cable and power up via external power supply and control 4 DOF robot arm m...

Page 173: ...170 www keyestudio com...

Page 174: ...braries Servo myservo1 create servo object to control a servo Servo myservo2 Servo myservo3 Servo myservo4 int pos1 80 pos2 60 pos3 130 pos4 0 define the variable of 4 servo angle and assign the initi...

Page 175: ...pos4 delay 1500 Serial begin 9600 set the baud rate to 9600 void loop myservo1 attach A1 set the control pin of servo 1 to A1 myservo2 attach A0 set the control pin of servo 2 to A0 myservo3 attach 6...

Page 176: ...rintln val switch val case L T_left break execute the corresponding function when receive the value case R T_right break case f RF break case b rb break case F ZK break case B ZB break case l LF break...

Page 177: ...ly pressed button so the command of pressing the button will be repeated case L T_left break execute the corresponding function when receive the value case R T_right break case f RF break case b rb br...

Page 178: ...175 www keyestudio com myservo1 write pos1 delay 5 if pos1 180 pos1 180 turn right void T_right pos1 pos1 1 myservo1 write pos1 delay 5 if pos1 1 pos1 1 open the claw void ZK...

Page 179: ...6 www keyestudio com pos4 pos4 2 Serial println pos4 myservo4 write pos4 delay 5 if pos4 2 pos4 0 close the claw void ZB pos4 pos4 8 Serial println pos4 myservo4 write pos4 delay 5 if pos4 108 pos4 10...

Page 180: ...ww keyestudio com the upper arm will lift up void RF pos2 pos2 1 myservo2 write pos2 delay 5 if pos2 0 pos2 0 the upper arm will go down void rb pos2 pos2 1 myservo2 write pos2 delay 5 if pos2 180 pos...

Page 181: ...ww keyestudio com the lower arm will stretch out void lb pos3 pos3 1 myservo3 write pos3 delay 5 if pos3 180 pos3 180 the lower arm will draw back void LF pos3 pos3 1 myservo3 write pos3 delay 5 if po...

Page 182: ...te pos2 myservo3 write pos3 myservo4 write pos4 Test Result Upload the code connect it up and power on after connecting the Bluetooth APP press the key to control the robot arm do commanded motions Pr...

Page 183: ...e PS2 Joypad After connecting the Joypad should upload the test program on Arduino IDE But before testing should place the PS2X_lib folder inside the libraries folder of Arduino IDE directory Uploadin...

Page 184: ...Pressures Rumble check for error if error 0 Serial println Found Controller configured successful Serial println Try out all the buttons X will vibrate the controller faster as you press harder Serial...

Page 185: ...g Visit www billporter info for troubleshooting tips else if error 3 Serial println Controller refusing to enter Pressures mode may not support it Serial print ps2x Analog 1 HEX type ps2x readType swi...

Page 186: ...alues ps2x read_gamepad small motor on off larger motor strenght from 0 255 if you don t enable the rumble use ps2x read_gamepad with no values you should call this at least once a second if error 1 s...

Page 187: ...essed if ps2x ButtonPressed BLUE_FRET Serial println Blue Fret Pressed if ps2x ButtonPressed ORANGE_FRET Serial println Orange Fret Pressed if ps2x ButtonPressed STAR_POWER Serial println Star Power C...

Page 188: ...IF TRUE Serial print Wammy Bar Position Serial println ps2x Analog WHAMMY_BAR DEC else DualShock Controller ps2x read_gamepad false vibrate read controller and set large motor to spin at vibrate speed...

Page 189: ...int Right held this hard Serial println ps2x Analog PSAB_PAD_RIGHT DEC if ps2x Button PSB_PAD_LEFT Serial print LEFT held this hard Serial println ps2x Analog PSAB_PAD_LEFT DEC if ps2x Button PSB_PAD_...

Page 190: ...s2x Button PSB_L3 Serial println L3 pressed if ps2x Button PSB_R3 Serial println R3 pressed if ps2x Button PSB_L2 Serial println L2 pressed if ps2x Button PSB_R2 Serial println R2 pressed if ps2x Butt...

Page 191: ...e TRUE if button was JUST pressed OR released Serial println X just changed if ps2x Button PSB_L1 ps2x Button PSB_R1 print stick values if either is TRUE Serial print Stick Values Serial print ps2x An...

Page 192: ...and set the baud rate to 57600 When press down the key or push the rocker you should see the corresponding character showed on the monitor 5 2 PS2 Joypad Control Description In the previous section w...

Page 193: ...law Push to the right side Rotate to right Push to the right side close Push to the left side Rotate to left Push to the left side open Push forward The small arm will lift Push forward The large arm...

Page 194: ...191 www keyestudio com Connection Diagram Test Code include PS2X_lib h PS2X ps2x create PS2 Controller Class...

Page 195: ...ad pins again after connecting the controller int error 0 byte vibrate 0 include Servo h add the servo libraries Servo myservo1 create servo object to control a servo Servo myservo2 Servo myservo3 Ser...

Page 196: ...Serial println Found Controller configured successful Serial println Try out all the buttons X will vibrate the controller faster as you press harder Serial println holding L1 or R1 will print out the...

Page 197: ...rter info for troubleshooting tips Serial print ps2x Analog 1 HEX ps2x enableRumble enable rumble vibration motors ps2x enablePressures enable reading the pressure values from the buttons void loop Yo...

Page 198: ...e control pin of servo 2 to A0 myservo3 attach 6 set the control pin of servo 3 to D6 myservo4 attach 9 set the control pin of servo 4 to D9 if error 0 return ps2x read_gamepad false vibrate read cont...

Page 199: ...2x Button PSB_PAD_RIGHT Serial print Right held this hard Serial println ps2x Analog PSAB_PAD_RIGHT DEC if ps2x Button PSB_PAD_LEFT Serial print LEFT held this hard Serial println ps2x Analog PSAB_PAD...

Page 200: ...will be TRUE if any button changes state on to off or off to on if ps2x Button PSB_R3 Serial println R3 pressed if ps2x Button PSB_L3 Serial println L3 pressed if ps2x Button PSB_L2 Serial println L2...

Page 201: ...ressed Serial println Circle just pressed if ps2x ButtonReleased PSB_PINK will be TRUE if button was JUST released Serial println Square just released if ps2x NewButtonState PSB_BLUE will be TRUE if b...

Page 202: ...is TRUE Serial print Stick Values Serial print ps2x Analog PSS_LY DEC Left stick Y axis Other options LX RY RX Serial print Serial print ps2x Analog PSS_LX DEC Serial print Serial print ps2x Analog P...

Page 203: ...1 myservo1 write pos1 servo 1 executes the action the arm will turn right delay 5 if pos1 1 limit the right turning angle pos1 1 turn left if ps2x Analog PSS_RX 50 if push the right joystick to the l...

Page 204: ...pper arm front if ps2x Analog PSS_RY 50 if push the right joystick upward pos2 pos2 1 myservo2 write pos2 the upper arm will lift delay 5 if pos2 0 limit the lifting angle pos2 0 upper arm back if ps2...

Page 205: ...g angle pos2 180 void zhuazi close the claw if ps2x Analog PSS_LX 220 if push the left joystick to the right pos4 pos4 1 Serial println pos4 myservo4 write pos4 servo 4 carries out the action and the...

Page 206: ...log PSS_LX 10 if push the left joystick to the left pos4 pos4 8 Serial println pos4 myservo4 write pos4 servo 4 carries out the action and the claw is gradually opened delay 5 if pos4 108 limit the ma...

Page 207: ...pos3 1 myservo3 write pos3 the lower arm will stretch out delay 5 if pos3 180 limit the stretched angle pos3 180 if ps2x Analog PSS_LY 10 if push the left joystick downward pos3 pos3 1 myservo3 write...

Page 208: ...us experiment we have showed how to use Joystick module to memorize several postures Now we replace the joystick module with PS2 Joypad Press the Z1 button to memorize the postures of the arm If you w...

Page 209: ...ibraries Servo myservo1 create servo object to control a servo Servo myservo2 Servo myservo3 Servo myservo4 int pos1 80 pos2 60 pos3 130 pos4 0 define the variable of 4 servo angle and assign the init...

Page 210: ...er you conect the controller or call config_gamepad pins again after connecting the controller int error 0 byte vibrate 0 int s1 s2 s3 s4 int jiyi1 20 define four array separately used to save the ang...

Page 211: ...troller configured successful Serial println Try out all the buttons X will vibrate the controller faster as you press harder Serial println holding L1 or R1 will print out the analog stick values Ser...

Page 212: ...x Analog 1 HEX ps2x enableRumble enable rumble vibration motors ps2x enablePressures enable reading the pressure values from the buttons void loop myservo1 attach A1 set the control pin of servo 1 to...

Page 213: ...intln Start is being held if ps2x Button PSB_SELECT Serial println Select is being held if ps2x Button PSB_PAD_UP will be TRUE as long as button is pressed Serial print Up held this hard Serial printl...

Page 214: ...rial println ps2x Analog PSAB_PAD_DOWN DEC vibrate ps2x Analog PSAB_BLUE this will set the large motor vibrate speed based on how hard you press the blue X button if ps2x NewButtonState will be TRUE i...

Page 215: ...100 Serial println s2 s3 myservo3 read delay 100 Serial println s3 s4 myservo4 read delay 100 Serial println s4 jiyi1 i s1 save the servo value read in the array sequentially jiyi2 i s2 jiyi3 i s3 ji...

Page 216: ...r loop to execute all the stored actions if pos1 jiyi1 k if the current servo 1 angle is less than the value stored in array 1 while pos1 jiyi1 k while loop make servo turn to the position of value st...

Page 217: ...i1 k while loop make servo turn to the position of value stored in the array myservo1 write pos1 servo 1 executes the action delay 5 delay 5ms controlling the rotating speed of servo pos1 Serial print...

Page 218: ...www keyestudio com Serial println pos1 else while pos2 jiyi2 k myservo2 write pos2 delay 5 pos2 Serial println pos1 the same analysis if pos3 jiyi3 k while pos3 jiyi3 k myservo3 write pos3 delay 5 po...

Page 219: ...www keyestudio com Serial println pos1 else while pos3 jiyi3 k myservo3 write pos3 delay 5 pos3 Serial println pos1 the same analysis if pos4 jiyi4 k while pos4 jiyi4 k myservo4 write pos4 delay 5 po...

Page 220: ...keyestudio com Serial println pos1 else while pos4 jiyi4 k myservo4 write pos4 delay 5 pos4 Serial println pos1 if ps2x Button PSB_L2 Serial println L2 pressed if ps2x Button PSB_R2 Serial println R2...

Page 221: ...TRUE if button was JUST pressed Serial println Circle just pressed if ps2x ButtonReleased PSB_PINK will be TRUE if button was JUST released Serial println Square just released if ps2x NewButtonState...

Page 222: ...print stick values if either is TRUE Serial print Stick Values Serial print ps2x Analog PSS_LY DEC Left stick Y axis Other options LX RY RX Serial print Serial print ps2x Analog PSS_LX DEC Serial prin...

Page 223: ...g PSS_RX DEC pos1 pos1 1 pos1 subtracts 1 myservo1 write pos1 servo 1 carries out the action and the arm will turn right delay 5 if pos1 1 limit the right turning angle pos1 1 if ps2x Analog PSS_RX 50...

Page 224: ...limit the left turning angle pos1 180 upper arm void xiaobi upper arm front if ps2x Analog PSS_RY 50 if push the right joystick upward pos2 pos2 1 myservo2 write pos2 the upper arm will lift up delay...

Page 225: ...myservo2 write pos2 the upper arm will go down delay 5 if pos2 180 limit the declining angle pos2 180 void zhuazi close the claw if ps2x Analog PSS_LX 220 if push the left joystick to the right pos4...

Page 226: ...t in 37degrees is closed pos4 0 open the claw if ps2x Analog PSS_LX 10 if push the left joystick to the left pos4 pos4 8 Serial println pos4 myservo4 write pos4 servo 4 carries out the action and the...

Page 227: ...k upward pos3 pos3 1 myservo3 write pos3 the lower arm will stretch out delay 5 if pos3 180 limit the stretched angle pos3 180 if ps2x Analog PSS_LY 10 if push the left joystick downward pos3 pos3 1 m...

Page 228: ...e posture Next press the left button of the PS2 joypad to perform postures 5 4 PS2 Controls Posture Memory and Loop Description In the previous experiment we have showed how to use Joystick module to...

Page 229: ...udio com move them and press the right button again That indicates that actions of the arm are memorized Next you can press the left button to perform actions saved Connection Diagram Test Code13 incl...

Page 230: ...initial value that is the boot posture angle value PS2X ps2x create PS2 Controller Class right now the library does NOT support hot pluggable controllers meaning you must always either restart your Ar...

Page 231: ...yservo2 write pos2 myservo3 write pos3 myservo4 write pos4 delay 1500 error ps2x config_gamepad 13 11 10 12 setup GamePad clock command attention data pins check for error if error 0 Serial println Fo...

Page 232: ...to enable debug visit www billporter info for troubleshooting tips else if error 2 Serial println Controller found but not accepting commands see readme txt to enable debug Visit www billporter info...

Page 233: ...rate read controller and set large motor to spin at vibrate speed if ps2x Button PSB_START will be TRUE as long as button is pressed Serial println Start is being held if ps2x Button PSB_SELECT Serial...

Page 234: ...FT DEC if ps2x Button PSB_PAD_DOWN Serial print DOWN held this hard Serial println ps2x Analog PSAB_PAD_DOWN DEC vibrate ps2x Analog PSAB_BLUE this will set the large motor vibrate speed based on how...

Page 235: ...ln s1 s2 myservo2 read delay 100 Serial println s2 s3 myservo3 read delay 100 Serial println s3 s4 myservo4 read delay 100 Serial println s4 jiyi1 i s1 save the servo value read in the array sequentia...

Page 236: ...ervo posture pos2 myservo2 read pos3 myservo3 read pos4 myservo4 read while tt 1 repeat the actions for int k 0 k j k for loop to execute all the stored actions if pos1 jiyi1 k if the current servo 1...

Page 237: ...lse if the current servo 1 angle is greater than the value stored in array 1 while pos1 jiyi1 k while loop make servo turn to the position of value stored in the array myservo1 write pos1 servo 1 exec...

Page 238: ...udio com while pos2 jiyi2 k myservo2 write pos2 delay 5 pos2 Serial println pos1 else while pos2 jiyi2 k myservo2 write pos2 delay 5 pos2 Serial println pos1 the same analysis as the previous servo if...

Page 239: ...udio com while pos3 jiyi3 k myservo3 write pos3 delay 5 pos3 Serial println pos1 else while pos3 jiyi3 k myservo3 write pos3 delay 5 pos3 Serial println pos1 the same analysis as the previous servo if...

Page 240: ...237 www keyestudio com while pos4 jiyi4 k myservo4 write pos4 delay 5 pos4 Serial println pos1 else while pos4 jiyi4 k myservo4 write pos4 delay 5 pos4 Serial println pos1 exit the looping...

Page 241: ...sures ps2x read_gamepad false vibrate vibrate ps2x Analog PSAB_BLUE if ps2x NewButtonState will be TRUE if any button changes state on to off or off to on if ps2x Button PSB_R3 tt 0 i 0 break if ps2x...

Page 242: ...button was JUST pressed Serial println Circle just pressed if ps2x ButtonReleased PSB_PINK will be TRUE if button was JUST released Serial println Square just released if ps2x NewButtonState PSB_BLUE...

Page 243: ...if either is TRUE Serial print Stick Values Serial print ps2x Analog PSS_LY DEC Left stick Y axis Other options LX RY RX Serial print Serial print ps2x Analog PSS_LX DEC Serial print Serial print ps2...

Page 244: ...servo1 write pos1 servo 1 carries out the action the robot arm turns right delay 5 if pos1 1 limit the right turning angle pos1 1 turn left if ps2x Analog PSS_RX 50 if push the right joystick to the l...

Page 245: ...nt if ps2x Analog PSS_RY 50 if push the right joystick upward pos2 pos2 1 myservo2 write pos2 the upper arm will lift up delay 5 if pos2 0 limit the lifting angle pos2 0 upper arm back if ps2x Analog...

Page 246: ...pos2 180 void zhuazi close the claw if ps2x Analog PSS_LX 220 if push the left joystick to the right pos4 pos4 1 Serial println pos4 myservo4 write pos4 servo 4 carries out the action and claw is grad...

Page 247: ...ick to the left pos4 pos4 8 Serial println pos4 myservo4 write pos4 servo 4 carries out the action and claw is gradually opened delay 5 if pos4 108 limit the maximum angle opened pos4 108 void dabi lo...

Page 248: ...will stretch out delay 5 if pos3 180 limit the stretched angle pos3 180 if ps2x Analog PSS_LY 10 if push the left joystick downward pos3 pos3 1 myservo3 write pos3 the lower arm will draw back delay 5...

Page 249: ...bot arm then press the left thumbstick to perform postures saved Hold down the right thumbstick to exit the loop of postures Test Result Stack the shield onto V4 0 and upload the code Powered on and c...

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