GPL3+ Simple Programmable Robotic Arm

SUPPLIES & COMPONENTS

Arduino UNO
Breadboard (generic)
Jumper cables (generic)
Potentiometer that rotates (generic)
SparkFun Pushbutton switch 12mm
LED (generic)
221 ohm resistor
Capacitor 10 µF
Servos (Tower Pro MG996R)
10k ohm resistor

TOOLS AND MACHINES REQUIRED

Hot glue gun (generic)

ONLINE SERVICES AND APPLICATIONS

Arduino IDE

INTRODUCTION TO THE PROJECT

This is a basic robot arm for beginners constructed with widely accessible materials and equipment such as micro servos, cardboard, and hot glue. It is possible to enhance the code and circuit, so feel free to experiment and learn!

Features

Using potentiometers and buttons, it can record and play five different positions. (However, you are free to add as many as you like.)

CODE

#include <Servo.h>

Servo servo1; //Servos
Servo servo2;
Servo servo3;

const int LED1 = 2; //LEDs
const int LED2 = 3;
const int LED3 = 4;
const int LED4 = 7;
const int LED5 = 8;

const int button1 = 12; //Buttons
const int button2 = 13;

int button1Presses = 0; //Button values
boolean button2Pressed = false;

const int pot1 = A0; //Potentimeters
const int pot2 = A1; 
const int pot3 = A2;

int pot1Val; //Potentimeter values
int pot2Val;
int pot3Val;
int pot1Angle;
int pot2Angle;
int pot3Angle;

int servo1PosSaves[] = {1,1,1,1,1}; //position saves
int servo2PosSaves[] = {1,1,1,1,1};
int servo3PosSaves[] = {1,1,1,1,1};

void setup() {
  servo1.attach(5); // Set up everything and will run once; attach servos and define the pin modes
  servo2.attach(6);
  servo3.attach(9);
  
  pinMode(LED1, OUTPUT);
  pinMode(LED2, OUTPUT);
  pinMode(LED3, OUTPUT);
  pinMode(LED4, OUTPUT);
  pinMode(LED5, OUTPUT);
  pinMode(button1, INPUT);
  pinMode(button2, INPUT);

  Serial.begin(9600);
}

void loop() {
  // put your main code here, to run repeatedly: 
  pot1Val = analogRead(pot1); // This will read the values from the potentimeters and store it...
  pot1Angle = map(pot1Val, 0, 1023, 0, 179); // ... and this will map the values from the potentiometers to values the servos can use and store it for later use
  pot2Val = analogRead(pot2); 
  pot2Angle = map(pot2Val, 0, 1023, 0, 179);
  pot3Val = analogRead(pot3);
  pot3Angle = map(pot3Val, 0, 1023, 0, 179);
  
  servo1.write(pot1Angle); // These will make the servos move to the mapped angles
  servo2.write(pot2Angle);
  servo3.write(pot3Angle);
  
  if(digitalRead(button1) == HIGH){ // This will check how many times button1 is pressed and save the positions to an array depending on how many times it is pressed; switch/case works like a if statement
    button1Presses++;
    switch(button1Presses){
      case 1:
        servo1PosSaves[0] = pot1Angle;
        servo2PosSaves[0] = pot2Angle;
        servo3PosSaves[0] = pot3Angle;
        digitalWrite(LED1, HIGH);
        Serial.println("Pos 1 Saved");
        break;
      case 2:
         servo1PosSaves[1] = pot1Angle;
         servo2PosSaves[1] = pot2Angle;
         servo3PosSaves[1] = pot3Angle;
         digitalWrite(LED2, HIGH);
         Serial.println("Pos 2 Saved");
         break;
      case 3:
         servo1PosSaves[2] = pot1Angle;
         servo2PosSaves[2] = pot2Angle;
         servo3PosSaves[2] = pot3Angle;
         digitalWrite(LED3, HIGH);
         Serial.println("Pos 3 Saved");
         break;
       case 4:
         servo1PosSaves[3] = pot1Angle;
         servo2PosSaves[3] = pot2Angle;
         servo3PosSaves[3] = pot3Angle;
         digitalWrite(LED4, HIGH);
         Serial.println("Pos 4 Saved");
         break;
       case 5:
         servo1PosSaves[4] = pot1Angle;
         servo2PosSaves[4] = pot2Angle;
         servo3PosSaves[4] = pot3Angle;
         digitalWrite(LED5, HIGH);
         Serial.println("Pos 5 Saved");
         break;
    }
  }

  if(digitalRead(button2) == HIGH){ // Pretty self-explnatory here
    button2Pressed = true;   
  }
  
  if(button2Pressed){ // if the boolean button2Press is true, then the servos will run though all their saved positions
    for(int i = 0; i < 5; i++){
        servo1.write(servo1PosSaves[i]);
        servo2.write(servo2PosSaves[i]);
        servo3.write(servo3PosSaves[i]);
        Serial.println(" potentimeter Angles: ");
        Serial.println(servo1PosSaves[i]);
        Serial.println(servo2PosSaves[i]);
        Serial.println(servo3PosSaves[i]);
        delay(1050);
      }
  }
  delay(300);
} 

SCHEMATICS

“Reading and Learning new things will help you to become the best version of yourself.” – KP

Helping Hands.

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