RoboticArmControlsRemoteTestTxRev3

//Code to Test Robotic Arm Remote Control - Written by Jonathan DeWitt
//Difference Between Rev 0 and Rev 1
//Rev 0 used Reference 1 as Technique for Transmitting data via the HC-12
//Rev 1 used Reference 2 as Technique for Transmitting data via the HC-12

#include <Servo.h>
#include <SoftwareSerial.h>
#include <Wire.h> //Not that this was actually needed.  Was used in Reference 1

SoftwareSerial HC12(8,7); // Arduino Pin 8 Rx to Tx on HC-12, Arduino Pin 7 Tx to Rx on HC-12

// Servo Servo1;
// Servo Servo2;
// Servo Servo3;
// Servo Servo4;
// Servo Servo5;
// Servo Servo6;

// int J1 = 5; //J1 Servo Signal Wire Attached to Pin 5
// int J2 = 6; //J2 Servo Signal Wire Attached to Pin 6
// int J3 = 9; //J3 Servo Signal Wire Attached to Pin 9
// int J4 = 10; //J4 Servo Signal Wire Attached to Pin 10
// int J5 = 11; //J5 Servo Signal Wire Attached to Pin 11
// int J6 = 3; //J6 Servo Signal Wire Attached to Pin 3

int PotPin1 = A0; //Joint 1 Potentiometer is Tied to Pin A0
int PotPin2 = A1; //Joint 2 Potentiometer is Tied to Pin A1
int PotPin3 = A2; //Joint 3 Potentiometer is Tied to Pin A2
int PotPin4 = A3; //Joint 4 Potentiometer is Tied to Pin A3
int PotPin5 = A4; //Joint 5 Potentiometer is Tied to Pin A4
int PotPin6 = A5; //Joint 6 Potentiometer is Tied to Pin A5

int PotVal1; //Stores Potentiometer 1 Value
int PotVal2; //Stores Potentiometer 2 Value
int PotVal3; //Stores Potentiometer 3 Value
int PotVal4; //Stores Potentiometer 4 Value
int PotVal5; //Stores Potentiometer 5 Value
int PotVal6; //Stores Potentiometer 6 Value

int angle1; //Stores Angle to Move Servo 1 To
int angle2; //Stores Angle to Move Servo 2 To
int angle3; //Stores Angle to Move Servo 3 To
int angle4; //Stores Angle to Move Servo 4 To
int angle5; //Stores Angle to Move Servo 5 To
int angle6; //Stores Angle to Move Servo 6 To

//The following variables are needed only to receive data from the HC-12 remote control
String input;
int boundLow;
int boundHigh;
const char delimiter = ',';
const char finald = '.';

int stupD = 500; //Setup Delay

void setup() {
  // put your setup code here, to run once:
  Serial.begin(9600);

  pinMode(PotPin1, INPUT); //Sets Pin Potentiometer 1 is Tied to To an Input
  pinMode(PotPin2, INPUT); //Sets Pin Potentiometer 2 is Tied to To an Input
  pinMode(PotPin3, INPUT); //Sets Pin Potentiometer 3 is Tied to To an Input
  pinMode(PotPin4, INPUT); //Sets Pin Potentiometer 4 is Tied to To an Input
  pinMode(PotPin5, INPUT); //Sets Pin Potentiometer 5 is Tied to To an Input
  pinMode(PotPin6, INPUT); //Sets Pin Potentiometer 6 is Tied to To an Input

  // Servo1.attach(J1); //Calls this is like a pinmode command but also does more from the servo library
  // Servo2.attach(J2); //Calls this is like a pinmode command but also does more from the servo library
  // Servo3.attach(J3); //Calls this is like a pinmode command but also does more from the servo library
  // Servo4.attach(J4); //Calls this is like a pinmode command but also does more from the servo library
  // Servo5.attach(J5); //Calls this is like a pinmode command but also does more from the servo library
  // Servo6.attach(J6); //Calls this is like a pinmode command but also does more from the servo library

   HC12.begin(9600); //Start the HC-12 Module
   delay(stupD); //I assume this delay is to give the HC-12 time to read
}

void loop() {
  // put your main code here, to run repeatedly:

  PotVal1 = analogRead(PotPin1); //Reads Voltage Between 0 and 5 V and Gives Number Between 0 and 1023 Where 2^8 = 1024.  Starts at 0 therefore 1023.
  PotVal2 = analogRead(PotPin2); //Reads Voltage Between 0 and 5 V and Gives Number Between 0 and 1023 Where 2^8 = 1024.  Starts at 0 therefore 1023.
  PotVal3 = analogRead(PotPin3); //Reads Voltage Between 0 and 5 V and Gives Number Between 0 and 1023 Where 2^8 = 1024.  Starts at 0 therefore 1023.
  PotVal4 = analogRead(PotPin4); //Reads Voltage Between 0 and 5 V and Gives Number Between 0 and 1023 Where 2^8 = 1024.  Starts at 0 therefore 1023.
  PotVal5 = analogRead(PotPin5); //Reads Voltage Between 0 and 5 V and Gives Number Between 0 and 1023 Where 2^8 = 1024.  Starts at 0 therefore 1023.
  PotVal6 = analogRead(PotPin6); //Reads Voltage Between 0 and 5 V and Gives Number Between 0 and 1023 Where 2^8 = 1024.  Starts at 0 therefore 1023.

//  Serial.print("PotVal1: ");
//  Serial.print(PotVal1);
//  Serial.print(", ");
//  Serial.print("PotVal2: ");
//  Serial.print(PotVal2);
//  Serial.print(", ");
//  Serial.print("PotVal3: ");
//  Serial.print(PotVal3);
//  Serial.print(", ");
//  Serial.print("PotVal4: ");
//  Serial.print(PotVal4);
//  Serial.print(", ");
//  Serial.print("PotVal5: ");
//  Serial.print(PotVal5);
//  Serial.print(", ");
//  Serial.print("PotVal6: ");
//  Serial.print(PotVal6);
//  Serial.println(".");

  // scale the numbers from the pot
  angle1 = map(PotVal1, 0, 1023, 20, 150); //Scales Converted Values Between 0 and 1023 to Angles Setting Servo Range
  angle2 = map(PotVal2, 0, 1023, 110, 150); //Scales Converted Values Between 0 and 1023 to Angles Setting Servo Range - Default Value 100 to 170 - But if leave at 100 it cannot lift the arm back up
  angle3 = map(PotVal3, 0, 1023, 100, 180); //Scales Converted Values Between 0 and 1023 to Angles Setting Servo Range
  angle4 = map(PotVal4, 0, 1023, 0, 140); //Scales Converted Values Between 0 and 1023 to Angles Setting Servo Range
  angle5 = map(PotVal5, 0, 1023, 10, 140); //Scales Converted Values Between 0 and 1023 to Angles Setting Servo Range
  angle6 = map(PotVal6, 0, 1023, 50, 120); //Scales Converted Values Between 0 and 1023 to Angles Setting Servo Range
  // print out the angle for the servo motor
  Serial.print("Angle 1: ");
  Serial.print(angle1);
  Serial.print(", ");
  Serial.print("Angle 2: ");
  Serial.print(angle2);
  Serial.print(", ");
  Serial.print("Angle 3: ");
  Serial.print(angle3);
  Serial.print(", ");
  Serial.print("Angle 4: ");
  Serial.print(angle4);
  Serial.print(", ");
  Serial.print("Angle 5: ");
  Serial.print(angle5);
  Serial.print(", ");
  Serial.print("Angle 6: ");
  Serial.print(angle6);
  Serial.println(".");

  String angle1S = String(angle1); //Converts integer to a string
  String angle2S = String(angle2); //Converts integer to a string
  String angle3S = String(angle3); //Converts integer to a string
  String angle4S = String(angle4); //Converts integer to a string
  String angle5S = String(angle5); //Converts integer to a string
  String angle6S = String(angle6); //Converts integer to a string

  String message = "s" + angle1S + delimiter + angle2S + delimiter + angle3S + delimiter + angle4S + delimiter + angle5S + delimiter + angle6S + finald + "e"; //Construct the Single Message String

  //This section transmits the angle readings to the HC-12 Module
  HC12.print(message);
  HC12.println(""); //the println line is absolutely necessary because the receive code looks for a new line character to know when the message has finished being received

  delay(100); //Delay from Reference 1 Transmit Code
}

//Notes
//Restrict Joint 1 from 20 to 150 degrees.  It can go down to 0 degrees but buzzes.  I haven't taken it over 150.  It might go further
//Restrict Joint 2 from 110 to 150 degrees.  It can go down to 110 degrees but buzzes a little.  Any lower it can really buzz.  Over 150 it really buzzes.
//Restrict Joint 3 from 100 to 180 degrees.  100 seems to be very high up position (arm raised).  180 seems to be the arm lowered.
//Restrict Joint 4 from 0 to 140 degrees.  It can comfortably do this
//Restrict Joint 5 from 10 to 140 degrees.  It can 0 to 150 (I tested these)
//Restrict Joint 6 from 50 to 120 degrees.  50 is closed gripper.  120 is fully open.

//A good resting pose
//  Servo1.write(90); //Moves Specified Servo to Specified Angle
//  Servo2.write(110); //Moves Specified Servo to Specified Angle
//  Servo3.write(120); //Moves Specified Servo to Specified Angle
//  Servo4.write(50); //Moves Specified Servo to Specified Angle
//  Servo5.write(50); //Moves Specified Servo to Specified Angle
//  Servo6.write(120); //Moves Specified Servo to Specified Angle

//Reference 1 https://rootsaid.com/long-range-remote-controller/
//Reference 2 https://howtomechatronics.com/tutorials/arduino/arduino-and-hc-12-long-range-wireless-communication-module/