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- #include <Servo.h>
- int val1 = 90; //rotation
- int val2 = 40; //shoulder
- int val3 = 60; //arm
- int val4 = 90;
- int val5 = 0; //claw
- int val6 = 70; //claw
- int Delay = 2;
- Servo myServo1;
- Servo myServo2;
- Servo myServo3;
- Servo myServo4;
- Servo myServo5;
- Servo myServo6;
- int data = 0;
- int mode = 119;
- //w=119
- //W=87
- void setup() {
- myServo1.attach(10);
- myServo2.attach(11);
- myServo3.attach(9);
- myServo4.attach(3);
- myServo5.attach(5);
- myServo6.attach(6);
- Serial.begin(9600); // Default communication rate of the Bluetooth module
- myServo1.write(90); //rotation
- myServo2.write(40); //shoulder
- myServo3.write(60);
- myServo4.write(90);
- myServo5.write(val5); //arm
- myServo6.write(val6); //arm
- }
- void loop() {
- if(Serial.available() != 0){ // Checks whether data is comming from the serial port
- data = Serial.read(); // Reads the data from the serial port
- }
- Serial.println(data);
- // if(data == 'w') mode = 'w';
- // if(data == 'W') mode = 'W';
- // if(data == 'w') mode = 'u';
- // if(data == 'U') mode = 'U';
- //
- //
- // if((mode == 'w' && mode == 'u') || (mode == 'W' && mode == 'U')){ // base control
- // if(data == 'F'){
- // val1++;
- // val1 = constrain(val1, 38, 117);
- // myServo1.write(val1);
- // delay(Delay);
- // }
- // else if(data == 'B'){
- // val1--;
- // val1 = constrain(val1, 38, 117);
- // myServo1.write(val1);
- // delay(Delay);
- // delay(2);
- // }
- // else if(data == 'L'){
- // val2++;
- // val2 = constrain(val2, 0, 104);
- // myServo2.write(val2);
- // delay(Delay);
- // }
- // else if(data == 'R'){
- // val2--;
- // val2 = constrain(val2, 0, 104);
- // myServo2.write(val2);
- // delay(Delay);
- // }
- // }
- //
- // else if(mode == 'W' && mode == 'u'){ //arm elbow control
- // if(data == 'F'){
- // val3++;
- // val3 = constrain(val3, 25, 130);
- // myServo3.write(val3);
- // delay(Delay);
- // }
- // else if(data == 'B')
- // {
- // val3--;
- // val3 = constrain(val3, 25, 130);
- // myServo3.write(val3);
- // delay(Delay);
- // }
- // else if(data == 'L')
- // {
- // val4++;
- // val4 = constrain(val4, 0, 180);
- // myServo4.write(val4);
- // delay(Delay);
- // }
- // else if(data == 'R')
- // {
- // val4--;
- // val4 = constrain(val4, 0, 180);
- // myServo4.write(val4);
- // delay(Delay);
- // }
- // }
- // else if(mode == 'w' && mode == 'U'){ // claw control
- // if(data == 'F'){
- // val5++;
- // val6++;
- // val5 = constrain(val5, 0, 110);
- // val6 = constrain(val6, 70, 180);
- // myServo5.write(val5);
- // delay(Delay);
- // myServo6.write(val6);
- // delay(Delay);
- // }
- // else if(data == 'B')
- // {
- // val5--;
- // val6--;
- // val5 = constrain(val5, 0, 110);
- // val6 = constrain(val6, 70, 180);
- // myServo5.write(val5);
- // delay(Delay);
- // myServo6.write(val6);
- // delay(Delay);
- // }
- // }
- }
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