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rbt_slave.ino
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rbt_slave.ino
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//this is slave
#include <SoftwareSerial.h>
SoftwareSerial BTSerial(10, 11); // Rx, Tx cross-over for data communication
#include <Servo.h>
Servo servo1; // create servo object to control a servo
Servo servo2; // create servo object to control a servo
Servo servo3; // create servo object to control a servo
Servo servo4; // create servo object to control a servo
Servo servo5; // create servo object to control a servo
// twelve servo objects can be created on most boards
int finger[]= {170,170,170,20,20}; // idle position
#define button 8
int buttonstate = 1;
#define startPkg B11111111
byte start = B00000000;
void servoMove() {
servo1.write(finger[0]);
delay(20);
servo2.write(finger[1]);
delay(20);
servo3.write(finger[2]);
delay(20);
servo4.write(finger[3]);
delay(20);
servo5.write(finger[4]);
delay(20);
}
void test(){
finger[0] = 170; // idle position
finger[1] = 170;
finger[2] = 170;
finger[3] = 20;
finger[4] = 20;
servoMove();
delay(500);
Serial.println("idle");
finger[0] = 20; // close position
finger[1] = 20;
finger[2] = 20;
finger[3] = 170;
finger[4] = 170;
servoMove();
delay(500);
Serial.println("close");
finger[0] = 170; // 1 finger relax position
finger[1] = 20;
finger[2] = 20;
finger[3] = 170;
finger[4] = 170;
servoMove();
delay(500);
Serial.println("Finger 1 relax");
finger[0] = 170; // 1 finger relax position
finger[1] = 170; // 2 finger relax position
finger[2] = 20;
finger[3] = 170;
finger[4] = 170;
servoMove();
delay(500);
Serial.println("Finger 2 relax");
finger[0] = 170; // 1 finger relax position
finger[1] = 170; // 2 finger relax position
finger[2] = 170; // 3 finger relax position
finger[3] = 170;
finger[4] = 170;
servoMove();
delay(500);
Serial.println("Finger 3 relax");
finger[0] = 170; // 1 finger relax position
finger[1] = 170; // 2 finger relax position
finger[2] = 170; // 3 finger relax position
finger[3] = 20; // 4 finger relax position
finger[4] = 170;
servoMove();
delay(500);
Serial.println("Finger 4 relax");
finger[0] = 170; // idle position
finger[1] = 170;
finger[2] = 170;
finger[3] = 20;
finger[4] = 20;
servoMove();
delay(500);
Serial.println("idle");
finger[0] = 170;
finger[1] = 170;
finger[2] = 170;
finger[3] = 20;
finger[4] = 170; // 5 finger tight position
servoMove();
delay(500);
Serial.println("Finger 5 tighten");
finger[0] = 170;
finger[1] = 170;
finger[2] = 170;
finger[3] = 170; // 4 finger tight position
finger[4] = 170; // 5 finger tight position
servoMove();
delay(500);
Serial.println("Finger 4 tighten");
finger[0] = 170;
finger[1] = 170;
finger[2] = 20; // 3 finger tight position
finger[3] = 170; // 4 finger tight position
finger[4] = 170; // 5 finger tight position
servoMove();
delay(500);
Serial.println("Finger 3 tighten");
finger[0] = 170;
finger[1] = 20; // 2 finger tight position
finger[2] = 20; // 3 finger tight position
finger[3] = 170; // 4 finger tight position
finger[4] = 170; // 5 finger tight position
servoMove();
delay(500);
Serial.println("Finger 2 tighten");
finger[0] = 20; // close position
finger[1] = 20;
finger[2] = 20;
finger[3] = 170;
finger[4] = 170;
servoMove();
delay(500);
Serial.println("close");
finger[0] = 20; // OK position
finger[1] = 170;
finger[2] = 170;
finger[3] = 170;
finger[4] = 170;
servoMove();
delay(500);
Serial.println("OK");
finger[0] = 170; // idle position
finger[1] = 170;
finger[2] = 170;
finger[3] = 20;
finger[4] = 20;
servoMove();
delay(500);
Serial.println("idle");
}
void setup() {
Serial.begin(9600);
servo1.attach(3); // attaches the servo on pin 3 to the servo object
servo2.attach(4); // attaches the servo on pin 4 to the servo object
servo3.attach(5); // attaches the servo on pin 5 to the servo object
servo4.attach(6); // attaches the servo on pin 6 to the servo object
servo5.attach(7); // attaches the servo on pin 7 to the servo object
test();
pinMode(button, INPUT_PULLUP);
BTSerial.begin(38400);
}
int i=0;
void loop() {
if (BTSerial.available() > 0){
start = BTSerial.read();
while (start != startPkg) {
Serial.print(start);
finger[i] = start;
start = BTSerial.read();
i += 1;
if (i==5){
Serial.println("");
i = 0;
servoMove();
break;
}
else
Serial.print(", ");
}
}
// Press test button to re-run testing routine
delay(100);
buttonstate = digitalRead(button);
if (buttonstate == LOW)
test();
}