Code of Arduino UNO based Teaching Pendant 4 DOF Robotic Arm in less Jitter Environment of Servos

gistfile1.txt

/*
* This code was developed at Vidyasagar Academy, Akola 
* Website: www.vsa.edu.in
* License: you can use it for any purpose as long as 
* you don't claim that you are its author and
* you don't alter license terms and formulations (lines 2-8 of this file).
* If you can improve this code, please do so!
* You can contact us on our email addresses.
 */

#include <Servo.h>
Servo servo1; 
Servo servo2;
Servo servo3;
Servo servo4;

const int LED1 = 2; 
const int LED2 = 3;
const int LED3 = 4;
const int LED4 = 7;

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

int button1Presses=0; 
boolean button2Pressed=false;

const int pot1 = A0; 
const int pot2 = A1; 
const int pot3 = A2;
const int pot4 = A3;

int pot1Val; //Potentimeter values
int pot2Val;
int pot3Val;
int pot4Val;

int pot1Angle;
int pot2Angle;
int pot3Angle;
int pot4Angle;

int servo1PosSaves[] = {1,1,1,1}; // position saves
int servo2PosSaves[] = {1,1,1,1};
int servo3PosSaves[] = {1,1,1,1};
int servo4PosSaves[] = {1,1,1,1};

void setup() 
{
  servo1.attach(5);
  servo2.attach(6);
  servo3.attach(9);
  servo4.attach(10);

  pinMode(LED1, OUTPUT);
  pinMode(LED2, OUTPUT);
  pinMode(LED3, OUTPUT);
  pinMode(LED4, OUTPUT);

  pinMode(button1, INPUT);
  pinMode(button2, INPUT);

  Serial.begin(9600);
}

void loop() 
{
  pot1Val = analogRead(pot1); 
  pot1Angle = map(pot1Val, 0, 512, 0, 180); 

  pot2Val = analogRead(pot2); 
  pot2Angle = map(pot2Val, 0, 512, 0, 180);

  pot3Val = analogRead(pot3);
  pot3Angle = map(pot3Val, 0, 512, 0, 180);

  pot4Val = analogRead(pot4);
  pot4Angle = map(pot4Val, 0, 512, 0, 180);
  
  servo1.write(pot1Angle); 
  servo2.write(pot2Angle);
  servo3.write(pot3Angle);
  servo4.write(pot4Angle);
  
  if(digitalRead(button1) == HIGH)
  {                                 
    button1Presses++;
    
    switch(button1Presses)
    {
      case 1:
        servo1PosSaves[0] = pot1Angle;
        servo2PosSaves[0] = pot2Angle;
        servo3PosSaves[0] = pot3Angle;
        servo4PosSaves[0] = pot4Angle;
        digitalWrite(LED1, HIGH);
        break;

      case 2:
         servo1PosSaves[1] = pot1Angle;
         servo2PosSaves[1] = pot2Angle;
         servo3PosSaves[1] = pot3Angle;
         servo4PosSaves[1] = pot4Angle;
         digitalWrite(LED2, HIGH);
         break;

      case 3:
         servo1PosSaves[2] = pot1Angle;
         servo2PosSaves[2] = pot2Angle;
         servo3PosSaves[2] = pot3Angle;
         servo4PosSaves[2] = pot4Angle;
         digitalWrite(LED3, HIGH);
         break;

       case 4:
         servo1PosSaves[3] = pot1Angle;
         servo2PosSaves[3] = pot2Angle;
         servo3PosSaves[3] = pot3Angle;
         servo4PosSaves[3] = pot4Angle;
         digitalWrite(LED4, HIGH);
         break;

    }
  }

    if(digitalRead(button2)==HIGH)
    { 
      button2Pressed = true;   
    }
    
    if(button2Pressed) 
    { 
      for(int i=0;i<4;i++)
      {
          servo1.write(servo1PosSaves[i]);
          delay(300);
          servo2.write(servo2PosSaves[i]);
          delay(300);
          servo3.write(servo3PosSaves[i]);
          delay(300);
          servo4.write(servo4PosSaves[i]);
          delay(300);
        }
    }
          delay(500);
}