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Arduino Lynxmotion AL5D
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//5 DOF Manipulator | |
// FARHANG NADERI | |
// 2019 Robotics Advanced Course | |
#include <Servo.h> | |
//Servo initiation | |
Servo servo1; | |
Servo servo2; | |
Servo servo3; | |
Servo servo4; | |
Servo servo5; | |
int pos=0; | |
int pos1=0; | |
int pos2=0; | |
int pos3=0; | |
int pos4=0; | |
int pos5=0; | |
void setup() { | |
{ | |
// Serial.begin(9600); | |
//Pin Assignment | |
servo1.attach(5); | |
servo2.attach(6); | |
servo3.attach(7); | |
servo4.attach(8); | |
servo5.attach(9); | |
//Robot Position Reset | |
servo1.write(90); | |
servo2.write(90); | |
servo3.write(90); | |
servo4.write(90); | |
servo5.write(60); | |
} | |
} | |
void loop() | |
{ | |
//Soft Start | |
delay(5000); | |
//Picking Inititation | |
for (pos1 = servo1.read(); pos1 <= 140; pos1 += 1) | |
{ | |
servo1.write(pos1); | |
delay(50); | |
} | |
for (pos2 = servo2.read(); pos2 >= 84; pos2 -= 1) { | |
servo2.write(pos2); | |
delay(50); | |
} | |
for (pos4 = servo4.read(); pos4 >= 50; pos4 -= 1) | |
{ | |
servo4.write(pos4); | |
delay(50); | |
} | |
for (pos3 = servo3.read(); pos3 <= 130; pos3 += 1) | |
{ | |
servo3.write(pos3); | |
delay(50); | |
} | |
for (pos = servo5.read(); pos >= 50; pos -= 1) | |
{ | |
servo5.write(pos); | |
delay(50); } | |
for (pos = servo5.read(); pos <= 100; pos += 1) | |
{ | |
servo5.write(pos); | |
delay(50); } | |
//Picking finished | |
//Placing initiates | |
for (pos3 = servo3.read(); pos3 >= 90; pos3 -= 1) | |
{ | |
servo3.write(pos3); | |
delay(50); | |
} | |
for (pos1 = servo1.read(); pos1 >= 90; pos1 -= 1) | |
{ | |
servo1.write(pos1); | |
delay(50); | |
} | |
for (pos3 = servo3.read(); pos3 <= 130; pos3 += 1) | |
{ | |
servo3.write(pos3); | |
delay(50); | |
} | |
for (pos = servo5.read(); pos >= 50; pos -= 1) | |
{ | |
servo5.write(pos); | |
delay(50); } | |
//Placing Finishes | |
for (pos3 = servo3.read(); pos3 >= 90; pos3 -= 1) | |
{ | |
servo3.write(pos3); | |
delay(50); | |
} | |
delay(5000); //Waiting time to begin again | |
} | |
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