CIRC 04 (tiny.cc)

Purpose:
To rotate one, or a series of servo motors using one, or a series of potentiometers. To also output the position of the servos using 4 LEDs

Equipment:

• Arduino x1
• Breadboard x1
• Pushbutton x 6
• Servo x 6
• 330 ohm resistor x4
• LED x4
• Wires

References:

[1] http://schools.tdsb.on.ca/danforthcti/arduino/ArduinoGuide.html

[2] http://arduino-faiyaz.blogspot.com/2011/10/blog-post.html

[3] http://arduino-faiyaz.blogspot.com/2011/10/circ-08-twisting.html

Program Details: 

Building the circuit is not very complex. We built similar circuits like this before [2][3]. Also a picture of the circuit was provided [1]. Essentially this CIRC lab consists of 6 separate circuits, with 1 input and 5 output. The input is the resistnace reading from the potentiometer. The output is  

Program:
//PART 1

#include <Servo.h>
Servo servo;

int pos = 0;
int sensor = 0;

void setup()
{
  servo.attach(13);
  pinMode(2, OUTPUT);
  pinMode(3, OUTPUT);
  pinMode(4, OUTPUT);
  pinMode(5, OUTPUT);
}

void loop()
{

  int value  = analogRead(sensor);

  value = map(value, 0, 1024, 0, 360);
  value = constrain(value, 0, 360);        //Sets value between 0 & 360

  delay(50);
  servo.write(value);                      //Sets  to desired position

  digitalWrite(2, LOW);
  digitalWrite(3, LOW);
  digitalWrite(4, LOW);
  digitalWrite(5, LOW);                    //Turns them off every time, to prevent stacking

  if (value == 0)
  {
    digitalWrite(2, HIGH);
  }
  else if (value == 90)
  {
    digitalWrite(3, HIGH);
  }
  else if (value == 180)
  {
    digitalWrite(4, HIGH);
  }
  else if (value == 270)
  {
    digitalWrite(5, HIGH);
  }
}

//Part 2

#include <Servo.h>

Servo rotator, joint1, joint2, joint3, wrist, gripper;
int sensorR = 0, sensorJ1 = 1, sensorJ2 = 2, sensorJ3 = 3, sensorW = 4, sensor = 5;
int valueR, valueJ1, valueJ2, valueJ3, valueW, valueG;


void setup()
{
  rotator.write(13);
  joint1.write(12);
  joint2.write(11);
  joint3.write(10);
  wrist.write(9);
  gripper.write(8);
}


void loop()
{
  delay(50);

  //Rotator
  valueR = analogRead(sensorR);  
  valueR = map(valueR, 0, 1024, 0, 360);
  valueR = constrain(valueR, 0, 360);        //Sets value between 0 & 360
  rotator.write(valueR);                  

  //Joint One
  valueJ1 = analogRead(sensorJ1);  
  valueJ1 = map(valueJ1, 0, 1024, 0, 360);
  valueJ1 = constrain(valueJ1, 0, 360);    
  joint1.write(valueJ1);                  

  //Joint Two
  valueJ2 = analogRead(sensorJ2);  
  valueJ2 = map(valueJ2, 0, 1024, 0, 360);
  valueJ2 = constrain(valueJ2, 0, 360);      
  joint2.write(valueJ2);                  

  //Joint Three
  valueJ3 = analogRead(sensorJ3);  
  valueJ3 = map(valueJ3, 0, 1024, 0, 360);
  valueJ3 = constrain(valueJ3, 0, 360);    
  joint3.write(valueJ3);                  

  //Wrist
  valueW = analogRead(sensorW);  
  valueW = map(valueW, 0, 1024, 0, 360);
  valueW = constrain(valueW, 0, 360);      
  wrist.write(valueW);                

  //Gripper
  valueG = analogRead(sensorG);  
  valueG = map(valueG, 0, 1024, 0, 360);
  valueG = constrain(valueG, 0, 360);        //Sets value between 0 & 360
  gripper.write(valueG);                  
}