Program for controlling a robot arm with 4 servos using 4 potentiometers and/or an IR Remote.
Smooth servo movements are controlled by the Servo easing library for Arduino.
Used in the "RobotArmControl" example of Arduino library ServoEasing.
| RobotArm | Control board | Instructable |
|---|---|---|
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To calibrate your robot arm, open the Serial Monitor, move the arm manually and change the microsecond values for the PIVOT_MICROS_AT_*, LIFT_MICROS_AT_*, HORIZONTAL_MICROS_AT_* and CLAW_MICROS_AT_* positions in RobotArmServoConfiguration.h.
The example uses the EASE_USER_DIRECT easing type for all servos except the claw to implement movements by inverse kinematics.
To customize the software to different requirements, there are some compile options / macros available.
Modify them by enabling / disabling them, or change the values if applicable.
| Name | Default value | Description |
|---|---|---|
ROBOT_ARM_HAS_IR_CONTROL |
disabled | IR remote control is enabled. |
ROBOT_ARM_HAS_RTC_CONTROL |
disabled | A DS3231 is attached to the control. |