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hand_Rx_code.ino
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hand_Rx_code.ino
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/*Wireless Hand Gesture Robotic Arm
* Receiver Code
*
* Control A Robotic Arm Wirelessly Using a Glove With Flex and Motion Sensors
*
* Robotic Arm Wiring:
* All VCC - 5V (separate from the Arduino power)
* All GND - GND (power source GND and Arduino GND should be connected)
* Base Servo Control - D3
* Arm Extend Control - D6 and D9 (had to combine because of DOF of controller and wireless data constraints)
* Grip Control - D5
*
* NRF24 Wiring:
* VCC - 3.3V (or use an adapter for 5V, like I did)
* GND - GND
* CE - D8
* CSN - D10
* SCK - D13
* MOSI - D11
* MISO - D12
* IRQ - N/C
*/
#include <SPI.h>
#include <RH_NRF24.h>
int servoBase = 3;
int servoGrip = 5;
int servoExt1 = 6;
int servoExt2 = 9;
RH_NRF24 nrf24;
int yaw, roll, grip;
double posBase, posExt, posGrip;
String receivedString;
void setup()
{
pinMode(servoBase, OUTPUT);
pinMode(servoGrip, OUTPUT);
pinMode(servoExt1, OUTPUT);
pinMode(servoExt2, OUTPUT);
servoWrite(1500, servoBase);
servoWrite(1000, servoGrip);
servoWrite(1500, servoExt1);
servoWrite(1500, servoExt2);
Serial.begin(9600);
if (!nrf24.init())
Serial.println("init failed");
if (!nrf24.setChannel(1))
Serial.println("setChannel failed");
if (!nrf24.setRF(RH_NRF24::DataRate2Mbps, RH_NRF24::TransmitPower0dBm))
Serial.println("setRF failed");
}
void loop()
{
if (nrf24.available())
{
uint8_t buf[RH_NRF24_MAX_MESSAGE_LEN];
uint8_t len = sizeof(buf);
if (nrf24.recv(buf, &len)){
receivedString = (char*)buf;
receivedString.remove(6);
//Serial.println(receivedString);
yaw = receivedString.substring(0,2).toInt();
roll = receivedString.substring(2,4).toInt();
grip = receivedString.substring(4,5).toInt();
Serial.print(yaw);
Serial.print(" ");
Serial.print(roll);
Serial.print(" ");
Serial.println(grip);
posBase = roll*8.33333*2;
posExt = yaw*8.333333*2;
servoWrite(posBase, servoBase);
servoWrite(posExt, servoExt2);
servoWrite(posExt, servoExt1);
if(grip == 1){
posGrip = 1000;
}else{
posGrip = 2000;
}
servoWrite(posGrip, servoGrip);
}
else{
Serial.println("recv failed");
}
}
}
void servoWrite(double pulseWidth, int servo){
digitalWrite(servo, HIGH);
delayMicroseconds(pulseWidth);
digitalWrite(servo, LOW);
}