SCARA Arm Controlled by Joystick

1#include <Servo.h>  //include the library about servo
2
3Servo servo_base;   //give a name to the servo
4Servo servo_arm;
5Servo servo_dispenser;
6
7
8int  val = 0;
9int val1 = 0;
10int n = 0;
11int t = 0;
12int pos = 0;
13int pos1  = 0;
14int pos2 = 0;
15
16void setup() {
17  servo_base.attach(9);    //set  the pin 9 for servo
18  servo_arm.attach(10);
19  servo_dispenser.attach(11);
20  pinMode(A0, INPUT);   //set the pin A0 and A1 to receive data from the joystick
21  pinMode(A1, INPUT);
22  pinMode(8, INPUT);   //set the pin 8 to receive data  from the buttom 
23  Serial.begin(9600);  //start the serial monitor
24}
25
26void  loop() {
27
28  val = int (map(analogRead(A0), 0, 1023, -550, 550) / 512);   //map  the value read from A0 ad take the integer
29  val1 = int (map(analogRead(A1),  0, 1023, -550, 550) / 512);
30  pos2 = map(digitalRead(8), 0, 1, 130, 100);
31  pos = n + 1 * val;         //add up the value with the previous
32  pos1 = t  + 1 * val1;
33  pos = constrain(pos, 0, 180);      //limit the value of the variable  between 0 and 180
34  pos1 = constrain(pos1, 0, 180);
35  servo_base.write(pos);         //turn the servo of the angle we want
36  servo_arm.write(pos1);
37  servo_dispenser.write(pos2);
38  n = pos;                      //store the position
39  t = pos1;
40  delay(10);
41  Serial.print("servo-base     ");      // send the value to the bluetooth
42  Serial.print(pos);
43    Serial.print("servo-arm     ");
44  Serial.print(pos1);
45    Serial.print("servo-dispenser     ");
46  Serial.println(pos2);
47
48
49}
50