Control your robot with your phone (joysticks app).

In this project, I control a robotic arm with a phone using HC-05 bluetooth module and an Android app (mit app inventor).

Feb 19, 2020

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27078 views

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6 respects

remote control

robots

Components and supplies

Resistor 1k ohm

Jumper wires (generic)

Breadboard (generic)

9V battery (generic)

HC-05 Bluetooth Module

Arduino UNO

Apps and platforms

MIT App Inventor 2

Arduino IDE

Project description

Code

Joystick xy + joystick y

arduino

This code goes with the joysticks xy-y Android app.

1#include <TimedAction.h> //this library is outdated and it won't work  with the newest versions of Arduino. After you downloaded the library - https://playground.arduino.cc/Code/TimedAction/  - you must open the libraries folder, open the TimedAction folder, open the TimedAction.h  file and change the 33/34 line (from #include "TimedAction.h" to #include "Arduino.h").  If it is already changed, then you shouldn't have any problems.
2#include <Servo.h>
3
4Servo  myservo1;
5Servo myservo2;
6Servo myservo3;
7Servo myservo4;
8
9int val,cnt=0,v[4];
10int  pos1=90,pos2=90,pos3=90,pos4=90;
11int val1,val2,val3,val4;
12int timer1,timer2,timer3;
13int  Ok1=1,Ok2=1,Ok3=1;
14int delayy2,delayx1,delayy1;
15
16
17void readbt() {
18    val=Serial.read();
19    cnt++;
20    v[cnt]=val;
21    if(v[1]==1 && cnt==3)  {
22      cnt=0;
23    }
24    if(v[1]!=1 && cnt==2) {
25      cnt=0;
26    }
27}
28
29void  program() {
30  timer1++;
31  timer2++;
32  timer3++;
33}
34
35TimedAction  readbtThread = TimedAction(10,readbt);
36TimedAction timerThread = TimedAction(1,program);
37
38void  setup() {
39  // put your setup code here, to run once:
40  Serial.begin(9600);
41  myservo1.attach(9);
42  myservo2.attach(10);
43  myservo3.attach(11);
44  myservo4.attach(6);
45}
46
47void  loop() {
48  // put your main code here, to run repeatedly:
49  if(Serial.available())  {
50      while(Serial.available() == 0);
51      readbtThread.check();
52      timerThread.check();
53      if(v[1]==1) {
54        Ok1=0;
55        val1=v[2];
56        val2=v[3];
57      }
58      if(v[1]==2) {
59        Ok2=0;
60        val3=v[2];
61      }
62      if(v[1]==3) {
63        Ok3=0;
64        val4=v[2];
65      }
66  }
67  joystick1();
68  joystick2();
69  slider();
70}
71
72void joystick1() {
73  if (Ok1==0) {
74    timerThread.check();
75    if(v[1]==1 && (v[2]==100 && v[3]==100))  {
76      Ok1=1;
77    }
78    if(val1>100 && pos1<180) {
79      delayx1=((200-val1))+15;
80      if(timer1>=delayx1) {
81        pos1++;
82        myservo1.write(pos1);
83        timer1=0;
84      }
85    }
86    if(val1<100 && pos1>0) {
87      delayx1=val1+15;
88      if(timer1>=delayx1) {
89        pos1--;
90        myservo1.write(pos1);
91        timer1=0;
92      }
93    }
94    if(val2>100 && pos2<180) {
95      delayy1=((200-val2))+15;
96      if(timer2>=delayy1) {
97        pos2++;
98        myservo2.write(pos2);
99        timer2=0;
100      }
101    }
102    if(val2<100 && pos2>0) {
103      delayy1=val2+15;
104      if(timer2>=delayy1) {
105        pos2--;
106        myservo2.write(pos2);
107        timer2=0;
108      }
109    }
110  }
111}
112
113void joystick2() {
114  if (Ok2==0) {
115    timerThread.check();
116    if(v[1]==2 && v[2]==100) {
117      Ok2=1;
118    }
119    if(val3>100 && pos3<180) {
120      delayy2=((200-val3))+15;
121      if(timer3>=delayy2) {
122        pos3++;
123        myservo3.write(pos3);
124        timer3=0;
125      }
126    }
127    if(val3<100 && pos3>0) {
128      delayy2=val3+15;
129      if(timer3>=delayy2) {
130        pos3--;
131        myservo3.write(pos3);
132        timer3=0;
133      }
134    }
135  }
136}
137
138void slider() {
139  if(Ok3==0)  {
140    if(pos4==val4) Ok3=1;
141    if (val4>pos4) {
142      for(int i=pos4;i<=val4;i++)  {
143        myservo4.write(i);
144        delay(15);
145      }
146    }
147    if(val4<pos4)  {
148      for(int i=pos4;i>=val4;i--) {
149        myservo4.write(i);
150        delay(15);
151      }
152    }
153    pos4=val4;
154  }
155}
156

#include <TimedAction.h> //this library is outdated and it won't work  with the newest versions of Arduino. After you downloaded the library - https://playground.arduino.cc/Code/TimedAction/  - you must open the libraries folder, open the TimedAction folder, open the TimedAction.h  file and change the 33/34 line (from #include "TimedAction.h" to #include "Arduino.h").  If it is already changed, then you shouldn't have any problems.
#include <Servo.h>

Servo  myservo1;
Servo myservo2;
Servo myservo3;
Servo myservo4;

int val,cnt=0,v[4];
int  pos1=90,pos2=90,pos3=90,pos4=90;
int val1,val2,val3,val4;
int timer1,timer2,timer3;
int  Ok1=1,Ok2=1,Ok3=1;
int delayy2,delayx1,delayy1;


void readbt() {
    val=Serial.read();
    cnt++;
    v[cnt]=val;
    if(v[1]==1 && cnt==3)  {
      cnt=0;
    }
    if(v[1]!=1 && cnt==2) {
      cnt=0;
    }
}

void  program() {
  timer1++;
  timer2++;
  timer3++;
}

TimedAction  readbtThread = TimedAction(10,readbt);
TimedAction timerThread = TimedAction(1,program);

void  setup() {
  // put your setup code here, to run once:
  Serial.begin(9600);
  myservo1.attach(9);
  myservo2.attach(10);
  myservo3.attach(11);
  myservo4.attach(6);
}

void  loop() {
  // put your main code here, to run repeatedly:
  if(Serial.available())  {
      while(Serial.available() == 0);
      readbtThread.check();
      timerThread.check();
      if(v[1]==1) {
        Ok1=0;
        val1=v[2];
        val2=v[3];
      }
      if(v[1]==2) {
        Ok2=0;
        val3=v[2];
      }
      if(v[1]==3) {
        Ok3=0;
        val4=v[2];
      }
  }
  joystick1();
  joystick2();
  slider();
}

void joystick1() {
  if (Ok1==0) {
    timerThread.check();
    if(v[1]==1 && (v[2]==100 && v[3]==100))  {
      Ok1=1;
    }
    if(val1>100 && pos1<180) {
      delayx1=((200-val1))+15;
      if(timer1>=delayx1) {
        pos1++;
        myservo1.write(pos1);
        timer1=0;
      }
    }
    if(val1<100 && pos1>0) {
      delayx1=val1+15;
      if(timer1>=delayx1) {
        pos1--;
        myservo1.write(pos1);
        timer1=0;
      }
    }
    if(val2>100 && pos2<180) {
      delayy1=((200-val2))+15;
      if(timer2>=delayy1) {
        pos2++;
        myservo2.write(pos2);
        timer2=0;
      }
    }
    if(val2<100 && pos2>0) {
      delayy1=val2+15;
      if(timer2>=delayy1) {
        pos2--;
        myservo2.write(pos2);
        timer2=0;
      }
    }
  }
}

void joystick2() {
  if (Ok2==0) {
    timerThread.check();
    if(v[1]==2 && v[2]==100) {
      Ok2=1;
    }
    if(val3>100 && pos3<180) {
      delayy2=((200-val3))+15;
      if(timer3>=delayy2) {
        pos3++;
        myservo3.write(pos3);
        timer3=0;
      }
    }
    if(val3<100 && pos3>0) {
      delayy2=val3+15;
      if(timer3>=delayy2) {
        pos3--;
        myservo3.write(pos3);
        timer3=0;
      }
    }
  }
}

void slider() {
  if(Ok3==0)  {
    if(pos4==val4) Ok3=1;
    if (val4>pos4) {
      for(int i=pos4;i<=val4;i++)  {
        myservo4.write(i);
        delay(15);
      }
    }
    if(val4<pos4)  {
      for(int i=pos4;i>=val4;i--) {
        myservo4.write(i);
        delay(15);
      }
    }
    pos4=val4;
  }
}

Joystick y + joystick y

arduino

This code goes with the joysticks y-y Android app.

1#include <TimedAction.h>//this library is outdated and it won't work with  the newest versions of Arduino. After you downloaded the library - https://playground.arduino.cc/Code/TimedAction/  - you must open the libraries folder, open the TimedAction folder, open the TimedAction.h  file and change the 33/34 line (from #include "TimedAction.h" to #include "Arduino.h").  If it is already changed, then you shouldn't have any problems.
2#include <Servo.h>
3
4Servo  myservo1;
5Servo myservo2;
6Servo myservo3;
7
8int val,cnt=0,v[4];
9int  pos1=90,pos2=90,pos3=90;
10int val1,val2,val3;
11int timer1,timer2;
12int Ok1=1,Ok2=1,Ok3=1;
13int  delayy1,delayy2;
14
15void readbt() {
16    val=Serial.read();
17    cnt++;
18    v[cnt]=val;
19    if(cnt==2) {
20      cnt=0;
21    }
22}
23
24void program()  {
25  timer1++;
26  timer2++;
27}
28
29TimedAction readbtThread = TimedAction(10,readbt);
30TimedAction  timerThread = TimedAction(1,program);
31
32void setup() {
33  // put your setup  code here, to run once:
34  Serial.begin(9600);
35  myservo1.attach(9);
36  myservo2.attach(10);
37  myservo3.attach(11);
38}
39
40void loop() {
41  // put your main code here,  to run repeatedly:
42  if(Serial.available()) {
43      while(Serial.available()  == 0);
44      readbtThread.check();
45      timerThread.check();
46      if(v[1]==1)  {
47        Ok1=0;
48        val1=v[2];
49      }
50      if(v[1]==2) {
51        Ok2=0;
52        val2=v[2];
53      }
54      if(v[1]==3) {
55        Ok3=0;
56        val3=v[2];
57      }
58  }
59  joystick1();
60  joystick2();
61  slider();
62}
63
64void  joystick1() {
65  if (Ok1==0) {
66    timerThread.check();
67    if(v[1]==1 &&  v[2]==100) {
68      Ok1=1;
69    }
70    if(val1>100 && pos1>0) {
71      delayy1=((200-val1))+15;
72      if(timer1>=delayy1) {
73        pos1--;
74        myservo1.write(pos1);
75        timer1=0;
76      }
77    }
78    if(val1<100 && pos1<180) {
79      delayy1=val1+15;
80      if(timer1>=delayy1) {
81        pos1++;
82        myservo1.write(pos1);
83        timer1=0;
84      }
85    }
86  }
87}
88
89void joystick2() {
90  if (Ok2==0) {
91    timerThread.check();
92    if(v[1]==2 && v[2]==100) {
93      Ok2=1;
94    }
95    if(val2>100 && pos2<180) {
96      delayy2=((200-val2))+15;
97      if(timer2>=delayy2) {
98        pos2++;
99        myservo2.write(pos2);
100        timer2=0;
101      }
102    }
103    if(val2<100 && pos2>0) {
104      delayy2=val2+15;
105      if(timer2>=delayy2) {
106        pos2--;
107        myservo2.write(pos2);
108        timer2=0;
109      }
110    }
111  }
112}
113
114void slider() {
115  if(Ok3==0)  {
116    if(pos3==val3) Ok3=1;
117    if (val3>pos3) {
118      for(int i=pos3;i<=val3;i++)  {
119        myservo3.write(i);
120        delay(15);
121      }
122    }
123    if(val3<pos3)  {
124      for(int i=pos3;i>=val3;i--) {
125        myservo3.write(i);
126        delay(15);
127      }
128    }
129    pos3=val3;
130  }
131}
132

#include <TimedAction.h>//this library is outdated and it won't work with  the newest versions of Arduino. After you downloaded the library - https://playground.arduino.cc/Code/TimedAction/  - you must open the libraries folder, open the TimedAction folder, open the TimedAction.h  file and change the 33/34 line (from #include "TimedAction.h" to #include "Arduino.h").  If it is already changed, then you shouldn't have any problems.
#include <Servo.h>

Servo  myservo1;
Servo myservo2;
Servo myservo3;

int val,cnt=0,v[4];
int  pos1=90,pos2=90,pos3=90;
int val1,val2,val3;
int timer1,timer2;
int Ok1=1,Ok2=1,Ok3=1;
int  delayy1,delayy2;

void readbt() {
    val=Serial.read();
    cnt++;
    v[cnt]=val;
    if(cnt==2) {
      cnt=0;
    }
}

void program()  {
  timer1++;
  timer2++;
}

TimedAction readbtThread = TimedAction(10,readbt);
TimedAction  timerThread = TimedAction(1,program);

void setup() {
  // put your setup  code here, to run once:
  Serial.begin(9600);
  myservo1.attach(9);
  myservo2.attach(10);
  myservo3.attach(11);
}

void loop() {
  // put your main code here,  to run repeatedly:
  if(Serial.available()) {
      while(Serial.available()  == 0);
      readbtThread.check();
      timerThread.check();
      if(v[1]==1)  {
        Ok1=0;
        val1=v[2];
      }
      if(v[1]==2) {
        Ok2=0;
        val2=v[2];
      }
      if(v[1]==3) {
        Ok3=0;
        val3=v[2];
      }
  }
  joystick1();
  joystick2();
  slider();
}

void  joystick1() {
  if (Ok1==0) {
    timerThread.check();
    if(v[1]==1 &&  v[2]==100) {
      Ok1=1;
    }
    if(val1>100 && pos1>0) {
      delayy1=((200-val1))+15;
      if(timer1>=delayy1) {
        pos1--;
        myservo1.write(pos1);
        timer1=0;
      }
    }
    if(val1<100 && pos1<180) {
      delayy1=val1+15;
      if(timer1>=delayy1) {
        pos1++;
        myservo1.write(pos1);
        timer1=0;
      }
    }
  }
}

void joystick2() {
  if (Ok2==0) {
    timerThread.check();
    if(v[1]==2 && v[2]==100) {
      Ok2=1;
    }
    if(val2>100 && pos2<180) {
      delayy2=((200-val2))+15;
      if(timer2>=delayy2) {
        pos2++;
        myservo2.write(pos2);
        timer2=0;
      }
    }
    if(val2<100 && pos2>0) {
      delayy2=val2+15;
      if(timer2>=delayy2) {
        pos2--;
        myservo2.write(pos2);
        timer2=0;
      }
    }
  }
}

void slider() {
  if(Ok3==0)  {
    if(pos3==val3) Ok3=1;
    if (val3>pos3) {
      for(int i=pos3;i<=val3;i++)  {
        myservo3.write(i);
        delay(15);
      }
    }
    if(val3<pos3)  {
      for(int i=pos3;i>=val3;i--) {
        myservo3.write(i);
        delay(15);
      }
    }
    pos3=val3;
  }
}

Joystick y + joystick y

arduino

This code goes with the joysticks y-y Android app.

1#include <TimedAction.h>//this library is outdated and it won't work with   the newest versions of Arduino. After you downloaded the library - https://playground.arduino.cc/Code/TimedAction/   - you must open the libraries folder, open the TimedAction folder, open the TimedAction.h   file and change the 33/34 line (from #include "TimedAction.h" to #include "Arduino.h").   If it is already changed, then you shouldn't have any problems.
2#include <Servo.h>
3
4Servo   myservo1;
5Servo myservo2;
6Servo myservo3;
7
8int val,cnt=0,v[4];
9int   pos1=90,pos2=90,pos3=90;
10int val1,val2,val3;
11int timer1,timer2;
12int Ok1=1,Ok2=1,Ok3=1;
13int   delayy1,delayy2;
14
15void readbt() {
16    val=Serial.read();
17    cnt++;
18     v[cnt]=val;
19    if(cnt==2) {
20      cnt=0;
21    }
22}
23
24void program()   {
25  timer1++;
26  timer2++;
27}
28
29TimedAction readbtThread = TimedAction(10,readbt);
30TimedAction   timerThread = TimedAction(1,program);
31
32void setup() {
33  // put your setup   code here, to run once:
34  Serial.begin(9600);
35  myservo1.attach(9);
36  myservo2.attach(10);
37   myservo3.attach(11);
38}
39
40void loop() {
41  // put your main code here,   to run repeatedly:
42  if(Serial.available()) {
43      while(Serial.available()   == 0);
44      readbtThread.check();
45      timerThread.check();
46      if(v[1]==1)   {
47        Ok1=0;
48        val1=v[2];
49      }
50      if(v[1]==2) {
51         Ok2=0;
52        val2=v[2];
53      }
54      if(v[1]==3) {
55        Ok3=0;
56         val3=v[2];
57      }
58  }
59  joystick1();
60  joystick2();
61  slider();
62}
63
64void   joystick1() {
65  if (Ok1==0) {
66    timerThread.check();
67    if(v[1]==1 &&   v[2]==100) {
68      Ok1=1;
69    }
70    if(val1>100 && pos1>0) {
71      delayy1=((200-val1))+15;
72       if(timer1>=delayy1) {
73        pos1--;
74        myservo1.write(pos1);
75         timer1=0;
76      }
77    }
78    if(val1<100 && pos1<180) {
79      delayy1=val1+15;
80       if(timer1>=delayy1) {
81        pos1++;
82        myservo1.write(pos1);
83         timer1=0;
84      }
85    }
86  }
87}
88
89void joystick2() {
90   if (Ok2==0) {
91    timerThread.check();
92    if(v[1]==2 && v[2]==100) {
93       Ok2=1;
94    }
95    if(val2>100 && pos2<180) {
96      delayy2=((200-val2))+15;
97       if(timer2>=delayy2) {
98        pos2++;
99        myservo2.write(pos2);
100         timer2=0;
101      }
102    }
103    if(val2<100 && pos2>0) {
104      delayy2=val2+15;
105       if(timer2>=delayy2) {
106        pos2--;
107        myservo2.write(pos2);
108         timer2=0;
109      }
110    }
111  }
112}
113
114void slider() {
115  if(Ok3==0)   {
116    if(pos3==val3) Ok3=1;
117    if (val3>pos3) {
118      for(int i=pos3;i<=val3;i++)   {
119        myservo3.write(i);
120        delay(15);
121      }
122    }
123    if(val3<pos3)   {
124      for(int i=pos3;i>=val3;i--) {
125        myservo3.write(i);
126        delay(15);
127       }
128    }
129    pos3=val3;
130  }
131}
132

#include <TimedAction.h>//this library is outdated and it won't work with   the newest versions of Arduino. After you downloaded the library - https://playground.arduino.cc/Code/TimedAction/   - you must open the libraries folder, open the TimedAction folder, open the TimedAction.h   file and change the 33/34 line (from #include "TimedAction.h" to #include "Arduino.h").   If it is already changed, then you shouldn't have any problems.
#include <Servo.h>

Servo   myservo1;
Servo myservo2;
Servo myservo3;

int val,cnt=0,v[4];
int   pos1=90,pos2=90,pos3=90;
int val1,val2,val3;
int timer1,timer2;
int Ok1=1,Ok2=1,Ok3=1;
int   delayy1,delayy2;

void readbt() {
    val=Serial.read();
    cnt++;
     v[cnt]=val;
    if(cnt==2) {
      cnt=0;
    }
}

void program()   {
  timer1++;
  timer2++;
}

TimedAction readbtThread = TimedAction(10,readbt);
TimedAction   timerThread = TimedAction(1,program);

void setup() {
  // put your setup   code here, to run once:
  Serial.begin(9600);
  myservo1.attach(9);
  myservo2.attach(10);
   myservo3.attach(11);
}

void loop() {
  // put your main code here,   to run repeatedly:
  if(Serial.available()) {
      while(Serial.available()   == 0);
      readbtThread.check();
      timerThread.check();
      if(v[1]==1)   {
        Ok1=0;
        val1=v[2];
      }
      if(v[1]==2) {
         Ok2=0;
        val2=v[2];
      }
      if(v[1]==3) {
        Ok3=0;
         val3=v[2];
      }
  }
  joystick1();
  joystick2();
  slider();
}

void   joystick1() {
  if (Ok1==0) {
    timerThread.check();
    if(v[1]==1 &&   v[2]==100) {
      Ok1=1;
    }
    if(val1>100 && pos1>0) {
      delayy1=((200-val1))+15;
       if(timer1>=delayy1) {
        pos1--;
        myservo1.write(pos1);
         timer1=0;
      }
    }
    if(val1<100 && pos1<180) {
      delayy1=val1+15;
       if(timer1>=delayy1) {
        pos1++;
        myservo1.write(pos1);
         timer1=0;
      }
    }
  }
}

void joystick2() {
   if (Ok2==0) {
    timerThread.check();
    if(v[1]==2 && v[2]==100) {
       Ok2=1;
    }
    if(val2>100 && pos2<180) {
      delayy2=((200-val2))+15;
       if(timer2>=delayy2) {
        pos2++;
        myservo2.write(pos2);
         timer2=0;
      }
    }
    if(val2<100 && pos2>0) {
      delayy2=val2+15;
       if(timer2>=delayy2) {
        pos2--;
        myservo2.write(pos2);
         timer2=0;
      }
    }
  }
}

void slider() {
  if(Ok3==0)   {
    if(pos3==val3) Ok3=1;
    if (val3>pos3) {
      for(int i=pos3;i<=val3;i++)   {
        myservo3.write(i);
        delay(15);
      }
    }
    if(val3<pos3)   {
      for(int i=pos3;i>=val3;i--) {
        myservo3.write(i);
        delay(15);
       }
    }
    pos3=val3;
  }
}

Joystick xy + joystick y

arduino

This code goes with the joysticks xy-y Android app.

1#include <TimedAction.h> //this library is outdated and it won't work   with the newest versions of Arduino. After you downloaded the library - https://playground.arduino.cc/Code/TimedAction/   - you must open the libraries folder, open the TimedAction folder, open the TimedAction.h   file and change the 33/34 line (from #include "TimedAction.h" to #include "Arduino.h").   If it is already changed, then you shouldn't have any problems.
2#include <Servo.h>
3
4Servo   myservo1;
5Servo myservo2;
6Servo myservo3;
7Servo myservo4;
8
9int val,cnt=0,v[4];
10int   pos1=90,pos2=90,pos3=90,pos4=90;
11int val1,val2,val3,val4;
12int timer1,timer2,timer3;
13int   Ok1=1,Ok2=1,Ok3=1;
14int delayy2,delayx1,delayy1;
15
16
17void readbt() {
18     val=Serial.read();
19    cnt++;
20    v[cnt]=val;
21    if(v[1]==1 && cnt==3)   {
22      cnt=0;
23    }
24    if(v[1]!=1 && cnt==2) {
25      cnt=0;
26    }
27}
28
29void   program() {
30  timer1++;
31  timer2++;
32  timer3++;
33}
34
35TimedAction   readbtThread = TimedAction(10,readbt);
36TimedAction timerThread = TimedAction(1,program);
37
38void   setup() {
39  // put your setup code here, to run once:
40  Serial.begin(9600);
41   myservo1.attach(9);
42  myservo2.attach(10);
43  myservo3.attach(11);
44  myservo4.attach(6);
45}
46
47void   loop() {
48  // put your main code here, to run repeatedly:
49  if(Serial.available())   {
50      while(Serial.available() == 0);
51      readbtThread.check();
52      timerThread.check();
53       if(v[1]==1) {
54        Ok1=0;
55        val1=v[2];
56        val2=v[3];
57       }
58      if(v[1]==2) {
59        Ok2=0;
60        val3=v[2];
61      }
62       if(v[1]==3) {
63        Ok3=0;
64        val4=v[2];
65      }
66  }
67   joystick1();
68  joystick2();
69  slider();
70}
71
72void joystick1() {
73   if (Ok1==0) {
74    timerThread.check();
75    if(v[1]==1 && (v[2]==100 && v[3]==100))   {
76      Ok1=1;
77    }
78    if(val1>100 && pos1<180) {
79      delayx1=((200-val1))+15;
80       if(timer1>=delayx1) {
81        pos1++;
82        myservo1.write(pos1);
83         timer1=0;
84      }
85    }
86    if(val1<100 && pos1>0) {
87      delayx1=val1+15;
88       if(timer1>=delayx1) {
89        pos1--;
90        myservo1.write(pos1);
91         timer1=0;
92      }
93    }
94    if(val2>100 && pos2<180) {
95      delayy1=((200-val2))+15;
96       if(timer2>=delayy1) {
97        pos2++;
98        myservo2.write(pos2);
99         timer2=0;
100      }
101    }
102    if(val2<100 && pos2>0) {
103      delayy1=val2+15;
104       if(timer2>=delayy1) {
105        pos2--;
106        myservo2.write(pos2);
107         timer2=0;
108      }
109    }
110  }
111}
112
113void joystick2() {
114   if (Ok2==0) {
115    timerThread.check();
116    if(v[1]==2 && v[2]==100) {
117       Ok2=1;
118    }
119    if(val3>100 && pos3<180) {
120      delayy2=((200-val3))+15;
121       if(timer3>=delayy2) {
122        pos3++;
123        myservo3.write(pos3);
124         timer3=0;
125      }
126    }
127    if(val3<100 && pos3>0) {
128      delayy2=val3+15;
129       if(timer3>=delayy2) {
130        pos3--;
131        myservo3.write(pos3);
132         timer3=0;
133      }
134    }
135  }
136}
137
138void slider() {
139  if(Ok3==0)   {
140    if(pos4==val4) Ok3=1;
141    if (val4>pos4) {
142      for(int i=pos4;i<=val4;i++)   {
143        myservo4.write(i);
144        delay(15);
145      }
146    }
147    if(val4<pos4)   {
148      for(int i=pos4;i>=val4;i--) {
149        myservo4.write(i);
150        delay(15);
151       }
152    }
153    pos4=val4;
154  }
155}
156

#include <TimedAction.h> //this library is outdated and it won't work   with the newest versions of Arduino. After you downloaded the library - https://playground.arduino.cc/Code/TimedAction/   - you must open the libraries folder, open the TimedAction folder, open the TimedAction.h   file and change the 33/34 line (from #include "TimedAction.h" to #include "Arduino.h").   If it is already changed, then you shouldn't have any problems.
#include <Servo.h>

Servo   myservo1;
Servo myservo2;
Servo myservo3;
Servo myservo4;

int val,cnt=0,v[4];
int   pos1=90,pos2=90,pos3=90,pos4=90;
int val1,val2,val3,val4;
int timer1,timer2,timer3;
int   Ok1=1,Ok2=1,Ok3=1;
int delayy2,delayx1,delayy1;


void readbt() {
     val=Serial.read();
    cnt++;
    v[cnt]=val;
    if(v[1]==1 && cnt==3)   {
      cnt=0;
    }
    if(v[1]!=1 && cnt==2) {
      cnt=0;
    }
}

void   program() {
  timer1++;
  timer2++;
  timer3++;
}

TimedAction   readbtThread = TimedAction(10,readbt);
TimedAction timerThread = TimedAction(1,program);

void   setup() {
  // put your setup code here, to run once:
  Serial.begin(9600);
   myservo1.attach(9);
  myservo2.attach(10);
  myservo3.attach(11);
  myservo4.attach(6);
}

void   loop() {
  // put your main code here, to run repeatedly:
  if(Serial.available())   {
      while(Serial.available() == 0);
      readbtThread.check();
      timerThread.check();
       if(v[1]==1) {
        Ok1=0;
        val1=v[2];
        val2=v[3];
       }
      if(v[1]==2) {
        Ok2=0;
        val3=v[2];
      }
       if(v[1]==3) {
        Ok3=0;
        val4=v[2];
      }
  }
   joystick1();
  joystick2();
  slider();
}

void joystick1() {
   if (Ok1==0) {
    timerThread.check();
    if(v[1]==1 && (v[2]==100 && v[3]==100))   {
      Ok1=1;
    }
    if(val1>100 && pos1<180) {
      delayx1=((200-val1))+15;
       if(timer1>=delayx1) {
        pos1++;
        myservo1.write(pos1);
         timer1=0;
      }
    }
    if(val1<100 && pos1>0) {
      delayx1=val1+15;
       if(timer1>=delayx1) {
        pos1--;
        myservo1.write(pos1);
         timer1=0;
      }
    }
    if(val2>100 && pos2<180) {
      delayy1=((200-val2))+15;
       if(timer2>=delayy1) {
        pos2++;
        myservo2.write(pos2);
         timer2=0;
      }
    }
    if(val2<100 && pos2>0) {
      delayy1=val2+15;
       if(timer2>=delayy1) {
        pos2--;
        myservo2.write(pos2);
         timer2=0;
      }
    }
  }
}

void joystick2() {
   if (Ok2==0) {
    timerThread.check();
    if(v[1]==2 && v[2]==100) {
       Ok2=1;
    }
    if(val3>100 && pos3<180) {
      delayy2=((200-val3))+15;
       if(timer3>=delayy2) {
        pos3++;
        myservo3.write(pos3);
         timer3=0;
      }
    }
    if(val3<100 && pos3>0) {
      delayy2=val3+15;
       if(timer3>=delayy2) {
        pos3--;
        myservo3.write(pos3);
         timer3=0;
      }
    }
  }
}

void slider() {
  if(Ok3==0)   {
    if(pos4==val4) Ok3=1;
    if (val4>pos4) {
      for(int i=pos4;i<=val4;i++)   {
        myservo4.write(i);
        delay(15);
      }
    }
    if(val4<pos4)   {
      for(int i=pos4;i>=val4;i--) {
        myservo4.write(i);
        delay(15);
       }
    }
    pos4=val4;
  }
}

Downloadable files

Circuit schematic Arduino + HC-05 Bluetooth module

You can change the number of servos. I am using MG995 servos.

Circuit schematic Arduino + HC-05 Bluetooth module

You can change the number of servos. I am using MG995 servos.

Circuit schematic Arduino + HC-05 Bluetooth module

Documentation

JoystickAPK

Unzip this package and open it with your phone. These are the apps I've built.

JoystickAPK

Unzip this package and open it with your phone. These are the apps I've built.

JoystickAPK

JoystickAIA

Unzip this package and open it with Mit App Inventor 2. There you can change the design or block section and then build the app.

JoystickAIA

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