Smartphone/TAB Controlled Robot-ARM

1
2# include <Servo.h>
3//PWM OUTPUT VARIABLES
4Servo pin2;
5Servo   pin3;
6Servo pin4;
7Servo pin5;
8Servo pin6;
9//SERIAL USB BUFFER
10char   inData[ 65 ]; // Allocate some space for the string
11char inChar; // Where to   store the character read
12byte index = 0 ; // Index into array; where to store   the character
13void setup () {
14//START PIN OUTPUT
15pin2. attach ( 2); //   attaches the servo on pin 9 to the servo object
16pin3. attach ( 3);
17pin4. attach   ( 4);
18pin5. attach ( 5);
19pin6. attach ( 6);
20//SEND MINIMAL VAUE 1000, REGUIRED   FOR ESC TO ARM (max is 2000)
21pin2. writeMicroseconds (1000 );
22pin3. writeMicroseconds   (1000 );
23pin4. writeMicroseconds (1000 );
24pin5. writeMicroseconds (1000 );
25pin6.   writeMicroseconds (1000 );
26//INIT SERIAL COMMUNICATION WITH ANDROID
27Serial.   begin (115200 );
28}
29void loop () {
30if (Serial. available () > 0 ){
31//WAIT   FOR INCOMMING DATA BUFFER TO FILL
32if (index < 24){
33inChar = Serial. read ();   // Read a character
34inData[ index ] = inChar; // Store it
35index ++; // Increment   where to write next
36if (inChar == 'X' )
37index = 0 ;
38inData[ index ] = '\\0'   ; // Null terminate the string
39}
40}
41if (index ==24 ){
42index = 0;
43//STRING   LOOKS LIKE "A100B96C20D0E" WHERE LETTERS ACT AS DELIMINATOR
44//STRING CAN CONTAIN   SINGLE VALUE LIKE "B96C"
45String buf = String (inData);
46int ia = buf. indexOf   ( "A", 0);
47int ib = buf. indexOf ( "B", 0);
48int ic = buf. indexOf ( "C",   0);
49int id = buf. indexOf ( "D", 0);
50int ie = buf. indexOf ( "E", 0);
51int   iff = buf. indexOf ("F" , 0 );
52Serial. print ("|" );
53//A?B
54if (ia!=-   1 && ib!=- 1){
55//1. CONVERT VALUE TO INTEGER
56//2. CONVERT 0-100 TO 1000 -   2000
57//3. WRITE TO ARDUINO PIN NUMBER 2
58pin2. writeMicroseconds (map (buf.   substring (ia+ 1, ib). toInt (), 1, 100 , 1000 , 2000 ));
59//SEND RESPONSE TO   ANDROID
60Serial. print ( "RESPONSE:OK" );
61}
62//B?C
63if (ib!=- 1 && ic!=-   1){
64pin3. writeMicroseconds (map (buf. substring (ib+ 1, ic). toInt (), 1, 100   , 1000 , 2000 ));
65//Serial.print("PIN3 OK");
66}
67//C?D
68if (ic!=- 1 &&   id!=- 1){
69pin4. writeMicroseconds (map (buf. substring (ic+ 1, id). toInt (),   1, 100 , 1000 , 2000 ));
70//Serial.print("PIN4 OK");
71}
72//D?E
73if (id!=-   1 && ie!=- 1){
74pin5. writeMicroseconds (map (buf. substring (id+ 1, ie). toInt   (), 1, 100 , 1000 , 2000 ));
75//Serial.print("PIN5 OK");
76}
77//E?F
78if   (ie!=- 1 && iff!=- 1){
79pin5. writeMicroseconds (map (buf. substring (ie+ 1, iff).   toInt (), 1 , 100 , 1000 , 2000 ));
80//Serial.print("PIN6 OK");
81}
82Serial.   print ("|00" );
83Serial. print ("\
84" );
85}
86}
87void logg (){
88}

1
2# include <Servo.h>
3//PWM OUTPUT VARIABLES
4Servo pin2;
5Servo  pin3;
6Servo pin4;
7Servo pin5;
8Servo pin6;
9//SERIAL USB BUFFER
10char  inData[ 65 ]; // Allocate some space for the string
11char inChar; // Where to  store the character read
12byte index = 0 ; // Index into array; where to store  the character
13void setup () {
14//START PIN OUTPUT
15pin2. attach ( 2); //  attaches the servo on pin 9 to the servo object
16pin3. attach ( 3);
17pin4. attach  ( 4);
18pin5. attach ( 5);
19pin6. attach ( 6);
20//SEND MINIMAL VAUE 1000, REGUIRED  FOR ESC TO ARM (max is 2000)
21pin2. writeMicroseconds (1000 );
22pin3. writeMicroseconds  (1000 );
23pin4. writeMicroseconds (1000 );
24pin5. writeMicroseconds (1000 );
25pin6.  writeMicroseconds (1000 );
26//INIT SERIAL COMMUNICATION WITH ANDROID
27Serial.  begin (115200 );
28}
29void loop () {
30if (Serial. available () > 0 ){
31//WAIT  FOR INCOMMING DATA BUFFER TO FILL
32if (index < 24){
33inChar = Serial. read ();  // Read a character
34inData[ index ] = inChar; // Store it
35index ++; // Increment  where to write next
36if (inChar == 'X' )
37index = 0 ;
38inData[ index ] = '\\0'  ; // Null terminate the string
39}
40}
41if (index ==24 ){
42index = 0;
43//STRING  LOOKS LIKE "A100B96C20D0E" WHERE LETTERS ACT AS DELIMINATOR
44//STRING CAN CONTAIN  SINGLE VALUE LIKE "B96C"
45String buf = String (inData);
46int ia = buf. indexOf  ( "A", 0);
47int ib = buf. indexOf ( "B", 0);
48int ic = buf. indexOf ( "C",  0);
49int id = buf. indexOf ( "D", 0);
50int ie = buf. indexOf ( "E", 0);
51int  iff = buf. indexOf ("F" , 0 );
52Serial. print ("|" );
53//A?B
54if (ia!=-  1 && ib!=- 1){
55//1. CONVERT VALUE TO INTEGER
56//2. CONVERT 0-100 TO 1000 -  2000
57//3. WRITE TO ARDUINO PIN NUMBER 2
58pin2. writeMicroseconds (map (buf.  substring (ia+ 1, ib). toInt (), 1, 100 , 1000 , 2000 ));
59//SEND RESPONSE TO  ANDROID
60Serial. print ( "RESPONSE:OK" );
61}
62//B?C
63if (ib!=- 1 && ic!=-  1){
64pin3. writeMicroseconds (map (buf. substring (ib+ 1, ic). toInt (), 1, 100  , 1000 , 2000 ));
65//Serial.print("PIN3 OK");
66}
67//C?D
68if (ic!=- 1 &&  id!=- 1){
69pin4. writeMicroseconds (map (buf. substring (ic+ 1, id). toInt (),  1, 100 , 1000 , 2000 ));
70//Serial.print("PIN4 OK");
71}
72//D?E
73if (id!=-  1 && ie!=- 1){
74pin5. writeMicroseconds (map (buf. substring (id+ 1, ie). toInt  (), 1, 100 , 1000 , 2000 ));
75//Serial.print("PIN5 OK");
76}
77//E?F
78if  (ie!=- 1 && iff!=- 1){
79pin5. writeMicroseconds (map (buf. substring (ie+ 1, iff).  toInt (), 1 , 100 , 1000 , 2000 ));
80//Serial.print("PIN6 OK");
81}
82Serial.  print ("|00" );
83Serial. print ("\
84" );
85}
86}
87void logg (){
88}