Arduino Robotic Arm

1//Original code by Ryan Chan. Updated code by MilesPeterson101 Thanks  to Ryan Chan for the concept!
2
3#include <Servo.h>
4
5Servo servo1; //Servos
6Servo  servo2;
7Servo servo3;
8
9const int LED1 = 2; //LEDs
10const int LED2 = 3;
11const  int LED3 = 4;
12const int LED4 = 7;
13const int LED5 = 8;
14
15const int button1  = 12; //Buttons
16const int button2 = 13;
17
18int button1Presses = 0; //Button  values
19boolean button2Pressed = false;
20
21const int pot1 = A0; //Potentimeters
22const  int pot2 = A1; 
23const int pot3 = A2;
24
25int pot1Val; //Potentimeter values
26int  pot2Val;
27int pot3Val;
28int pot1Angle;
29int pot2Angle;
30int pot3Angle;
31
32int  servo1PosSaves[] = {1,1,1,1,1}; //position saves
33int servo2PosSaves[] = {1,1,1,1,1};
34int  servo3PosSaves[] = {1,1,1,1,1};
35
36void setup() {
37  servo1.attach(5); //  Set up everything and will run once; attach servos and define the pin modes
38  servo2.attach(6);
39  servo3.attach(9);
40  
41  pinMode(LED1, OUTPUT);
42  pinMode(LED2, OUTPUT);
43  pinMode(LED3, OUTPUT);
44  pinMode(LED4, OUTPUT);
45  pinMode(LED5, OUTPUT);
46  pinMode(button1, INPUT);
47  pinMode(button2, INPUT);
48
49  Serial.begin(9600);
50}
51
52void loop() {
53  // put your main code here,  to run repeatedly: 
54  pot1Val = analogRead(pot1); // This will read the values  from the potentimeters and store it...
55  pot1Angle = map(pot1Val, 0, 1023, 0,  179); // ... and this will map the values from the potentiometers to values the  servos can use and store it for later use
56  pot2Val = analogRead(pot2); 
57  pot2Angle = map(pot2Val, 0, 1023, 0, 179);
58  pot3Val = analogRead(pot3);
59  pot3Angle = map(pot3Val, 0, 1023, 0, 179);
60  
61  servo1.write(pot1Angle);  // These will make the servos move to the mapped angles
62  servo2.write(pot2Angle);
63  servo3.write(pot3Angle);
64  
65  if(digitalRead(button1) == HIGH){ // This  will check how many times button1 is pressed and save the positions to an array  depending on how many times it is pressed; switch/case works like a if statement
66    button1Presses++;
67    switch(button1Presses){
68      case 1:
69        servo1PosSaves[0]  = pot1Angle;
70        servo2PosSaves[0] = pot2Angle;
71        servo3PosSaves[0]  = pot3Angle;
72        digitalWrite(LED1, HIGH);
73        Serial.println("Pos  1 Saved");
74        break;
75      case 2:
76         servo1PosSaves[1] = pot1Angle;
77         servo2PosSaves[1] = pot2Angle;
78         servo3PosSaves[1] = pot3Angle;
79         digitalWrite(LED2, HIGH);
80         Serial.println("Pos 2 Saved");
81         break;
82      case 3:
83         servo1PosSaves[2] = pot1Angle;
84         servo2PosSaves[2] = pot2Angle;
85         servo3PosSaves[2] = pot3Angle;
86         digitalWrite(LED3, HIGH);
87         Serial.println("Pos 3 Saved");
88         break;
89       case 4:
90         servo1PosSaves[3] = pot1Angle;
91         servo2PosSaves[3] = pot2Angle;
92         servo3PosSaves[3] = pot3Angle;
93         digitalWrite(LED4, HIGH);
94         Serial.println("Pos 4 Saved");
95         break;
96       case 5:
97         servo1PosSaves[4] = pot1Angle;
98         servo2PosSaves[4] = pot2Angle;
99         servo3PosSaves[4] = pot3Angle;
100         digitalWrite(LED5, HIGH);
101         Serial.println("Pos 5 Saved");
102         break;
103    }
104  }
105
106  if(digitalRead(button2) == HIGH){ // Pretty  self-explnatory here
107    button2Pressed = true;   
108  }
109  
110  if(button2Pressed){  // if the boolean button2Press is true, then the servos will run though all their  saved positions
111    for(int i = 0; i < 5; i++){
112        servo1.write(servo1PosSaves[i]);
113        servo2.write(servo2PosSaves[i]);
114        servo3.write(servo3PosSaves[i]);
115        Serial.println(" potentimeter Angles: ");
116        Serial.println(servo1PosSaves[i]);
117        Serial.println(servo2PosSaves[i]);
118        Serial.println(servo3PosSaves[i]);
119        delay(1050);
120      }
121  }
122  delay(300);
123}