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Voice controlled arduino robot arm
Download the .zip file below. Unzip it and open it in Arduino IDE. Compile and upload.
#include <Servo.h>
//In and Out
int led = 2;
Servo servo1;
Servo servo2;
Servo servo3;
Servo servo4;
Servo servo5;
//Variables
byte com = 0;
int group = 1;
int Move = 0;
int Grab = 0;
int Pitch = 0;
int left = 0;
int right = 0;
int up = 0;
int down = 0;
int on = 0;
int grabbed=0;
//The initial angles values for each motor
float mot1 = 90;
float mot2 = 90;
float mot3 = 90;
float mot4 = 180;
float mot5 = 90;
void setup()
{
Serial.begin(9600);
pinMode(led, OUTPUT); // sets the ledPin to be an output
servo1.attach(3); //Attach the servo 1 to pin 3, servo 2 to 5 and so on...
servo2.attach(5);
servo3.attach(6);
servo4.attach(9);
servo5.attach(11);
Serial.write(0xAA);
Serial.write(0x00);//Waiting
delay(100);
Serial.write(0xAA);
Serial.write(0x37);//Compact mode
delay(100);
Serial.write(0xAA);
Serial.write(0x00);//Waiting
delay(100);
Serial.write(0xAA);
Serial.write(0x21);//Import group 1
}
void Salute()
{
servo1.write(90);
servo2.write(90);
servo3.write(90);
servo4.write(180);
servo5.write(90);
delay(500);
servo3.write(180);
delay(500);
servo3.write(90);
delay(500);
servo3.write(180);
delay(500);
servo3.write(90);
delay(500);
servo3.write(180);
delay(500);
servo3.write(90);
delay(500);
}
void loop() // run over and over again
{
while(Serial.available())
{
com = Serial.read(); //We receive the voice command and save it in the com byte
//We start in the first group
if(group == 1)
{
if(com == 0x11)//Hello
{
on = 1;
digitalWrite(led,HIGH); //Turn ON the LED
//Put the servos in to ON position
servo1.write(mot1);
servo2.write(mot2);
servo3.write(mot3);
servo4.write(mot4);
servo5.write(mot5);
delay(100);
com = 0x00; //Change the value of the com byte in to a never used one in
//order to not affect the next "if"
}
if(com == 0x12)//Goodbye
{
on = 0;
digitalWrite(led,LOW); //Turn OFF the LED
//Put the servos in to OFF position
servo1.write(90);
servo2.write(0);
servo3.write(180);
servo4.write(180);
servo5.write(90);
delay(100);
com = 0x00;
}
if(com == 0x13)//Move
{
group = 2; //We switch to the next group
Move = 1; //Put the arm in to moving mode
Grab = 0; //Grab mode is off
//Now we send the import group 2 comands
delay(10);
Serial.write(0xAA);
Serial.write(0x00);
delay(100);
Serial.write(0xAA);
Serial.write(0x22);
delay(100);
com = 0x00;
}
if(com == 0x14)//Pitch
{
//Here we do the same but with Pitch mode
group = 2;
Move = 0;
Grab = 0;
Pitch = 1;
delay(10);
Serial.write(0xAA);
Serial.write(0x00);
delay(100);
Serial.write(0xAA);
Serial.write(0x22);
delay(100);
com = 0x00;
}
if(com == 0x15)//Grab
{
//We do the same with grab mode but we stay in the same group
Move = 0;
Grab = 1;
Pitch = 0;
com = 0x00;
}
}//End of group 1
//Start of group 2 commands
if(group == 2 )
{
if(com == 0x11)//Left
{
//We switch to the next group and activateh the left mode
group = 3;
left = 1;
right = 0;
up = 0;
down = 0;
delay(10);
Serial.write(0xAA);
Serial.write(0x00);
delay(100);
Serial.write(0xAA);
Serial.write(0x23);
delay(100);
com = 0x00;
}
if(com == 0x12)//Right
{
group = 3;
left = 0;
right = 1;
up = 0;
down = 0;
delay(10);
Serial.write(0xAA);
Serial.write(0x00);
delay(100);
Serial.write(0xAA);
Serial.write(0x23);
delay(100);
com = 0x00;
}
if(com == 0x13)//Up
{
group = 3;
left = 0;
right = 0;
up = 1;
down = 0;
delay(10);
Serial.write(0xAA);
Serial.write(0x00);
delay(100);
Serial.write(0xAA);
Serial.write(0x23);
delay(100);
com = 0x00;
}
if(com == 0x14)//Down
{
group = 3;
left = 0;
right = 0;
up = 0;
down = 1;
delay(10);
Serial.write(0xAA);
Serial.write(0x00);
delay(100);
Serial.write(0xAA);
Serial.write(0x23);
delay(100);
com = 0x00;
}
if(com == 0x15)//Salute
{
group = 1;
Move = 0;
Grab = 0;
Pitch = 0;
Salute();
delay(10);
Serial.write(0xAA);
Serial.write(0x00);
delay(100);
Serial.write(0xAA);
Serial.write(0x21);
delay(100);
com = 0x00;
}
}//End of group 2
if(group == 3 )
{
if(com == 0x11)//Stop
{
group = 1;
Move = 0;
Grab = 0;
Pitch = 0;
left = 0;
right = 0;
up = 0;
down = 0;
delay(10);
Serial.write(0xAA);
Serial.write(0x00);
delay(100);
Serial.write(0xAA);
Serial.write(0x21);
delay(100);
com = 0x00;
digitalWrite(led,HIGH);
}
/////////////These comands are not used in this project//////////
if(com == 0x12)//One
{
group = 1;
Move = 0;
Grab = 0;
Pitch = 0;
left = 0;
right = 0;
up = 0;
down = 0;
delay(10);
Serial.write(0xAA);
Serial.write(0x00);
delay(100);
Serial.write(0xAA);
Serial.write(0x21);
delay(100);
com = 0x00;
}
if(com == 0x13)//Two
{
group = 1;
Move = 0;
Grab = 0;
Pitch = 0;
left = 0;
right = 0;
up = 0;
down = 0;
delay(10);
Serial.write(0xAA);
Serial.write(0x00);
delay(100);
Serial.write(0xAA);
Serial.write(0x21);
delay(100);
com = 0x00;
}
if(com == 0x14)//Three
{
group = 1;
Move = 0;
Grab = 0;
Pitch = 0;
left = 0;
right = 0;
up = 0;
down = 0;
delay(10);
Serial.write(0xAA);
Serial.write(0x00);
delay(100);
Serial.write(0xAA);
Serial.write(0x21);
delay(100);
com = 0x00;
digitalWrite(led,LOW);
}
if(com == 0x15)//Four
{
group = 1;
Move = 0;
Grab = 1;
Pitch = 0;
left = 0;
right = 0;
up = 0;
down = 0;
delay(10);
Serial.write(0xAA);
Serial.write(0x00);
delay(100);
Serial.write(0xAA);
Serial.write(0x21);
delay(100);
com = 0x00;
digitalWrite(led,HIGH);
}
}//End of group 3
}//end of received bytes while
if(on==1)
{
if(Move == 1)
{
if(left==1)
{
mot1 = mot1 + 0.001; //We increase the angle of motor 1
//Define angle range
if(mot1>180)
{
mot1=180;
}
if(mot1<0)
{
mot1=0;
}
//Weithe the angle
servo1.write(mot1);
}//enf of left
if(right==1)
{
mot1 = mot1 - 0.001; //We decrease the angle of motor 1
//Define angle range
if(mot1>180)
{
mot1=180;
}
if(mot1<0)
{
mot1=0;
}
//Weithe the angle
servo1.write(mot1);
}//enf of right
if(up==1)
{
mot2 = mot2 + 0.001; //We increase the angle of motor 2
//Define angle range
if(mot2>180)
{
mot2=180;
}
if(mot2<0)
{
mot2=0;
}
//Weithe the angle
servo2.write(mot2);
}//enf of up
if(down==1)
{
mot2 = mot2 - 0.001; //We decrease the angle of motor 2
//Define angle range
if(mot2>180)
{
mot2=180;
}
if(mot2<0)
{
mot2=0;
}
//Weithe the angle
servo2.write(mot2);
}//enf of up
}//end of move
if(Pitch == 1)
{
if(left==1)
{
mot3 = mot3 + 0.001; //We increase the angle of motor 3
//Define angle range
if(mot3>180)
{
mot3=180;
}
if(mot3<0)
{
mot3=0;
}
//Weithe the angle
servo3.write(mot3);
}//enf of left
if(right==1)
{
mot3 = mot3 - 0.001; //We decrease the angle of motor 3
//Define angle range
if(mot3>180)
{
mot3=180;
}
if(mot3<0)
{
mot3=0;
}
//Weithe the angle
servo3.write(mot3);
}//enf of right
if(up==1)
{
mot4 = mot4 + 0.001; //We increase the angle of motor 4
//Define angle range
if(mot4>180)
{
mot4=180;
}
if(mot4<0)
{
mot4=0;
}
//Weithe the angle
servo4.write(mot4);
}//enf of up
if(down==1)
{
mot4 = mot4 - 0.001; //We decrease the angle of motor 2
//Define angle range
if(mot4>180)
{
mot4=180;
}
if(mot4<0)
{
mot4=0;
}
//Weithe the angle
servo4.write(mot4);
}//enf of up
}//end of pitch
if(Grab == 1 && grabbed)
{
servo5.write(180); //open
Grab = 0;
grabbed = 0;
}
if(Grab == 1 && !grabbed)
{
servo5.write(0); //close
Grab = 0;
grabbed = 0;
}
}//end of ON
}//end of the loop