SINONING

Step 1

install the robot arm and remote control

please read the blog showing below:

SNARM acrylic parts install guide

Step 2

use PS2 expansion board control the arm

4 pieces servo connection:

Arm bottom-0 left servo-1 right servo-14 paw servo-15

motor connection:

power supply:

4pcs AA battery box –power for sevo 5v

2pc 18650 battery box with DC male plug-arduino uno DC port

B:Arduino PS2 expansion board Manual

code to use:

open file “PS2X_ArmCar_Shield.ino”, and upload to arduino board.

CODE FOR TEST DOWNLOAD

step 3

install robot arm to tank chassis

use two long screw to make fast the robot arm on tank….

…………………..

DHT11 connect to arduino

Left 1 connect to arduino + 5V,

Left 2 is signal lines connecte to arduino 2,

Right 1 connect arduino GND

IIC LCD1602 to arduino:

GND -GND

VCC – 5V

SDA – A4

SCL – A5

………………..

Code Download:

install guide on instructable

Note:

Arduino code already upload to Arduino, just plug the wire, it will work.

Relate post:

how to find Arduino LCD1602 I2C address is 0x3f or 0x27？

…………………………………

update:2017.09.12

created:2015.12.12

<pre lang="”LANGUAGE”" line="”0″">#include &lt;Servo.h&gt; 

Servo myservoA; 

Servo myservoB;

Servo myservoC;

Servo myservoD;

Servo myservoE;

Servo myservoF;

int i,pos,myspeed;

int sea,seb,sec,sed,see,sef;

static int v=0;

String mycommand=""; //捕捉串口发来的指令 #auto：自动运行 #com：计算机串口控制 #stop：静止状态

static int mycomflag=2; // #auto：2 自动运行 , #com： 1 计算机控制 #stop：0 静止状态 

void myprint()

{

 sea=myservoA.read();

 seb=myservoB.read();

 sec=myservoC.read();

 sed=myservoD.read();

 see=myservoE.read();

 sef=myservoF.read();
 

 Serial.print("A=");

 Serial.print(sea);

 Serial.print(" B=");

 Serial.print(seb);

 Serial.print(" C=");

 Serial.print(sec);

 Serial.print(" D=");

 Serial.print(sed);

 Serial.print(" E=");

 Serial.print(see);

 Serial.print(" F=");

 Serial.println(sef); 

}

void myservosetup() //舵机初始化到等待状态

{

 sea=myservoA.read();

 seb=myservoB.read();

 sec=myservoC.read();

 sed=myservoD.read();

 see=myservoE.read();

 sef=myservoF.read();
 

 myspeed=500;

 for(pos=0;pos&lt;=myspeed;pos+=1)

 {

 myservoA.write(int(map(pos,1,myspeed,sea,66)));

 myservoB.write(int(map(pos,1,myspeed,seb,90)));

 myservoC.write(int(map(pos,1,myspeed,sec,50)));

 myservoD.write(int(map(pos,1,myspeed,sed,90)));

 myservoE.write(int(map(pos,1,myspeed,see,120)));

 myservoF.write(int(map(pos,1,myspeed,sef,90))); 

 delay(1);

 }

}

void setup() 

{ 

 Serial.begin(9600,SERIAL_8N1);
 

 mycomflag=2; // 机械臂默认上电状态为：2 自动运行

 myservoA.attach(3); // 控制腰部（A）的端口是~3号

 myservoB.attach(5); // 控制大臂（B）的端口是~5号

 myservoC.attach(6); // 控制小臂（C）的端口是~6号

 myservoD.attach(9); // 控制小臂旋转（D）的端口是~9号

 myservoE.attach(10); // 控制腕部（E）的端口是~10号

 myservoF.attach(11); // 控制腕部旋转（F）的端口是~11号
 

 myservoA.write(66);

 myservoB.write(90);

 myservoC.write(55);

 myservoD.write(90);

 myservoE.write(120);

 myservoF.write(90);

}

void loop() 

{ 

 while (Serial.available() &gt; 0) 

 {

 mycommand += char(Serial.read());

 delay(2);

 }

 if (mycommand.length() &gt; 0)

 {

 if(mycommand=="#auto")

 {

 mycomflag=2;

 Serial.println("auto station");

 mycommand="";

 }

 if(mycommand=="#com")

 {

 mycomflag=1;

 Serial.println("computer control station");

 mycommand="";

 myservosetup();

 }

 if(mycommand=="#stop")

 {

 mycomflag=0;

 Serial.println("stop station");

 mycommand="";

 } 

 } 
 

 if(mycomflag==1) //如果是计算机串口控制 1

 { 
 

 for(int m=0;m&lt;mycommand.length();m++) // 

 {

 char ch = mycommand[m]; //读取串口数据

 switch(ch)

 {

 case '0'...'9':

 v = v*10 + ch - '0'; //字符转换成十进制

 break;
 

 case 'a': //如果数据后带a，则表示是一号舵机的数据，比如串口发送85a

 if(v &gt;= 5 || v &lt;= 175 ) myservoA.write(v); //用于设定舵机旋转角度的语句，可设定的角度范围是0°到180°，“V”得到所输入的值而改变角度，比如85a为85度角

 v = 0;

 myprint();

 break;

 case 'b': //如果数据后带b，则表示是二号舵机的数据，比如串口发送85a

 myservoB.write(v); //用于设定舵机旋转角度的语句，可设定的角度范围是0°到180°，“V”得到所输入的值而改变角度，比如90b为90度角

 v = 0;

 myprint();

 break;
 

 case 'c': 

 if(v &gt;= 20 ) myservoC.write(v); 

 v = 0;

 myprint();

 break;

 case 'd': 

 myservoD.write(v); 

 v = 0;

 myprint();

 break;

 case 'e': 

 myservoE.write(v); 

 v = 0;

 myprint();

 break;
 

 case 'f': 

 myservoF.write(v); 

 myprint();

 v = 0;

 break;

 }
 

 } 

 mycommand=""; 
 

 } // end if(mycomflag=2)
 

 if(mycomflag==2) //如果是自动运行状态2 

 { 

 delay(3000); 

 //Serial.println("auto station"); 

 myservosetup();

 myspeed=500;

 for(pos = 0; pos &lt;=myspeed; pos += 1) 

 { 

 myservoA.write(int(map(pos,1,myspeed,66,90))); // 让A从66度旋转到90度 （可修改角度）

 myservoB.write(int(map(pos,1,myspeed,90,70))); //让B从90度旋转到40度 （可修改角度）

 delay(1); 

 }

 delay(1000);

 myspeed=500;

 for(pos = 0; pos &lt;=myspeed; pos += 1) 

 { 

 myservoC.write(int(map(pos,1,myspeed,50,65))); // 

 myservoD.write(int(map(pos,1,myspeed,90,170))); //

 myservoE.write(int(map(pos,1,myspeed,90,5))); 

 delay(1); 

 }

 myspeed=1000;

 for(pos = 0; pos &lt;=myspeed; pos += 1) 

 { 

 myservoB.write(int(map(pos,1,myspeed,70,90))); // 

 myservoC.write(int(map(pos,1,myspeed,65,50))); //

 delay(1); 

 }

 myspeed=500;

 for(pos = 0; pos &lt;=myspeed; pos += 1) 

 { 

 myservoC.write(int(map(pos,1,myspeed,50,45))); // 

 myservoD.write(int(map(pos,1,myspeed,170,90))); //

 myservoE.write(int(map(pos,1,myspeed,5,50)));

 myservoF.write(int(map(pos,1,myspeed,90,40)));

 delay(1); 

 }

 myspeed=1000;

 for(pos = 0; pos &lt;=myspeed; pos += 1) 

 { 

 myservoA.write(int(map(pos,1,myspeed,90,140))); // 

 myservoF.write(int(map(pos,1,myspeed,40,130))); 

 delay(1); 

 } 

 myspeed=500;

 for(pos = 0; pos &lt;=myspeed; pos += 1) 

 { 

 myservoA.write(int(map(pos,1,myspeed,140,90))); // 

 myservoC.write(int(map(pos,1,myspeed,45,50))); // 

 myservoB.write(int(map(pos,1,myspeed,90,70))); //

 myservoE.write(int(map(pos,1,myspeed,50,120))); //

 delay(1); 

 } 

 }
 

 if(mycomflag==0) //如果是静止状态0

 {

 myservosetup();

 }

}</pre>

<pre lang="”LANGUAGE”">#include &lt;Servo.h&gt;

Servo myservo1;

Servo myservo2;

Servo myservo3;

Servo myservo4;

int potpin1 = 0;

int potpin2 = 1;

int potpin3 = 2;

int potpin4 = 3;

int val1;

int val2;

int val3;

int val4;



int Value1;

int Value2;

int Value3;

int Value4;

void setup()

{

 myservo1.attach(11);

 myservo2.attach(10);

 myservo3.attach(9);

 myservo4.attach(6);

 Serial.begin(9600);

}

///////////////////////////////////////////////////

#define FILTER_N 0

int i = 0;

int Filter1() {

 int new_value;

 new_value = analogRead(potpin1);

 if (Value1 != new_value) {

 i++;

 if (i &gt; FILTER_N) {

 i = 0;

 Value1 = new_value;

 }

 }

 else

 i = 0;

 return Value1;

}

/////////////////////////////////////////////////



int j = 0;

int Filter2() {

 int new_value;

 new_value = analogRead(potpin2);

 if (Value2 != new_value) {

 j++;

 if (j &gt; FILTER_N) {

 j = 0;

 Value2 = new_value;

 }

 }

 else

 j = 0;

 return Value2;

}

////////////////////////////////////////////////////

int k = 0;

int Filter3() {

 int new_value;

 new_value = analogRead(potpin3);

 if (Value3 != new_value) {

 k++;

 if (k &gt; FILTER_N) {

 k = 0;

 Value3 = new_value;

 }

 }

 else

 k = 0;

 return Value3;

}

///////////////////////////////////////////////////////

int m = 0;

int Filter4() {

 int new_value;

 new_value = analogRead(potpin4);

 if (Value4 != new_value) {

 m++;

 if (m &gt; FILTER_N) {

 m = 0;

 Value4 = new_value;

 }

 }

 else

 m = 0;

 return Value4;

}

void loop()

{

 val1 = Filter1();

 val1 = map (val1, 0, 1023, 120, 150);

 myservo1.write(val1);

 delay(1);

 Serial.print("val1=");

 Serial.print(val1);

 Serial.print(",");



 val2 = Filter2();

 val2 = map (val2, 0, 1023, 0, 179);

 myservo2.write(val2);

 delay(1);

 Serial.print("val2=");

 Serial.print(val2);

 Serial.print(",");

 val3 = Filter3();

 val3 = map (val3, 0, 1023, 0, 179);

 myservo3.write(val3);

 delay(1);

 Serial.print("val3=");

 Serial.print(val3);

 Serial.print(",");
 

 val4 = Filter4();

 val4 = map (val4, 0, 1023, 40, 179);

 myservo4.write(val4);

 delay(1);

 Serial.print("val4=");

 Serial.print(val4);

 Serial.println(",");



}</pre>

<pre lang="”LANGUAGE”">double Fahrenheit(double celsius) 

{

 return 1.8 * celsius + 32;

} //摄氏温度度转化为华氏温度
 

double Kelvin(double celsius)

{

 return celsius + 273.15;

} //摄氏温度转化为开氏温度
 

// 露点（点在此温度时，空气饱和并产生露珠）

// 参考: [url=http://wahiduddin.net/calc/density_algorithms.htm]http://wahiduddin.net/calc/density_algorithms.htm[/url] 

double dewPoint(double celsius, double humidity)

{

 double A0= 373.15/(273.15 + celsius);

 double SUM = -7.90298 * (A0-1);

 SUM += 5.02808 * log10(A0);

 SUM += -1.3816e-7 * (pow(10, (11.344*(1-1/A0)))-1) ;

 SUM += 8.1328e-3 * (pow(10,(-3.49149*(A0-1)))-1) ;

 SUM += log10(1013.246);

 double VP = pow(10, SUM-3) * humidity;

 double T = log(VP/0.61078); // temp var

 return (241.88 * T) / (17.558-T);

}
 

// 快速计算露点，速度是5倍dewPoint()

// 参考: [url=http://en.wikipedia.org/wiki/Dew_point]http://en.wikipedia.org/wiki/Dew_point[/url]

double dewPointFast(double celsius, double humidity)

{

 double a = 17.271;

 double b = 237.7;

 double temp = (a * celsius) / (b + celsius) + log(humidity/100);

 double Td = (b * temp) / (a - temp);

 return Td;

}
 

#include &lt;dht11.h&gt;

#include &lt;Wire.h&gt;

#include &lt;LiquidCrystal_I2C.h&gt;
 

LiquidCrystal_I2C lcd(0x27,16,2); // set the LCD address to 0x27 for a 16 chars and 2 line display
 

dht11 DHT11;
 

#define DHT11PIN 2
 

void setup()

{

 lcd.init(); // initialize the lcd 

 lcd.backlight();

 lcd.print("Waiting...");

 Serial.begin(9600); 

}

void loop()

{

 int chk = DHT11.read(DHT11PIN);
 

 switch (chk)

 {

 case DHTLIB_OK: 

 lcd.setCursor(0, 0);

 lcd.print("Temp:");

 lcd.print((float)DHT11.temperature,2);

 lcd.write(0xDF);

 lcd.print("C");
 

 lcd.setCursor(0, 1);

 lcd.print("Humidity:");

 lcd.print((float)DHT11.humidity,2);

 lcd.print("%");
 

 break;

 case DHTLIB_ERROR_CHECKSUM: 

 lcd.clear();

 lcd.print("Checksum error"); 

 delay(1000); 

 lcd.clear();

 break;

 case DHTLIB_ERROR_TIMEOUT: 

 lcd.clear();

 lcd.print("Time out error"); 

 delay(1000); 

 lcd.clear();

 break;

 default: 

 lcd.clear();

 lcd.print("Unknown error"); 

 delay(1000); 

 lcd.clear();

 break;

 }

 delay(1000);

}</pre>