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arduino code:Acrylic Arduino 4DOF robot arm SNM-1100

May 28, 2017

<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>

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