From 9473b81b21d1eb3b26e3c7d60749b7f5ede8efb7 Mon Sep 17 00:00:00 2001 From: "vojta@viky" Date: Wed, 11 Mar 2026 10:10:47 +0100 Subject: [PATCH] Zaloha - Viky - rameno od Davida. --- ...JoyStick_Controlled_Robot_Arm_opraveno.ino | 179 ++++++++++++++++++ zalohy/nas_nnelepsi_ramen_program_frfr.ino | 179 ++++++++++++++++++ 2 files changed, 358 insertions(+) create mode 100644 arduino/ruka_lafvin/Code/Lesson_7_Dual_JoyStick_Controlled_Robot_Arm/Lesson_7_Dual_JoyStick_Controlled_Robot_Arm_opraveno.ino create mode 100644 zalohy/nas_nnelepsi_ramen_program_frfr.ino diff --git a/arduino/ruka_lafvin/Code/Lesson_7_Dual_JoyStick_Controlled_Robot_Arm/Lesson_7_Dual_JoyStick_Controlled_Robot_Arm_opraveno.ino b/arduino/ruka_lafvin/Code/Lesson_7_Dual_JoyStick_Controlled_Robot_Arm/Lesson_7_Dual_JoyStick_Controlled_Robot_Arm_opraveno.ino new file mode 100644 index 0000000..8414f01 --- /dev/null +++ b/arduino/ruka_lafvin/Code/Lesson_7_Dual_JoyStick_Controlled_Robot_Arm/Lesson_7_Dual_JoyStick_Controlled_Robot_Arm_opraveno.ino @@ -0,0 +1,179 @@ +#include // add the servo libraries +Servo myservo1; // create servo object to control a servo +Servo myservo2; +Servo myservo3; +Servo myservo4; +int pos1=90, pos2=90, pos3=90, pos4=90; // define the variable of 4 servo angle,and assign the initial value (that is the boot posture +//angle value) +const int right_X = A2; // define the right X pin to A2 +const int right_Y = A5; // define the right Y pin to A5 +const int right_key = 7; // define the right key pin to 7（that is the value of Z） +const int left_X = A3; // define the left X pin to A3 +const int left_Y = A4; // define the left X pin to A4 +const int left_key = 8; //define the left key pin to 8（that is the value of Z） +int x1,yyy,z1; // define the variable, used to save the joystick value it read. +int x2,y2,z2; + +void setup() +{ +// boot posture +myservo1.write(pos1); +delay(1000); +myservo2.write(pos2); +myservo3.write(pos3); +myservo4.write(pos4); +delay(1500); +pinMode(right_key, INPUT); // set the right/left key to INPUT +pinMode(left_key, INPUT); +Serial.begin(9600); // set the baud rate to 9600 +} +void loop() +{ +myservo1.attach(3); // set the control pin of servo 1 to D3 dizuo-servo1-3 +myservo2.attach(5); // set the control pin of servo 2 to D5 arm-servo2-5 +myservo3.attach(6); //set the control pin of servo 3 to D6 lower arm-servo-6 +myservo4.attach(9); // set the control pin of servo 4 to D9 claw-servo-9 +x2 = analogRead(right_X); //read the right X value +y2 = analogRead(right_Y); // read the right Y value +z2 = digitalRead(right_key); //// read the right Z value +x1 = analogRead(left_X); //read the left X value +yyy = analogRead(left_Y); //read the left Y value +z1 = digitalRead(left_key); // read the left Z value +//delay(5); // lower the speed overall + +// claw +claw(); + +// rotate +turn(); + +// upper arm +upper_arm(); + +//lower arm +lower_arm(); +} + + + +//*************************************************** +//claw +void claw() +{ +//claw +if(x1<50) // if push the left joystick to the right +{ +pos4=pos4+3; +myservo4.write(pos4); //servo 4 operates the motion, the claw gradually opens. +delay(5); + +if(pos4>120) //limit the largest angle when open the claw +{ +pos4=120; +} +} + +if(x1>1000) ////if push the right joystick to the left +{ +pos4=pos4-3; +myservo4.write(pos4); // servo 4 operates the action, claw is gradually closed. +delay(5); +if(pos4<45) // +{ +pos4=45; //limit the largest angle when close the claw +} + +} +} + + + +//******************************************************/ +// turn +void turn() +{ +if(x2<50) //if push the right joystick to the let +{ +pos1=pos1+3; +myservo1.write(pos1); // arm turns left +delay(5); +if(pos1>180) //limit the angle when turn right +{ +pos1=180; +} + +} + +if(x2>1000) // if push the right joystick to the right +{ +pos1=pos1-3; +myservo1.write(pos1); //servo 1 operates the motion, the arm turns right. +delay(5); +if(pos1<1) // limit the angle when turn left +{ +pos1=1; +} +} +} + + + + +//**********************************************************/ +// lower arm +void lower_arm() +{ +if(y2>1000) // if push the right joystick downward +{ +pos2=pos2-2; +myservo2.write(pos2); // lower arm will draw back +delay(5); +if(pos2<25) // limit the retracted angle +{ +pos2=25; +} +} + +if(y2<50) // if push the right joystick upward +{ +pos2=pos2+2; +myservo2.write(pos2); // lower arm will stretch out +delay(5); +if(pos2>180) // limit the stretched angle +{ +pos2=180; +} +} +} + + + + + +//*************************************************************/ + +//upper arm +void upper_arm() +{ +if(yyy<50) // if push the left joystick downward +{ +pos3=pos3-2; +myservo3.write(pos3); // upper arm will go down +delay(5); +if(pos3<1) // limit the angle when go down +{ +pos3=1; +} +} +if(yyy>1000) // if push the left joystick upward +{ +pos3=pos3+2; +myservo3.write(pos3); // the upper arm will lift +delay(5); + +if(pos3>135) //limit the lifting angle +{ +pos3=135; +} +} +} diff --git a/zalohy/nas_nnelepsi_ramen_program_frfr.ino b/zalohy/nas_nnelepsi_ramen_program_frfr.ino new file mode 100644 index 0000000..8414f01 --- /dev/null +++ b/zalohy/nas_nnelepsi_ramen_program_frfr.ino @@ -0,0 +1,179 @@ +#include // add the servo libraries +Servo myservo1; // create servo object to control a servo +Servo myservo2; +Servo myservo3; +Servo myservo4; +int pos1=90, pos2=90, pos3=90, pos4=90; // define the variable of 4 servo angle,and assign the initial value (that is the boot posture +//angle value) +const int right_X = A2; // define the right X pin to A2 +const int right_Y = A5; // define the right Y pin to A5 +const int right_key = 7; // define the right key pin to 7（that is the value of Z） +const int left_X = A3; // define the left X pin to A3 +const int left_Y = A4; // define the left X pin to A4 +const int left_key = 8; //define the left key pin to 8（that is the value of Z） +int x1,yyy,z1; // define the variable, used to save the joystick value it read. +int x2,y2,z2; + +void setup() +{ +// boot posture +myservo1.write(pos1); +delay(1000); +myservo2.write(pos2); +myservo3.write(pos3); +myservo4.write(pos4); +delay(1500); +pinMode(right_key, INPUT); // set the right/left key to INPUT +pinMode(left_key, INPUT); +Serial.begin(9600); // set the baud rate to 9600 +} +void loop() +{ +myservo1.attach(3); // set the control pin of servo 1 to D3 dizuo-servo1-3 +myservo2.attach(5); // set the control pin of servo 2 to D5 arm-servo2-5 +myservo3.attach(6); //set the control pin of servo 3 to D6 lower arm-servo-6 +myservo4.attach(9); // set the control pin of servo 4 to D9 claw-servo-9 +x2 = analogRead(right_X); //read the right X value +y2 = analogRead(right_Y); // read the right Y value +z2 = digitalRead(right_key); //// read the right Z value +x1 = analogRead(left_X); //read the left X value +yyy = analogRead(left_Y); //read the left Y value +z1 = digitalRead(left_key); // read the left Z value +//delay(5); // lower the speed overall + +// claw +claw(); + +// rotate +turn(); + +// upper arm +upper_arm(); + +//lower arm +lower_arm(); +} + + + +//*************************************************** +//claw +void claw() +{ +//claw +if(x1<50) // if push the left joystick to the right +{ +pos4=pos4+3; +myservo4.write(pos4); //servo 4 operates the motion, the claw gradually opens. +delay(5); + +if(pos4>120) //limit the largest angle when open the claw +{ +pos4=120; +} +} + +if(x1>1000) ////if push the right joystick to the left +{ +pos4=pos4-3; +myservo4.write(pos4); // servo 4 operates the action, claw is gradually closed. +delay(5); +if(pos4<45) // +{ +pos4=45; //limit the largest angle when close the claw +} + +} +} + + + +//******************************************************/ +// turn +void turn() +{ +if(x2<50) //if push the right joystick to the let +{ +pos1=pos1+3; +myservo1.write(pos1); // arm turns left +delay(5); +if(pos1>180) //limit the angle when turn right +{ +pos1=180; +} + +} + +if(x2>1000) // if push the right joystick to the right +{ +pos1=pos1-3; +myservo1.write(pos1); //servo 1 operates the motion, the arm turns right. +delay(5); +if(pos1<1) // limit the angle when turn left +{ +pos1=1; +} +} +} + + + + +//**********************************************************/ +// lower arm +void lower_arm() +{ +if(y2>1000) // if push the right joystick downward +{ +pos2=pos2-2; +myservo2.write(pos2); // lower arm will draw back +delay(5); +if(pos2<25) // limit the retracted angle +{ +pos2=25; +} +} + +if(y2<50) // if push the right joystick upward +{ +pos2=pos2+2; +myservo2.write(pos2); // lower arm will stretch out +delay(5); +if(pos2>180) // limit the stretched angle +{ +pos2=180; +} +} +} + + + + + +//*************************************************************/ + +//upper arm +void upper_arm() +{ +if(yyy<50) // if push the left joystick downward +{ +pos3=pos3-2; +myservo3.write(pos3); // upper arm will go down +delay(5); +if(pos3<1) // limit the angle when go down +{ +pos3=1; +} +} +if(yyy>1000) // if push the left joystick upward +{ +pos3=pos3+2; +myservo3.write(pos3); // the upper arm will lift +delay(5); + +if(pos3>135) //limit the lifting angle +{ +pos3=135; +} +} +}