El Hareketleriyle kontol edilen robot kol

Robot kolu kontrol etmek için birçok yöntem vardır.Bu projede el hareketiyle kontrol edilmesi, kolu daha rahat ve hassas şekilde kontrol etmemizi sağlamıştır.

Projede kullanılan komponetler:

1. Arduino Nano
2. Arduino Uno
3. 2 Adet Adxl-345  3 eksen  ivmeölçer
4. 5 Adet 9 gr Servo motor
5. mekanik kısmı için 2 Adet A4 boyutunda mika

Devre Şeması:

İvme Ölçer İki Servo Kontrol

// ADXL345 ivmeölçer 2 Servo Motor kontrolü
#include <Wire.h>
#include <Servo.h>
Servo myservox;
Servo myservoy;
#define DEVICE (0x53)
#define TO_READ (6)
#define TRIGGER 16
byte buff[TO_READ] ;
int i;

void setup()
{
pinMode(TRIGGER,OUTPUT);
digitalWrite(TRIGGER,HIGH);
Wire.begin();
myservox.attach(9);
myservoy.attach(10);
myservox.write(90);
delay(25);
myservoy.write(90);
delay(25);

writeTo(DEVICE, 0x2D, 0);
writeTo(DEVICE, 0x2D, 16);
writeTo(DEVICE, 0x2D, 8);
}

void loop()
{
int regAddress = 0x32;
int x, y, z;
digitalWrite(TRIGGER,LOW);
delay(10);
digitalWrite(TRIGGER,HIGH);
readFrom(DEVICE, regAddress, TO_READ, buff);

x=0;
y=0;
z=0;
for(i=1;i<=5;i++){
x += (((int)buff[1]) << 8) | buff[0];
y += (((int)buff[3])<< 8) | buff[2];
z += (((int)buff[5]) << 8) | buff[4];
delay(10);
}
x/=5;
y/=5;
z/=5;
if(x<-255)x= -255; else if (x>255)x=255;
if(y<-255)y= -255; else if (y>255)y=255;
x=map(x, -255, 255, 0, 180);
y=map(y, -255, 255, 0, 180);
myservox.write(x);
delay(25);
myservoy.write(180-y);
delay(25);

delay(200);
}


void writeTo(int device, byte address, byte val) {
Wire.beginTransmission(device);
Wire.write(address);
Wire.write(val);
Wire.endTransmission();
}


void readFrom(int device, byte address, int num, byte buff[]) {
Wire.beginTransmission(device);
Wire.write(address);
Wire.endTransmission();

Wire.beginTransmission(device);
Wire.requestFrom(device, num);

int i = 0;
while(Wire.available())
{
buff[i] = Wire.read();
i++;
}
Wire.endTransmission();
}

3 Servo Kontrol

// ADXL345 ivmeölçer 3 Servo Motor kontrolü
#include <Wire.h>
#include <Servo.h>
Servo myservox;
Servo myservoy;
Servo myservoz;
#define DEVICE (0x53)
#define TO_READ (6)
#define TRIGGER 16
byte buff[TO_READ] ;
int i;

void setup()
{
pinMode(TRIGGER,OUTPUT);
digitalWrite(TRIGGER,HIGH);
Wire.begin();
myservox.attach(9);
myservoy.attach(10);
myservoy.attach(11);
myservox.write(90);
delay(25);
myservoy.write(90);
delay(25);
myservoz.write(90);
delay(25);
writeTo(DEVICE, 0x2D, 0);
writeTo(DEVICE, 0x2D, 16);
writeTo(DEVICE, 0x2D, 8);
}

void loop()
{
int regAddress = 0x32;
int x, y, z;
digitalWrite(TRIGGER,LOW);
delay(10);
digitalWrite(TRIGGER,HIGH);
readFrom(DEVICE, regAddress, TO_READ, buff);

x=0;
y=0;
z=0;
for(i=1;i<=5;i++){
x += (((int)buff[1]) << 8) | buff[0];
y += (((int)buff[3])<< 8) | buff[2];
z += (((int)buff[5]) << 8) | buff[4];
delay(10);
}
x/=5;
y/=5;
z/=5;
if(x<-255)x= -255; else if (x>255)x=255;
if(y<-255)y= -255; else if (y>255)y=255;
if(z<-255)z= -255; else if (z>255)z=255;
x=map(x, -255, 255, 0, 180);
y=map(y, -255, 255, 0, 180);
z=map(z, -255, 255, 0, 180);
myservox.write(x);
delay(25);
myservoy.write(180-y);
delay(25);
myservoz.write(180-z);
delay(25);
delay(200);
}


void writeTo(int device, byte address, byte val) {
Wire.beginTransmission(device);
Wire.write(address);
Wire.write(val);
Wire.endTransmission();
}


void readFrom(int device, byte address, int num, byte buff[]) {
Wire.beginTransmission(device);
Wire.write(address);
Wire.endTransmission();

Wire.beginTransmission(device);
Wire.requestFrom(device, num);

int i = 0;
while(Wire.available())
{
buff[i] = Wire.read();
i++;
}
Wire.endTransmission();
}

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