#12 – Robotics

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Servo (Radio Control)

Servos (also RC servos) are small, cheap, mass-produced servomotors or other actuators used for radio control and small-scale robotics.
Radio control servos are connected through a standard three-wire connection: two wires for a DC power supply and one for control, carrying a pulse-width modulation (PWM) signal. Each servo has a separate connection and PWM signal from the radio control receiver. This signal is easily generated by simple electronics, or by microcontrollers such as the Arduino. This, together with their low-cost, has led to their wide adoption for robotics and physical computing.

DL1912Mk01

1 x Adafruit RGB LCD Shield 16×2 Character Display
1 x Arduino UNO – R3
1 x ProtoScrewShield
2 x EasyDriver – Stepper Motor Driver
2 x Small Stepper Motor
2 x Pololu Mounting
2 x RC Servo Motor
2 x Potentiometer 1M Ohm
2 x Knob
4 x Jumper Wires 3″ M/M
22 x Jumper Wires 6″ M/M
3 x Half-Size Breadboard

Arduino UNO

SP1 – Digital 3
DI1 – Digital 2
SP2 – Digital 5
DI2 – Digital 4
SV1 – Digital 6
PO1 – Analog A0
SV2 – Digital 7
PO2 – Analog A1
VIN – +5V
GND – GND

DL1912Mk01.ino

// ***** Don Luc Electronics © *****
// Software Version Information
// Project #12: Robotics - RC Servo Motor - Mk02
// 12-01
// DL1912Mk01p.ino 12-02
// Arduino UNO
// Screw Shield
// Adafruit RGB LCD Shield
// 2 x Small Stepper Motor
// 2 x EasyDriver
// 2 x RC Servo Motor
// 2 x Potentiometer

// include the library code:
#include <Adafruit_RGBLCDShield.h>
#include <Servo.h>

// Adafruit RGB LCD Shield
Adafruit_RGBLCDShield RGBLCDShield = Adafruit_RGBLCDShield();

// These #defines make it easy to set the backlight color
#define OFF 0x0
#define RED 0x1
#define YELLOW 0x3
#define GREEN 0x2
#define TEAL 0x6
#define BLUE 0x4
#define VIOLET 0x5
#define WHITE 0x7

// Momentary Button
int yy = 0;
uint8_t momentaryButton = 0;

// 2 x EasyDriver
int dirPinR = 2;                           // EasyDriver Right
int stepPinR = 3;                          // stepPin Right
int dirPinL = 4;                           // EasyDriver Left
int stepPinL = 5;                          // stepPin Left
int i = 0;

// 2 x RC Servo Motor
// 2 x Potentiometer
Servo isRCServo1;                          // Create servo object to control a RCServo1
int servo1 = 6;                            // Servo 1
int iPot1 = A0;                            // Analog Potentiometer 1
int iVal1;                                 // Variable - Analog Potentiometer 1
Servo isRCServo2;                          // Create servo object to control a RCServo2
int servo2 = 7;                            // Servo 2
int iPot2 = A1;                            // Analog Potentiometer 2
int iVal2;                                 // Variable - Analog Potentiometer 2

void loop() {

  // Clear
  RGBLCDShield.clear();
   
  // Momentary Button
  momentaryButton = RGBLCDShield.readButtons();

  switch ( yy ) {
    case 1:
    
      // Up
      isSwitch1();
      
      break;
    case 2:
    
      // Down
      isSwitch2();
      
      break;
    case 3:

      // Right
      isSwitch3();
      
      break;
    case 4:

      // Left
      isSwitch4();
      
      break;
    case 5:

      // Stop
      isSwitch5();
      
      break;
    default:

      // Stop
      yy = 5;
      RGBLCDShield.setBacklight(RED);
      isSwitch5();

   }
   
   if ( momentaryButton ) {
    
    if ( momentaryButton & BUTTON_UP ) {
      
      yy = 1;
      // Up
      RGBLCDShield.setBacklight(GREEN);
      
    }
    
    if ( momentaryButton & BUTTON_DOWN ) {
      
      yy = 2;
      // Down
      RGBLCDShield.setBacklight(VIOLET);
      
    }
    
    if ( momentaryButton & BUTTON_LEFT ) {
      
      yy = 3;
      // Right
      RGBLCDShield.setBacklight(TEAL);
      
    }
    
    if ( momentaryButton & BUTTON_RIGHT ) {

      yy = 4;
      // Left
      RGBLCDShield.setBacklight(YELLOW);
    }
    
    if ( momentaryButton & BUTTON_SELECT ) {

      yy = 5;
      // Stop
      RGBLCDShield.setBacklight(RED);
   
    }
    
  }
  
}

getServo.ino

// Servo
// isServoSetup
void isServoSetup() {

  // 2 x RC Servo Motor
  isRCServo1.attach( servo1 );
  isRCServo2.attach( servo2 );
  
}
// isServo1
void isServo1() {

  // EasyDriver
  isStepperStop();
   
  // Potentiometer RC Servo Motor 1
  iVal1 = analogRead( iPot1 );              // Reads the value of the iPot1 (Value between 0 and 1023)
  iVal1 = map(iVal1, 0, 1023, 0, 180);      // Scale it to use it with the isRCServo1 (Value between 0 and 180)
  isRCServo1.write( iVal1 );                // isRCServo1 sets the servo position according to the scaled value
  delay(15);    

  // Display
  // Set the cursor to column 0, line 0  
  RGBLCDShield.setCursor(0,0);
  RGBLCDShield.print("isRCServo 1");        // isRCServo 1
  // Set the cursor to column 0, line 1
  RGBLCDShield.setCursor(0, 1);
  RGBLCDShield.print( iVal1 );              // Reads the value iVal1
  
  delay(500);

}
// isServo2
void isServo2() {

  // EasyDriver
  isStepperStop();
   
  // Potentiometer RC Servo Motor 1
  iVal2 = analogRead( iPot2 );              // Reads the value of the iPot2 (Value between 0 and 1023)
  iVal2 = map(iVal2, 0, 1023, 0, 180);      // Scale it to use it with the isRCServo2 (Value between 0 and 180)
  isRCServo2.write( iVal2 );                // isRCServo2 sets the servo position according to the scaled value
  delay(15);    

  // Display
  // Set the cursor to column 0, line 0  
  RGBLCDShield.setCursor(0,0);
  RGBLCDShield.print("isRCServo 2");        // isRCServo 2
  // Set the cursor to column 0, line 1
  RGBLCDShield.setCursor(0, 1);
  RGBLCDShield.print( iVal2 );              // Reads the value iVal2
  
  delay(500);

}

getStepper.ino

// Stepper
// isStepperSetup
void isStepperSetup() {

  // 2 x EasyDriver
  pinMode(dirPinR, OUTPUT);
  pinMode(stepPinR, OUTPUT);
  pinMode(dirPinL, OUTPUT);
  pinMode(stepPinL, OUTPUT);

}
// isStepper1
void isStepper1(){

   // set the cursor to column 0, line 0
   RGBLCDShield.setCursor(0,0);
   RGBLCDShield.print("EasyDriver");        // EasyDriver  
   RGBLCDShield.setCursor(0,1);    
   RGBLCDShield.print("Up");
   delay(500);

   // 2 x EasyDriver
   digitalWrite(dirPinR, LOW);              // Set the direction.
   delay(100);
   digitalWrite(dirPinL, LOW);              // Set the direction.
   delay(100);

   for (i = 0; i<300; i++)                 // Iterate for 1000 microsteps.
   { 
     digitalWrite(stepPinR, LOW);           // This LOW to HIGH change is what creates the
     digitalWrite(stepPinR, HIGH);          // "Rising Edge" so the easydriver knows to when to step.
     delayMicroseconds(170);                // This delay time is close to top speed.
     digitalWrite(stepPinL, LOW);           // This LOW to HIGH change is what creates the
     digitalWrite(stepPinL, HIGH);          // "Rising Edge" so the easydriver knows to when to step.
     delayMicroseconds(170);                // This delay time is close to top speed.
   } 
   
}
// isStepper2
void isStepper2(){

   // set the cursor to column 0, line 0
   RGBLCDShield.setCursor(0,0);
   RGBLCDShield.print("EasyDriver");        // EasyDriver  
   RGBLCDShield.setCursor(0,1);    
   RGBLCDShield.print("Down");
   delay(500);

   // 2 x EasyDriver
   digitalWrite(dirPinR, HIGH);              // Set the direction.
   delay(100);
   digitalWrite(dirPinL, HIGH);              // Set the direction.
   delay(100);

   for (i = 0; i<300; i++)                 // Iterate for 1000 microsteps.
   { 
     digitalWrite(stepPinR, LOW);           // This LOW to HIGH change is what creates the
     digitalWrite(stepPinR, HIGH);          // "Rising Edge" so the easydriver knows to when to step.
     delayMicroseconds(170);                // This delay time is close to top speed.
     digitalWrite(stepPinL, LOW);           // This LOW to HIGH change is what creates the
     digitalWrite(stepPinL, HIGH);          // "Rising Edge" so the easydriver knows to when to step.
     delayMicroseconds(170);                // This delay time is close to top speed.
   } 
   
}
// isStepperStop
void isStepperStop() {

   // 2 x EasyDriver
   digitalWrite(dirPinR, LOW);              // Set the direction.
   delay(100);
   digitalWrite(dirPinL, LOW);              // Set the direction.
   delay(100);
   digitalWrite(stepPinR, LOW);             // This LOW to HIGH change is what creates the
   digitalWrite(stepPinL, LOW);             // This LOW to HIGH change is what creates the 

}

getSwitch.ino

// Switch
// Switch 1
void isSwitch1(){

   // Up
   yy = 1;

   // 2 x EasyDriver
   isStepper1();

}
// Switch 2
void isSwitch2(){

   // Down
   yy = 2;

   // 2 x EasyDriver
   isStepper2();
   
}
// Switch 3
void isSwitch3(){

   // Right
   yy = 3;

   // Potentiometer RC Servo Motor 1
   isServo1();
   
}
// Switch 4
void isSwitch4(){

   // Left
   yy = 4;

   // Potentiometer RC Servo Motor 2
   isServo2();
   
}
// Switch 5
void isSwitch5(){

   // Stop
   yy = 5;

   // set the cursor to column 0, line 0
   RGBLCDShield.setCursor(0,0);
   RGBLCDShield.print("Robotics");         // Robotics 
   RGBLCDShield.setCursor(0,1);    
   RGBLCDShield.print("Stop");

   delay( 500 );

   // EasyDriver
   isStepperStop();
       
}

setup.ino

// Setup
void setup() {

  // Adafruit RGB LCD Shield
  // Set up the LCD's number of columns and rows: 
  RGBLCDShield.begin(16, 2);
  RGBLCDShield.setBacklight(GREEN);
  
  // Display
  // Set the cursor to column 0, line 0  
  RGBLCDShield.setCursor(0,0);  
  RGBLCDShield.print("Don Luc Electron");         // Don luc Electron
  // Set the cursor to column 0, line 1
  RGBLCDShield.setCursor(0, 1);
  RGBLCDShield.print("Robotics");                // EasyDriver

  delay(5000);

  // Clear
  RGBLCDShield.clear();

  // 2 x EasyDriver
  isStepperSetup();
  
  // 2 x RC Servo Motor
  isServoSetup();

}

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