Tag: Robotics Tutorials

Creating 2 DC Motors, 2 Servos and 2 LEDs control program using Arduino MEGA 2560

Required Components

1. L293D Motor Driver Control -1 no
2. Arduino MEGA 2560 Board -1 no
3. 5V DC Motors -2 no
4. Servo -2 no
5. LED -2 no
6. 9V Battery -1 no
7. Bluetooth -1 no
8. USB cable -1 no
9. Jumper Wires -10 no

Circuit

Steps

1. Make sure the components are working properly.
2. Connect the 9V Battery to the L293D Motor Driver.
3. Connect the 2 Servo motors to the motor driver servo pins properly.
4. Connect the 2 DC motors pins to the motor driver output pins M3, M4.
5. Connect the LED Cathodes (+) & Anode (-) pins to the Mega Board pins 50, 52 & gnd respectively.
6. Connect the ground connection respectively.
7. Check the Arduino program.
8. Check the Circuit Connections.
9. Run the Arduino program.

Arduino Program

#include <AFMotor.h>
#include <Servo.h>
AF_DCMotor motor1(3);
AF_DCMotor motor2(4);
Servo servo1;
Servo servo2;
Servo servo3;
int pos1=20;
int pos1min=50;
int pos1max=110;
int pos2=90;
int pos2min=110;
int pos2max=170;
int pos3=80;
int pos3min=50;
int pos3max=110;
int i=0;
int delaytime=10;
int led1 = 50;
int led2 = 52;
String inputString = "";
boolean stringComplete = false;

void setup() 
{
  Serial1.begin(9600);
  motor1.setSpeed(200);
  motor2.setSpeed(200);
  motor1.run(RELEASE);
  motor2.run(RELEASE);
  servo1.attach(9);
  servo2.attach(10);
  servo3.attach(48);
  servo1.write(pos1);
  servo2.write(pos2);
  servo3.write(pos3);
  pinMode(led1,OUTPUT);
  pinMode(led2,OUTPUT);
  ledsOn();
}

void loop()
{
  ledsOn();
  serialEvent();
  if (stringComplete)
  {
    processCmd(inputString);
    inputString = "";
    stringComplete = false;
  }
}

void processCmd(String st1)
{
  st1.remove(st1.length());
  String cmd = st1.substring(0,1);
  st1="";
  if (cmd == "f")
  {
    motorForward();
  }
  else if (cmd == "b")
  {
    motorBackward();
  }
  else if (cmd == "r")
  {
    motorRight();
  }
  else if (cmd == "l")
  {
    motorLeft();
  }
  else if(cmd == "s")
  {
    motorStop();
  }
  else if(cmd == "1")
  {
    servoAction1();
  }
  else if(cmd == "2")
  {
    servoAction2();
  }
  else if (cmd=="o")
  {
    eyesBlink();
  }
}

void serialEvent()
{
  while (Serial1.available())
  {
    char inChar = (char)Serial1.read();
    inputString += inChar;
    if (inChar == '$')
    {
      stringComplete = true;
    }
  }
}
for(int i=0;i<5;i++)
{
  moveHandServoMotors(1);
}
delay(2000);
for(int i=0;i<5;i++)
{
  moveHandServoMotors(0);
}
delay(2000);


void motorForward()
{
  motor1.run(FORWARD);
  motor2.run(FORWARD);
  motor1.setSpeed(255);
  motor2.setSpeed(255);
}

void motorBackward()
{
  motor1.run(BACKWARD);
  motor2.run(BACKWARD);
  motor1.setSpeed(255);
  motor2.setSpeed(255);
}

void motorLeft()
{
  motor1.run(BACKWARD);
  motor2.run(FORWARD);
  motor1.setSpeed(255);
  motor2.setSpeed(255);
}

void motorRight()
{
  motor1.run(FORWARD);
  motor2.run(BACKWARD);
  motor1.setSpeed(255);
  motor2.setSpeed(255);
}

void motorStop()
{
  motor1.run(RELEASE);
  motor2.run(RELEASE);
}

void ledsOn()
{
  digitalWrite(led1,HIGH);
  digitalWrite(led2,HIGH);
}

void ledsOff()
{
  digitalWrite(led1,LOW);
  digitalWrite(led2,LOW);
}

void eyesBlink()
{
  for(int i=0;i<8;i++)
  {
    ledsOn();
    delay(250);
    ledsOff();
    delay(250);
  }
}

void servoAction1()
{
  for(int i=0;i<5;i++)
  {
    moveHandServoMotors(0);
  }
}

void servoAction2()
{
  for(int i=0;i<5;i++)
  {
    moveHandServoMotors(1);
  }
}

void moveHeadServoMotor(int tp)
{
  if (tp==0)
  {
    servo3.write(pos3min);
    delay(1000);
    servo3.write(pos3max);
    delay(3000);
  }
  if (tp==1)
  {
    for(int i=0;i<60;i++)
    {
      servo3.write(pos3min+i);
      delay(delaytime);
    }
    delay(1000);
    for(int i=0;i<60;i++)
    {
      servo3.write(pos3max-i);
      delay(delaytime);
    }
    delay(3000);
  }
}

void moveHandServoMotors(int tp)
{
  if (tp==0)
  {
    servo1.write(pos1min);
    servo2.write(pos2min);
    servo3.write(pos3min);
    for(int i=0;i<60;i++)
    {
      servo1.write(pos1min+i);
      servo2.write(pos2min+i);
      servo3.write(pos3min+i);
      delay(delaytime);
    }
    delay(200);
    for(int i=0;i<60;i++)
    {
      servo1.write(pos1max-i);
      servo2.write(pos2max-i);
      servo3.write(pos3max-i);
      delay(delaytime);
    }
    delay(200);
  }
  else if (tp==1)
  {
    servo1.write(pos1min);
    servo2.write(pos2max);
    servo3.write(pos3min);
    for(int i=0;i<60;i++)
    {
      servo1.write(pos1min+i);
      servo2.write(pos2max-i);
      servo3.write(pos3min+i);
      delay(delaytime);
    }
    delay(200);
    for(int i=0;i<60;i++)
    {
      servo1.write(pos1max-i);
      servo2.write(pos2min+i);
      servo3.write(pos3max-i);
      delay(delaytime);
    }
    delay(200);
  }
}

Projects

1. DIWA Robot

Creating DC Motor control with precise position program using Arduino UNO

Required Components

1. Arduino MEGA2560 -1 no
2. Motor control shield(L293D) -1 no
3. Micro Metal Gear Motor with Encoder -1 no
4. Motor Wheel -1 no
5. Bread Board -1 no
6. Jumper Wires(Male to Male) -11 no
7. Voltage Converter(5V-3.3V) -1 no
8. 5V Battery -1 no
9. USB cable -1 no

Steps

1. Make sure the components are working properly.
2. Connect the 5V Battery to the L293D Motor Driver.
3. Connect the micro motor M1,M2 pins to the L293D Motor Driver M3 respectively .
4. Connect the Arduino Mega board pins 5V, gnd to the voltage converter V IN, gnd properly.
5. Connect the Voltage converter V Out, gnd pins to the micro motor gnd, vcc pins & the second micro motor gnd, vcc pins properly.
6. Connect the micro motor C1,C2 pins to the Arduino Mega board pins 18,19 respectively.
7. Check the Circuit Connections.
8. Check the Arduino program.
9. Run the Arduino program.

Arduino Program

#include <AFMotor.h>
#include <Encoder.h>
AF_DCMotor motor1(4);
Encoder myEnc1(18,19);
long oldPosition1  = -999;
long m1Pos = 0;
long m1Dir = 0;
long md1=2000;


void setup()
{
  Serial.begin(9600);
  Serial.println("Motor test!");
  motor1.setSpeed(200);
  motor1.run(RELEASE);
  motor1Move(md1,0);
}

void loop()
{
  checkMotor1();
  delay(5);
}

void motor1Move(int d1,int d2)
{
  m1Pos=d1;
  m1Dir = d2;
  if (d2==0)
  {
    motor1.run(FORWARD);
  }
  else if (d2==1)
  {
    motor1.run(BACKWARD);
  }
}


void checkMotor1()
{
  long newPosition1 = myEnc1.read();
  if (m1Dir==0)
  {
    if ( newPosition1>m1Pos)
    {
      m1Pos=0;
      motor1.run(RELEASE);
      myEnc1.write(0);
      motor1Move(md1,1);
    }
  }
  else
  {
    if ( abs(newPosition1)>m1Pos)
    {
      m1Pos=0;
      motor1.run(RELEASE);
      myEnc1.write(0);      
      motor1Move(md1,0);
    }
  }
}