barnabas-arm/S2E15-controlrobotwithcommands.ino at master · BarnabasRobotics/barnabas-arm · GitHub

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#include <Servo.h>

Servo baseMotor;
Servo extendMotor;
Servo liftMotor;
Servo clawMotor;

//- soft limits for motors
int baseMotorMin = 0;
int baseMotorMax = 180;
int baseMotorMid = ((baseMotorMax - baseMotorMin) / 2) + baseMotorMin;

int extendMotorMax = 150;
int extendMotorMin = 50;
int extendMotorMid = ((extendMotorMax - extendMotorMin) / 2) + extendMotorMin;

int liftMotorMax = 180;
int liftMotorMin = 90;
int liftMotorMid = ((liftMotorMax - liftMotorMin) / 2) + liftMotorMin;

int clawClose = 180;
int clawOpen = 90;

//- speed
int speed = 10;

void setup() {

  baseMotor.attach(9);
  extendMotor.attach(10);
  liftMotor.attach(11);
  clawMotor.attach(6);

  pinMode(2,INPUT_PULLUP);

  Serial.begin(9600);
}

void loop() {
  //Serial.println("Hello I am a robot arm.");

  while (Serial.available()>0) {
    char myLetter;
    myLetter = Serial.read(); //- read 1 character

    Serial.print("I just received: ");
    Serial.println(myLetter);

    if (myLetter == '1') {
      //-open the claw
      clawMotor.write(clawOpen);
      Serial.println("opening the claw!");
    }
    if (myLetter == '2') {
      //-close the claw
      clawMotor.write(clawClose);
      Serial.println("closing the claw!");
    }
    if (myLetter == 'a') {
      baseMotor.write(baseMotorMin);
      Serial.println("Moving base motor to min!");
    }
    if (myLetter == 'b') {
      baseMotor.write(baseMotorMid);
      Serial.println("Moving base motor to mid!");
    }
    if (myLetter == 'c') {
      baseMotor.write(baseMotorMax);
      Serial.println("Moving base motor to max!");
    }

    if (myLetter == 'q') {
      liftMotor.write(liftMotorMin);
      Serial.println("Moving lift motor to min!");
    }
    if (myLetter == 'w') {
      liftMotor.write(liftMotorMid);
      Serial.println("Moving lift motor to mid!");
    }
    if (myLetter == 'e') {
      liftMotor.write(liftMotorMax);
      Serial.println("Moving lift motor to max!");
    }


  }

  delay(100);
}