Pahzlg

Code Arduino

Main

#include <Servo.h>

Servo servothumb; // Define thumb servo
Servo servoindex; // Define index servo
Servo servomajeure;
Servo servoringfinger;
Servo servopinky;
Servo servowrist;
Servo servobiceps;
Servo servorotate;
Servo servoshoulder;
Servo servoomoplat;
Servo servoneck;
Servo servorothead;

int buton0=1;
int buton90=2;
int butonALL=3;

void setup() {
  servothumb.attach(8); // Set thumb servo to digital pin 2
  servoindex.attach(9); // Set index servo to digital pin 3
  servomajeure.attach(10);
  servoringfinger.attach(11);
  servopinky.attach(12);
  servowrist.attach(13);
  //servobiceps.attach(8);
  //servorotate.attach(9);
  //servoshoulder.attach(10);
  //servoomoplat.attach(11);
  //servoneck.attach(12);
  //servorothead.attach(13);

  pinMode(buton0,INPUT);
  pinMode(buton90,INPUT);
  pinMode(butonALL,INPUT);
}

void loop() { // Loop through motion tests
//alltovirtual(); // Example: alltovirtual
//delay(4000); // Wait 4000 milliseconds (4 seconds)
//alltorest(); // Uncomment to use this
//delay(4000); // Uncomment to use this
//alltomax(); // Uncomment to use this
//delay(2000); // Uncomment to use this
//allto90(); // Uncomment to use this
//delay(2000); // Uncomment to use this
//servowrist.write(90);
  if(digitalRead(buton0)==HIGH){
 
    alltovirtual();
    //delay(5000);
  } else if(digitalRead(buton90)==HIGH){ 
    
    allto90(); 
    //delay(5000);
  } else if(digitalRead(butonALL)==HIGH){ 
    
    alltomax(); 
    //delay(5000);
  }

delay(2000);
//servowrist.write(0);
}
// Motion to set the servo into "virtual" 0 position: alltovirtual
void alltovirtual() {
servothumb.write(0);
servoindex.write(0);
servomajeure.write(0);
servoringfinger.write(0);
servopinky.write(0);
servowrist.write(90);
/*servobiceps.write(0);
servorotate.write(20); //Never less then (20 degree)
servoshoulder.write(30); //Never less then (30 degree)
servoomoplat.write(10); //Never less then (10 degree)
servoneck.write(0);
servorothead.write(0);*/
}

// Motion to set the servo into "rest" position: alltorest
void alltorest() {
servothumb.write(0);
servoindex.write(0);
servomajeure.write(0);
servoringfinger.write(0);
servopinky.write(0);

servowrist.write(0);
/*
servobiceps.write(0);
servorotate.write(90); //Never less then (20 degree)
servoshoulder.write(30); //Never less then (30 degree)
servoomoplat.write(10); //Never less then (10 degree)
servoneck.write(90);
servorothead.write(90);*/
}

// Motion to set the servo into "max" position: alltomax
void alltomax() {

servothumb.write(130);
servoindex.write(150);
servomajeure.write(140);
servoringfinger.write(140);
servopinky.write(125);
servowrist.write(45);
/*
 * 
servobiceps.write(85); //Never more then (85 or 90degree)
servorotate.write(110); //Never more then (110 degree)
servoshoulder.write(130); //Never more then (130 degree)
servoomoplat.write(70); //Never more then (70 degree)
servoneck.write(180);
servorothead.write(180);
*/
}

// Motion to set the servo into "90" position: allto90
void allto90() {
servothumb.write(80);
servoindex.write(90);
servomajeure.write(90);
servoringfinger.write(85);
servopinky.write(90);
servowrist.write(50);
/*
servobiceps.write(90); //Never more then (85 or 90degree)
servorotate.write(90); //Never more then (110 degree)
servoshoulder.write(90); //Never more then (130 degree)
servoomoplat.write(70); //Never more then (70 degree)
servoneck.write(90);
servorothead.write(180);
*/
}

Nunchuck

/*
 * ArduinoNunchukDemo.ino
 *
 * Copyright 2011-2013 Gabriel Bianconi, http://www.gabrielbianconi.com/
 *
 * Project URL: http://www.gabrielbianconi.com/projects/arduinonunchuk/
 *
 */
//Bibliothèques
#include "Servo.h"
#include <Wire.h>
#include <ArduinoNunchuk.h>

#define BAUDRATE 19200

ArduinoNunchuk nunchuk = ArduinoNunchuk();
int joyX,joyY;

//Servo du bas :
Servo servoBas;
int pinServoBas = 9;
int servoBasInit = 90;

void setup()
{
  
  //Initialisation des servos :
  servoBas.attach(pinServoBas);
  servoBas.write(servoBasInit);
  
  Serial.begin(BAUDRATE);
  nunchuk.init();
}

void loop()
{
  nunchuk.update();

  //Joystick Y (nommé joyY) -> Servo bas
  joyX = nunchuk.analogX, DEC;
     Serial.println(joyX);
  joyX = map(joyX, 220, 30, 0, 180);
  servoBas.write(joyX);
  Serial.print(joyX);
  Serial.print(' ');
delay(100);
}